Use custom libfreenect to perform registration afterwards

SirLynix · Dec 29, 2021 · 5e67696 · 5e67696
1 parent 157717a
commit 5e67696
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Showing 2 changed files with 35 additions and 21 deletions.
diff --git a/src/obs-kinect-freenect/FreenectDevice.cpp b/src/obs-kinect-freenect/FreenectDevice.cpp
@@ -16,6 +16,7 @@
 ******************************************************************************/
 
 #include "FreenectDevice.hpp"
+#include <libfreenect/libfreenect_registration.h>
 #include <util/threading.h>
 #include <cstring>
 #include <mutex>
@@ -24,7 +25,7 @@
 KinectFreenectDevice::KinectFreenectDevice(freenect_device* device, const char* serial) :
 m_device(device)
 {
-	SetSupportedSources(Source_Color | Source_Depth);
+	SetSupportedSources(Source_Color | Source_Depth | Source_ColorMappedDepth);
 	SetUniqueName("Kinect " + std::string(serial));
 }
 
@@ -56,7 +57,7 @@ void KinectFreenectDevice::ThreadFunc(std::condition_variable& cv, std::mutex& m
 
 		currentColorMode = colorMode;
 
-		freenect_frame_mode depthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM);
+		freenect_frame_mode depthMode = freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT_PACKED);
 
 		if (freenect_set_depth_mode(m_device, depthMode) < 0)
 			throw std::runtime_error("failed to set video mode");
@@ -166,25 +167,43 @@ void KinectFreenectDevice::ThreadFunc(std::condition_variable& cv, std::mutex& m
 			frameData.format = GS_RGBA;
 		}
 
-		// Depth
+		// Depth (and color mapped depth)
 		{
 			std::scoped_lock lock(ud.depthMutex);
 
-			const std::uint16_t* frameMem = ud.depthFrontBuffer.data();
+			std::uint16_t* frameMem = ud.depthFrontBuffer.data();
 			if (!frameMem)
 				continue;
 
-			DepthFrameData& frameData = framePtr->depthFrame.emplace();
-			frameData.width = currentDepthMode.width;
-			frameData.height = currentDepthMode.height;
+			// Depth
+			{
+				DepthFrameData& frameData = framePtr->depthFrame.emplace();
+				frameData.width = currentDepthMode.width;
+				frameData.height = currentDepthMode.height;
 
-			// Convert to R16
-			std::size_t memSize = frameData.width * frameData.height * 2;
-			frameData.memory.resize(memSize);
-			std::memcpy(frameData.memory.data(), frameMem, memSize);
+				// Copy it to buffer memory
+				std::size_t memSize = frameData.width * frameData.height * 2;
+				frameData.memory.resize(memSize);
+				freenect_convert_packed_to_16bit(reinterpret_cast<std::uint8_t*>(frameMem), reinterpret_cast<std::uint16_t*>(frameData.memory.data()), 11, frameData.width*frameData.height);
+
+				frameData.ptr.reset(reinterpret_cast<std::uint16_t*>(frameData.memory.data()));
+				frameData.pitch = static_cast<std::uint32_t>(frameData.width * 2);
+			}
 
-			frameData.ptr.reset(reinterpret_cast<std::uint16_t*>(frameData.memory.data()));
-			frameData.pitch = static_cast<std::uint32_t>(frameData.width * 2);
+			// Color-mapped depth
+			{
+				DepthFrameData& frameData = framePtr->colorMappedDepthFrame.emplace();
+				frameData.width = currentDepthMode.width;
+				frameData.height = currentDepthMode.height;
+
+				// Convert to R16
+				std::size_t memSize = frameData.width * frameData.height * 2;
+				frameData.memory.resize(memSize);
+				freenect_map_depth_to_rgb(m_device, reinterpret_cast<std::uint8_t*>(frameMem), reinterpret_cast<std::uint16_t*>(frameData.memory.data()));
+
+				frameData.ptr.reset(reinterpret_cast<std::uint16_t*>(frameData.memory.data()));
+				frameData.pitch = static_cast<std::uint32_t>(frameData.width * 2);
+			}
 		}
 
 		UpdateFrame(std::move(framePtr));

diff --git a/xmake-repo/packages/l/libfreenect/xmake.lua b/xmake-repo/packages/l/libfreenect/xmake.lua
@@ -3,14 +3,8 @@ package("libfreenect")
     set_description("Drivers and libraries for the Xbox Kinect device on Windows, Linux, and OS X")
     set_license("GPL-2.0")
 
-    set_urls("https://github.com/OpenKinect/libfreenect/archive/refs/tags/$(version).tar.gz",
-             "https://github.com/OpenKinect/libfreenect.git")
-    add_versions("v0.6.2", "e135f5e60ae290bf1aa403556211f0a62856a9e34f12f12400ec593620a36bfa")
-
-    add_urls("https://github.com/OpenKinect/libfreenect.git")
-
-    add_versions("v0.2.1", "fd64c5d9b214df6f6a55b4419357e51083f15d93")
-    add_versions("v0.2.0", "v0.2.0")
+    set_urls("https://github.com/SirLynix/libfreenect.git")
+    add_versions("v0.1", "5e2cd8e18877fbe7ef4c863161e90873c06a9180")
 
     add_deps("cmake >=3.12.4")
     if is_plat("windows") then 
@@ -40,4 +34,5 @@ package("libfreenect")
 
     on_test(function (package)
         assert(package:has_cfuncs("freenect_init", {includes = "libfreenect/libfreenect.h"}))
+        assert(package:has_cfuncs("freenect_map_depth_to_rgb", {includes = "libfreenect/libfreenect_registration.h"}))
     end)