Update Java wrapper API to support frame modes

.gitignore

@@ -29,3 +29,4 @@ obj/
 _ReSharper*/
 [Tt]est[Rr]esult*
 build
+/results/

CMakeLists.txt

@@ -98,6 +98,10 @@ SET(DOC_OUTPUT_PATH ${CMAKE_BINARY_DIR}/doc)
 if(CMAKE_C_FLAGS STREQUAL "")
   set(CMAKE_C_FLAGS "-O2")
 endif()
+SET(CMAKE_C_FLAGS_DEBUG "-g -DDEBUG=1")
+SET(CMAKE_C_FLAGS_RELEASE "-O2")
+SET(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")
+
 add_definitions(-Wall)
 
 # Pretty much everyone is going to need the main includes
@@ -182,6 +186,7 @@ IF ( BUILD_CPACK )
     INSTALL(FILES "include/libfreenect-audio.h" DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})
   endif()
   INSTALL(FILES "include/libfreenect.h" DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})
+  INSTALL(FILES "include/libfreenect-registration.h" DESTINATION ${PROJECT_INCLUDE_INSTALL_DIR})
   INSTALL(FILES "APACHE20" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")
   INSTALL(FILES "GPL2" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")
   INSTALL(FILES "README.asciidoc" DESTINATION "share/doc/${CPACK_PACKAGE_NAME}")

HACKING

@@ -57,18 +57,18 @@ the body.
 
 Functions should have the opening brace on the next line, like this:
 
-void foo(int a_thing, int something_else)
-{
-	...
-}
+	void foo(int a_thing, int something_else)
+	{
+		...
+	}
 
 No-args functions should be (void), and function arguments should be separated
 with a space after the comma, like this:
 
-void baz(void)
-{
-	foo(bluh, blah);
-}
+	void baz(void)
+	{
+		foo(bluh, blah);
+	}
 
 Try to avoid having excessively long function names (abbreviating is fine) and
 don't make multiple functions that do essentially the same thing (and certainly
@@ -78,7 +78,25 @@ In general, for data obtained with the Kinect, we'll provide a raw and a
 "cooked" variant, where it makes sense, but we don't need to support every
 "cooked" value convention under the sun.
 
-== WHITESPACE ===
+=== WHITESPACE ===
 
 Avoid trailing whitespace. No lines should end in a tab or a space. Keep a
 newline (blank line) at the end of each file.
+
+=== DEBUG BUILD ===
+
+In order to build the binaries with debug symbols the following commands
+can be used:
+
+	$ mkdir build
+	$ cd build
+	$ cmake ../ -DCMAKE_BUILD_TYPE=debug
+	$ make
+
+If you want to build in release mode (with optimizations) but still have debug
+symbols, try RelWithDebInfo:
+
+	$ mkdir build
+	$ cd build
+	$ cmake ../ -DCMAKE_BUILD_TYPE=RelWithDebInfo
+	$ make

README.asciidoc

@@ -131,6 +131,7 @@ directory for them:
 - python
 - actionscript
 - C#
+- Java (JNA)
 
 === Licensing
 

examples/CMakeLists.txt

@@ -6,6 +6,7 @@ set(CMAKE_C_FLAGS "-Wall")
 
 if (WIN32)
   set_source_files_properties(glview.c PROPERTIES LANGUAGE CXX)
+  set_source_files_properties(regview.c PROPERTIES LANGUAGE CXX)
   set_source_files_properties(glpclview.c PROPERTIES LANGUAGE CXX)
   set_source_files_properties(hiview.c PROPERTIES LANGUAGE CXX)
   set_source_files_properties(tiltdemo.c PROPERTIES LANGUAGE CXX)
@@ -17,6 +18,7 @@ if (WIN32)
 endif()
 
 add_executable(glview glview.c)
+add_executable(regview regview.c)
 add_executable(hiview hiview.c)
 if(BUILD_AUDIO)
   add_executable(wavrecord wavrecord.c)
@@ -26,6 +28,7 @@ endif()
 if (BUILD_C_SYNC)
   add_executable(glpclview glpclview.c)
   add_executable(tiltdemo tiltdemo.c)
+  add_executable(regtest regtest.c)
 endif()
 
 # We need to include libfreenect_sync.h for glpclview
@@ -35,6 +38,7 @@ include_directories (../wrappers/c_sync/)
 if(APPLE)
   set(CMAKE_EXE_LINKER_FLAGS "-framework OpenGL -framework GLUT")
   target_link_libraries(glview freenect)
+  target_link_libraries(regview freenect)
   target_link_libraries(hiview freenect)
   if (BUILD_AUDIO)
     target_link_libraries(wavrecord freenect)
@@ -43,6 +47,7 @@ if(APPLE)
   if (BUILD_C_SYNC)
     target_link_libraries(glpclview freenect_sync)
     target_link_libraries(tiltdemo freenect_sync)
+    target_link_libraries(regtest freenect_sync)
   endif()
 # Linux, not so much
 else()
@@ -60,6 +65,7 @@ else()
   endif()
 
   target_link_libraries(glview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+  target_link_libraries(regview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(hiview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   if (BUILD_AUDIO)
     target_link_libraries(wavrecord freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
@@ -69,11 +75,12 @@ else()
     target_link_libraries(glpclview freenect_sync ${OPENGL_LIBRARIES} ${GLUT_LIBRARY}
  ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
     target_link_libraries(tiltdemo freenect_sync ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+    target_link_libraries(regtest freenect_sync ${CMAKE_THREAD_LIBS_INIT})
   endif()
 endif()
 
 
-install (TARGETS glview hiview
+install (TARGETS glview regview hiview
   DESTINATION bin)
 
 if (BUILD_C_SYNC)

examples/regtest.c

@@ -0,0 +1,103 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2011 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "libfreenect.h"
+#include "libfreenect_sync.h"
+
+FILE *open_dump(const char *filename)
+{
+	FILE* fp = fopen(filename, "w");
+	if (fp == NULL) {
+		fprintf(stderr, "Error: Cannot open file [%s]\n", filename);
+		exit(1);
+	}
+	printf("%s\n", filename);
+	return fp;
+}
+
+void dump_depth(FILE *fp, void *data, unsigned int width, unsigned int height)
+{
+	fprintf(fp, "P5 %d %d 65535\n", width, height);
+	fwrite(data, width * height * 2, 1, fp);
+}
+
+void dump_rgb(FILE *fp, void *data, unsigned int width, unsigned int height)
+{
+	fprintf(fp, "P6 %d %d 255\n", width, height);
+	fwrite(data, width * height * 3, 1, fp);
+}
+
+void no_kinect_quit(void)
+{
+	fprintf(stderr, "Error: Kinect not connected?\n");
+	exit(1);
+}
+
+int main(void)
+{
+	short *depth = 0;
+	char *rgb = 0;
+	uint32_t ts;
+	FILE *fp;
+	int ret;
+
+	ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB);
+	if (ret < 0)
+		no_kinect_quit();
+
+	fp = open_dump("registration_test_rgb.ppm");
+	dump_rgb(fp, rgb, 640, 480);
+	fclose(fp);
+
+	ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_11BIT);
+	if (ret < 0)
+		no_kinect_quit();
+
+	fp = open_dump("registration_test_depth_raw.pgm");
+	dump_depth(fp, depth, 640, 480);
+	fclose(fp);
+
+	ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_REGISTERED);
+	if (ret < 0)
+		no_kinect_quit();
+
+	fp = open_dump("registration_test_depth_registered.pgm");
+	dump_depth(fp, depth, 640, 480);
+	fclose(fp);
+
+	ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_MM);
+	if (ret < 0)
+		no_kinect_quit();
+
+	fp = open_dump("registration_test_depth_mm.pgm");
+	dump_depth(fp, depth, 640, 480);
+	fclose(fp);
+
+	return 0;
+}