Add support for Kinect for Xbox 360 Model 1473

[hkzlab]

Hello,
I write to open an issue on the missing support for this device.
The 1473 model does not work with libfreenect: I always get a "Could not open device" when trying to launch demos using the camera or the tilt motor.

Also, the Xbox NUI Motor doesn't show up when checking with lsusb (testing on Ubuntu 12.10, 32bit):
Bus 001 Device 086: ID 045e:02c2 Microsoft Corp.
Bus 001 Device 087: ID 045e:02ad Microsoft Corp. Xbox NUI Audio
Bus 001 Device 088: ID 045e:02ae Microsoft Corp. Xbox NUI Camera
If needed, I can provide more verbose lsusb logs.

[tong]

dunno.please!

[a-m-p-m]

I have the same issue with Kinect for Xbox 360 Model 1473.
Ubuntu 12.04 32bit, 64bit; Linux Mint 13 32bit on different computers.

[ansoto]

Hi,
I have the same issue... Have you found a solution ?

[JoshBlake]

The solution is somewhat technically complicated and we're still discussing the right way to approach it. For more information check the OpenKinect mailing list: https://groups.google.com/group/openkinect

[ansoto]

Is there any progress about that ?
Thanks

[vitaly-little]

I found solution in this topic http://forum.openframeworks.cc/index.php?topic=11632.0

here is a very rough fix for it in the libfrenect files in this branch:
https://github.com/ofTheo/ofxKinect/tree/kinect-device-fix
you can see the differences between the current develop branch:
ofTheo/ofxKinect@develop...kinect-device-fix

[Exomene]

Thanks for finding this.
Can you explain how you proceeded?
I compiled and installed this fix but still have the "Unable to open" error while testing with glview with ubuntu 12.10 64bits.
Thanks

The link doesn't work for me either, is anyone working on it?

[chriswei]

I was able to build and run the openFrameworks example described in the previously mentioned post on my Xbox Kinect model 1473. I built the ofxKinect 'kinect-device-fix' branch in openFrameworks using Xcode on my MBPro.

The video and point cloud seemed to be working, but I was unable to take that code and successfully build and run a standalone version of libfreenect. In my attempt with Theo Watson's kinect-device-fix branch, the glview test app finds a device, prints out some debug information in the terminal, opens a window, then hangs. At least it gets past the "Could not open device" error! Unfortunately I don't have any time (and maybe not the skills) to dig deeper.

I'm very interested in a solution that gets libfreenect working with the 'new' Xbox Kinect model 1473. I'd hate to have to return it and go looking for an older model on eBay. I'm also considering trying to get one of the Prime Sense sensors, but they're $200 plus shipping from Israel and take 2-4 weeks to ship. I'd eventually like to get Processing talking to the Xbox Kinect model 1473 on OS X.

The "previously mentioned post": http://forum.openframeworks.cc/index.php?topic=11632.0

Thanks!

[Exomene]

I'd like to use it with processing too. By the way, if you use openkinect in processing the IR in the kinect 1473 starts and it returns some results (I didn't get further).
I tried to follow the instructions on getting Theo Watson's branch to work with openFrameworks but failed (I got lost with code::blocks). Since it is a derivative, as far as I understood, I replaced the files in the source of openKinect by Theo's modified ones. It compiled on my ubuntu 12.10 but the problem remained the same.
Another question: I didn't understand the difference between freenect-glview and glview on the getting started page (http://openkinect.org/wiki/Getting_Started). It seems one should use glview when installed from the binaries and glview when installed from the sources. It's quite confusing for me, could'nt this be the source of some issues?

[dudefellah]

I've been messing around with this a bunch (I have a Kinect v 1473) and can get the demos sort of going by making one small change in freenect_fetch_zero_plane_info in src/cameras.c (note that this will break libfreenect with "old" Kinect versions):

--- a/src/cameras.c
+++ b/src/cameras.c
@@ -899,14 +899,13 @@ static int freenect_fetch_reg_const_shift(freenect_device *dev)
 static int freenect_fetch_zero_plane_info(freenect_device *dev)
 {
        freenect_context *ctx = dev->parent;
-
        char reply[0x200];
        uint16_t cmd[5] = {0}; // Offset is the only field in this command, and it's 0

        int res;
-       res = send_cmd(dev, 0x04, cmd, 10, reply, 322); //OPCODE_GET_FIXED_PARAMS = 4,
-       if (res != 322) {
-               FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected 322)\n", res);
+       res = send_cmd(dev, 0x04, cmd, 10, reply, 334); //OPCODE_GET_FIXED_PARAMS = 4,
+       if (res != 334) {
+               FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected 334)\n", res);
                return -1;
        }

and then I remove attempts to use the motor:

--- a/examples/glview.c
+++ b/examples/glview.c
@@ -412,7 +412,8 @@ int main(int argc, char **argv)
        }

        freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
-       freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
+       //freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA | FREENECT_DEVICE_AUDIO));
+       freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_CAMERA | FREENECT_DEVICE_AUDIO));

        int nr_devices = freenect_num_devices (f_ctx);
        printf ("Number of devices found: %d\n", nr_devices);

I've read that there have been changes with the motor device in that it's somehow attached to the audio now? I'm not very experienced with libusb, but I would like to try to mess around and make it work if anybody has any ideas/suggestions.

[zanemcca]

So I am brand new to github. Could you tell me how you compiled your changes after you put them in @dudefellah

I tried to make in the build directory but it did not seem to put the changes in. I also removed the object files and even tried removing the whole build directory and redoing cmake. Nothing seemed to work. Any help would be great.

[dudefellah]

I've forked my own copy here: https://github.com/dudefellah/libfreenect.git

You can diff against your repo to see what's been changed (the changes are somewhat different from what I posted earlier... I'm still trying to figure this stuff out)

When you compile, you'll need to build audio and I've added a flag for building for the kinect ver 1473, so you'll need at least something like cmake -DBUILD_AUDIO:BOOL=ON -DBUILD_KINECT_1473:BOOL=ON

I didn't commit the changes in glview since I've been messing around with a whole bunch of stuff, but I think you'll probably need remove the FREENECT_DEVICE_MOTOR flag from freenect_select_subdevices and may (I can't remember exactly) need to add FREENECT_DEVICE_AUDIO. The glview.c change should be the same as I posted earlier.

Hope that helps a bit more.

Does nobody else have more information on what's needed to get everything working again?

[dudefellah]

Looks like my work so far is actually a dumber version of this: renewagner@06e48e5 . I'll probably end up using this code when I have time to play with libfreenect in the next week or so.

[zanemcca]

Thanks that helps. I cannot find anything useful telling me why this thing will not rebuild properly.

If I edit glview.c I can see my changes right away. But I cannot get anything to happen when I change cameras.c. make says it is compiling it but nothing I do changes the output. I have installed, uninstalled and deleted everything countless times nothing I do has changed the output at all.

My most reason version of this is here:

--- a/src/cameras.c
+++ b/src/cameras.c
@@ -903,13 +903,29 @@ static int freenect_fetch_zero_plane_info(freenect_device *dev)
        uint16_t cmd[5] = {0}; // Offset is the only field in this command, and it's 0

        int res;
-       res = send_cmd(dev, 0x04, cmd, 10, reply, 322); //OPCODE_GET_FIXED_PARAMS = 4,
-       if (res != 322) {
-               FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected 322)\n", res);
-               return -1;
-       }

-       memcpy(&(dev->registration.zero_plane_info), reply + 94, sizeof(dev->registration.zero_plane_info));
+        int expected_len = 0;
+        int struct_offset = 0;
+/*        switch(dev->hwrev) {
+          case HWREV_XBOX360_0:
+            expected_len = 322;
+            struct_offset = 94;
+            break;
+          case HWREV_K4W_0:
+          */
+            expected_len = 334;
+            struct_offset = 94;
+//            break;
+//        }
+
+        res = send_cmd(dev, 0x04, cmd, 10, reply, expected_len); //OPCODE_GET_FIXED_PARAMS = 4,
+        if (res != expected_len) {
+          //FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected %d)\n", res, expected_len);
+          FN_ERROR("ERROR: THIS SHOULD PRINT ON THE SCREEN");
+           return -1;
+        }
+
+        memcpy(&(dev->registration.zero_plane_info), reply + struct_offset, sizeof(dev->registration.zero_plane_info));
        union {
                uint32_t ui;
                float f;
@@ -1261,7 +1277,9 @@ int freenect_set_video_mode(freenect_device* dev, const freenect_frame_mode mode
        dev->video_resolution = res;
        // Now that we've changed video format and resolution, we need to update
        // registration tables.
-       freenect_fetch_reg_info(dev);
+        if (res == FREENECT_RESOLUTION_MEDIUM) {
+           freenect_fetch_reg_info(dev);
+        }
        return 0;
 } 

When I run glview I get this:

Kinect camera test
Number of devices found: 1
Control cmd=0016 tag=0000 len=000a: 18
Control reply: 18
start_lines:    0
end_lines:      0
cropping_lines: 0
Control cmd=0004 tag=0001 len=000a: 18
Control reply: 18
send_cmd: Data buffer is 322 bytes long, but got 334 bytes
freenect_fetch_zero_plane_info: send_cmd read 334 bytes (expected 322)
freenect_camera_init(): Failed to fetch zero plane info for device
Could not open device

I do not know how it is possible for it to print 322 at all I have it hard coded to 334. I have tried this a million times. Please help, how do I get the changes to go through?