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Rename format/size constants and enums
In preparation for IR stuff, since it's becoming a bit inconsistent. New convention: FREENECT_(CLASS)_(FORMAT)[_PACKED][_SIZE] Signed-off-by: Hector Martin <[email protected]>
1 parent 3cd6805 commit b0e7440

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8 files changed

+66
-62
lines changed

8 files changed

+66
-62
lines changed

‎examples/glview.c‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -308,8 +308,8 @@ void *freenect_threadfunc(void *arg)
308308
freenect_set_led(f_dev,LED_RED);
309309
freenect_set_depth_callback(f_dev, depth_cb);
310310
freenect_set_rgb_callback(f_dev, rgb_cb);
311-
freenect_set_rgb_format(f_dev, FREENECT_FORMAT_RGB);
312-
freenect_set_depth_format(f_dev, FREENECT_FORMAT_11_BIT);
311+
freenect_set_rgb_format(f_dev, FREENECT_VIDEO_RGB);
312+
freenect_set_depth_format(f_dev, FREENECT_DEPTH_11BIT);
313313
freenect_set_rgb_buffer(f_dev, rgb_back);
314314

315315
freenect_start_depth(f_dev);

‎fakenect/fakenect.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -266,7 +266,7 @@ void freenect_set_log_level(freenect_context *ctx, freenect_loglevel level) {}
266266
void freenect_set_user(freenect_device *dev, void *user) {}
267267
int freenect_shutdown(freenect_context *ctx) {return 0;}
268268
int freenect_close_device(freenect_device *dev) {return 0;}
269-
int freenect_set_rgb_format(freenect_device *dev, freenect_rgb_format fmt) {return 0;}
269+
int freenect_set_rgb_format(freenect_device *dev, freenect_video_format fmt) {return 0;}
270270
int freenect_set_depth_format(freenect_device *dev, freenect_depth_format fmt) {return 0;}
271271
int freenect_start_depth(freenect_device *dev) {return 0;}
272272
int freenect_start_rgb(freenect_device *dev) {return 0;}

‎fakenect/record.c‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -109,12 +109,12 @@ void snapshot_accel(freenect_device *dev) {
109109

110110

111111
void depth_cb(freenect_device *dev, void *depth, uint32_t timestamp) {
112-
dump('d', timestamp, depth, FREENECT_DEPTH_SIZE);
112+
dump('d', timestamp, depth, FREENECT_DEPTH_11BIT_SIZE);
113113
}
114114

115115

116116
void rgb_cb(freenect_device *dev, freenect_pixel *rgb, uint32_t timestamp) {
117-
dump('r', timestamp, rgb, FREENECT_RGB_SIZE);
117+
dump('r', timestamp, rgb, FREENECT_VIDEO_RGB_SIZE);
118118
}
119119

120120
void init() {
@@ -129,9 +129,9 @@ void init() {
129129
printf("Error: Cannot get device\n");
130130
return;
131131
}
132-
freenect_set_depth_format(dev, 0);
132+
freenect_set_depth_format(dev, FREENECT_DEPTH_11BIT);
133133
freenect_start_depth(dev);
134-
freenect_set_rgb_format(dev, FREENECT_FORMAT_RGB);
134+
freenect_set_rgb_format(dev, FREENECT_VIDEO_RGB);
135135
freenect_start_rgb(dev);
136136
freenect_set_depth_callback(dev, depth_cb);
137137
freenect_set_rgb_callback(dev, rgb_cb);

‎include/libfreenect.h‎

Lines changed: 17 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -40,17 +40,21 @@ typedef uint8_t freenect_pixel;
4040
#define FREENECT_FRAME_W 640
4141
#define FREENECT_FRAME_H 480
4242
#define FREENECT_FRAME_PIX (FREENECT_FRAME_H*FREENECT_FRAME_W)
43-
#define FREENECT_RGB_SIZE (FREENECT_FRAME_PIX*3)
44-
#define FREENECT_BAYER_SIZE (FREENECT_FRAME_PIX)
45-
#define FREENECT_DEPTH_SIZE (FREENECT_FRAME_PIX*sizeof(freenect_depth))
46-
#define FREENECT_PACKED_DEPTH_10_SIZE 384000
47-
#define FREENECT_PACKED_DEPTH_11_SIZE 422400
43+
44+
#define FREENECT_VIDEO_RGB_SIZE (FREENECT_FRAME_PIX*3)
45+
#define FREENECT_VIDEO_BAYER_SIZE (FREENECT_FRAME_PIX)
46+
47+
#define FREENECT_DEPTH_11BIT_SIZE (FREENECT_FRAME_PIX*sizeof(freenect_depth))
48+
#define FREENECT_DEPTH_10BIT_SIZE FREENECT_DEPTH_11BIT_SIZE
49+
#define FREENECT_DEPTH_11BIT_PACKED_SIZE 422400
50+
#define FREENECT_DEPTH_10BIT_PACKED_SIZE 384000
51+
4852
#define FREENECT_COUNTS_PER_G 819
4953

5054
typedef enum {
51-
FREENECT_FORMAT_RGB = 0,
52-
FREENECT_FORMAT_BAYER = 1,
53-
} freenect_rgb_format;
55+
FREENECT_VIDEO_RGB = 0,
56+
FREENECT_VIDEO_BAYER = 1,
57+
} freenect_video_format;
5458

5559
typedef enum {
5660
LED_OFF = 0,
@@ -63,10 +67,10 @@ typedef enum {
6367
} freenect_led_options;
6468

6569
typedef enum {
66-
FREENECT_FORMAT_11_BIT = 0,
67-
FREENECT_FORMAT_10_BIT = 1,
68-
FREENECT_FORMAT_PACKED_11_BIT = 2,
69-
FREENECT_FORMAT_PACKED_10_BIT = 3,
70+
FREENECT_DEPTH_11BIT = 0,
71+
FREENECT_DEPTH_10BIT = 1,
72+
FREENECT_DEPTH_11BIT_PACKED = 2,
73+
FREENECT_DEPTH_10BIT_PACKED = 3,
7074
} freenect_depth_format;
7175

7276
typedef enum {
@@ -129,7 +133,7 @@ void freenect_set_depth_callback(freenect_device *dev, freenect_depth_cb cb);
129133
void freenect_set_rgb_callback(freenect_device *dev, freenect_rgb_cb cb);
130134

131135
int freenect_set_depth_format(freenect_device *dev, freenect_depth_format fmt);
132-
int freenect_set_rgb_format(freenect_device *dev, freenect_rgb_format fmt);
136+
int freenect_set_rgb_format(freenect_device *dev, freenect_video_format fmt);
133137

134138
int freenect_set_depth_buffer(freenect_device *dev, void *buf);
135139
int freenect_set_rgb_buffer(freenect_device *dev, freenect_pixel *buf);

‎include/libfreenect.hpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -62,8 +62,8 @@ namespace Freenect {
6262
FreenectDevice(freenect_context *_ctx, int _index) {
6363
if(freenect_open_device(_ctx, &m_dev, _index) != 0) throw std::runtime_error("Cannot open Kinect");
6464
freenect_set_user(m_dev, this);
65-
freenect_set_rgb_format(m_dev, FREENECT_FORMAT_RGB);
66-
freenect_set_depth_format(m_dev, FREENECT_FORMAT_11_BIT);
65+
freenect_set_rgb_format(m_dev, FREENECT_VIDEO_RGB);
66+
freenect_set_depth_format(m_dev, FREENECT_DEPTH_11BIT);
6767
freenect_set_depth_callback(m_dev, freenect_depth_callback);
6868
freenect_set_rgb_callback(m_dev, freenect_rgb_callback);
6969
}

‎src/cameras.c‎

Lines changed: 27 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -239,14 +239,14 @@ static void depth_process(freenect_device *dev, uint8_t *pkt, int len)
239239
dev->depth.valid_pkts, dev->depth.pkts_per_frame, dev->depth.timestamp);
240240

241241
switch (dev->depth_format) {
242-
case FREENECT_FORMAT_11_BIT:
242+
case FREENECT_DEPTH_11BIT:
243243
convert_packed_to_16bit(dev->depth.raw_buf, dev->depth.proc_buf, 11);
244244
break;
245-
case FREENECT_FORMAT_10_BIT:
245+
case FREENECT_DEPTH_10BIT:
246246
convert_packed_to_16bit(dev->depth.raw_buf, dev->depth.proc_buf, 10);
247247
break;
248-
case FREENECT_FORMAT_PACKED_10_BIT:
249-
case FREENECT_FORMAT_PACKED_11_BIT:
248+
case FREENECT_DEPTH_10BIT_PACKED:
249+
case FREENECT_DEPTH_11BIT_PACKED:
250250
break;
251251
}
252252
if (dev->depth_cb)
@@ -435,7 +435,7 @@ static void rgb_process(freenect_device *dev, uint8_t *pkt, int len)
435435
FN_SPEW("Got RGB frame %d/%d packets arrived, TS %08x\n", dev->rgb.valid_pkts,
436436
dev->rgb.pkts_per_frame, dev->rgb.timestamp);
437437

438-
if (dev->rgb_format == FREENECT_FORMAT_RGB) {
438+
if (dev->rgb_format == FREENECT_VIDEO_RGB) {
439439
convert_bayer_to_rgb(dev->rgb.raw_buf, dev->rgb.proc_buf);
440440
}
441441

@@ -547,20 +547,20 @@ int freenect_start_depth(freenect_device *dev)
547547
return -1;
548548

549549
switch (dev->depth_format) {
550-
case FREENECT_FORMAT_11_BIT:
551-
stream_initbufs(ctx, &dev->depth, FREENECT_PACKED_DEPTH_11_SIZE, FREENECT_DEPTH_SIZE);
550+
case FREENECT_DEPTH_11BIT:
551+
stream_initbufs(ctx, &dev->depth, FREENECT_DEPTH_11BIT_PACKED_SIZE, FREENECT_DEPTH_11BIT_SIZE);
552552
dev->depth.pkts_per_frame = DEPTH_PKTS_11_BIT_PER_FRAME;
553553
break;
554-
case FREENECT_FORMAT_10_BIT:
555-
stream_initbufs(ctx, &dev->depth, FREENECT_PACKED_DEPTH_10_SIZE, FREENECT_DEPTH_SIZE);
554+
case FREENECT_DEPTH_10BIT:
555+
stream_initbufs(ctx, &dev->depth, FREENECT_DEPTH_10BIT_PACKED_SIZE, FREENECT_DEPTH_10BIT_SIZE);
556556
dev->depth.pkts_per_frame = DEPTH_PKTS_10_BIT_PER_FRAME;
557557
break;
558-
case FREENECT_FORMAT_PACKED_11_BIT:
559-
stream_initbufs(ctx, &dev->depth, 0, FREENECT_PACKED_DEPTH_11_SIZE);
558+
case FREENECT_DEPTH_11BIT_PACKED:
559+
stream_initbufs(ctx, &dev->depth, 0, FREENECT_DEPTH_11BIT_PACKED_SIZE);
560560
dev->depth.pkts_per_frame = DEPTH_PKTS_11_BIT_PER_FRAME;
561561
break;
562-
case FREENECT_FORMAT_PACKED_10_BIT:
563-
stream_initbufs(ctx, &dev->depth, 0, FREENECT_PACKED_DEPTH_10_SIZE);
562+
case FREENECT_DEPTH_10BIT_PACKED:
563+
stream_initbufs(ctx, &dev->depth, 0, FREENECT_DEPTH_11BIT_PACKED_SIZE);
564564
dev->depth.pkts_per_frame = DEPTH_PKTS_10_BIT_PER_FRAME;
565565
break;
566566
}
@@ -576,12 +576,12 @@ int freenect_start_depth(freenect_device *dev)
576576

577577
write_register(dev, 0x06, 0x00); // reset depth stream
578578
switch (dev->depth_format) {
579-
case FREENECT_FORMAT_11_BIT:
580-
case FREENECT_FORMAT_PACKED_11_BIT:
579+
case FREENECT_DEPTH_11BIT:
580+
case FREENECT_DEPTH_11BIT_PACKED:
581581
write_register(dev, 0x12, 0x03);
582582
break;
583-
case FREENECT_FORMAT_10_BIT:
584-
case FREENECT_FORMAT_PACKED_10_BIT:
583+
case FREENECT_DEPTH_10BIT:
584+
case FREENECT_DEPTH_10BIT_PACKED:
585585
write_register(dev, 0x12, 0x02);
586586
break;
587587
}
@@ -601,10 +601,10 @@ int freenect_start_rgb(freenect_device *dev)
601601
if (dev->rgb.running)
602602
return -1;
603603

604-
if (dev->rgb_format == FREENECT_FORMAT_RGB)
605-
stream_initbufs(ctx, &dev->rgb, FREENECT_BAYER_SIZE, FREENECT_RGB_SIZE);
604+
if (dev->rgb_format == FREENECT_VIDEO_RGB)
605+
stream_initbufs(ctx, &dev->rgb, FREENECT_VIDEO_BAYER_SIZE, FREENECT_VIDEO_RGB_SIZE);
606606
else
607-
stream_initbufs(ctx, &dev->rgb, 0, FREENECT_BAYER_SIZE);
607+
stream_initbufs(ctx, &dev->rgb, 0, FREENECT_VIDEO_BAYER_SIZE);
608608

609609
dev->rgb.pkts_per_frame = RGB_PKTS_PER_FRAME;
610610
dev->rgb.pkt_size = RGB_PKTDSIZE;
@@ -679,7 +679,7 @@ void freenect_set_rgb_callback(freenect_device *dev, freenect_rgb_cb cb)
679679
dev->rgb_cb = cb;
680680
}
681681

682-
int freenect_set_rgb_format(freenect_device *dev, freenect_rgb_format fmt)
682+
int freenect_set_rgb_format(freenect_device *dev, freenect_video_format fmt)
683683
{
684684
freenect_context *ctx = dev->parent;
685685
if (dev->rgb.running) {
@@ -688,8 +688,8 @@ int freenect_set_rgb_format(freenect_device *dev, freenect_rgb_format fmt)
688688
}
689689

690690
switch (fmt) {
691-
case FREENECT_FORMAT_RGB:
692-
case FREENECT_FORMAT_BAYER:
691+
case FREENECT_VIDEO_RGB:
692+
case FREENECT_VIDEO_BAYER:
693693
dev->rgb_format = fmt;
694694
return 0;
695695
default:
@@ -706,10 +706,10 @@ int freenect_set_depth_format(freenect_device *dev, freenect_depth_format fmt)
706706
return -1;
707707
}
708708
switch (fmt) {
709-
case FREENECT_FORMAT_11_BIT:
710-
case FREENECT_FORMAT_10_BIT:
711-
case FREENECT_FORMAT_PACKED_11_BIT:
712-
case FREENECT_FORMAT_PACKED_10_BIT:
709+
case FREENECT_DEPTH_11BIT:
710+
case FREENECT_DEPTH_10BIT:
711+
case FREENECT_DEPTH_11BIT_PACKED:
712+
case FREENECT_DEPTH_10BIT_PACKED:
713713
dev->depth_format = fmt;
714714
return 0;
715715
default:

‎src/freenect_internal.h‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -88,8 +88,8 @@ static inline uint32_t fn_le32(uint32_t d)
8888
#define DEPTH_PKTDSIZE (DEPTH_PKTSIZE-12)
8989
#define RGB_PKTDSIZE (RGB_PKTSIZE-12)
9090

91-
#define DEPTH_PKTS_10_BIT_PER_FRAME ((FREENECT_PACKED_DEPTH_10_SIZE+DEPTH_PKTDSIZE-1)/DEPTH_PKTDSIZE)
92-
#define DEPTH_PKTS_11_BIT_PER_FRAME ((FREENECT_PACKED_DEPTH_11_SIZE+DEPTH_PKTDSIZE-1)/DEPTH_PKTDSIZE)
91+
#define DEPTH_PKTS_10_BIT_PER_FRAME ((FREENECT_DEPTH_10BIT_PACKED_SIZE+DEPTH_PKTDSIZE-1)/DEPTH_PKTDSIZE)
92+
#define DEPTH_PKTS_11_BIT_PER_FRAME ((FREENECT_DEPTH_11BIT_PACKED_SIZE+DEPTH_PKTDSIZE-1)/DEPTH_PKTDSIZE)
9393
#define RGB_PKTS_PER_FRAME ((FRAME_PIX+RGB_PKTDSIZE-1)/RGB_PKTDSIZE)
9494

9595
#define VID_MICROSOFT 0x45e
@@ -128,7 +128,7 @@ struct _freenect_device {
128128

129129
freenect_depth_cb depth_cb;
130130
freenect_rgb_cb rgb_cb;
131-
freenect_rgb_format rgb_format;
131+
freenect_video_format rgb_format;
132132
freenect_depth_format depth_format;
133133

134134
int cam_inited;

‎wrappers/c_sync/libfreenect_sync.c‎

Lines changed: 10 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -35,24 +35,24 @@ pthread_mutex_t rgb_mutex = PTHREAD_MUTEX_INITIALIZER;
3535
pthread_mutex_t depth_mutex = PTHREAD_MUTEX_INITIALIZER;
3636
pthread_cond_t rgb_cond = PTHREAD_COND_INITIALIZER;
3737
pthread_cond_t depth_cond = PTHREAD_COND_INITIALIZER;
38-
char depth_img[FREENECT_DEPTH_SIZE];
39-
char rgb_img[FREENECT_RGB_SIZE];
38+
char depth_img[FREENECT_DEPTH_11BIT_SIZE];
39+
char rgb_img[FREENECT_VIDEO_RGB_SIZE];
4040
uint32_t depth_timestamp;
4141
uint32_t rgb_timestamp;
4242
int thread_running = 0;
4343
pthread_t thread;
4444

4545
void depth_producer_cb(freenect_device *dev, void *depth, uint32_t timestamp) {
4646
pthread_mutex_lock(&depth_mutex);
47-
memcpy(depth_img, depth, FREENECT_DEPTH_SIZE);
47+
memcpy(depth_img, depth, FREENECT_DEPTH_11BIT_SIZE);
4848
depth_timestamp = timestamp;
4949
pthread_cond_signal(&depth_cond);
5050
pthread_mutex_unlock(&depth_mutex);
5151
}
5252

5353
void rgb_producer_cb(freenect_device *dev, freenect_pixel *rgb, uint32_t timestamp) {
5454
pthread_mutex_lock(&rgb_mutex);
55-
memcpy(rgb_img, rgb, FREENECT_RGB_SIZE);
55+
memcpy(rgb_img, rgb, FREENECT_VIDEO_RGB_SIZE);
5656
rgb_timestamp = timestamp;
5757
pthread_cond_signal(&rgb_cond);
5858
pthread_mutex_unlock(&rgb_mutex);
@@ -63,9 +63,9 @@ void *init(void *unused) {
6363
freenect_device *dev;
6464
freenect_init(&ctx, 0);
6565
freenect_open_device(ctx, &dev, 0);
66-
freenect_set_depth_format(dev, 0);
66+
freenect_set_depth_format(dev, FREENECT_DEPTH_11BIT);
6767
freenect_start_depth(dev);
68-
freenect_set_rgb_format(dev, FREENECT_FORMAT_RGB);
68+
freenect_set_rgb_format(dev, FREENECT_VIDEO_RGB);
6969
freenect_start_rgb(dev);
7070
freenect_set_depth_callback(dev, depth_producer_cb);
7171
freenect_set_rgb_callback(dev, rgb_producer_cb);
@@ -84,24 +84,24 @@ void init_thread() {
8484
}
8585

8686
int freenect_sync_get_depth(char **depth, uint32_t *timestamp) {
87-
*depth = malloc(FREENECT_DEPTH_SIZE);
87+
*depth = malloc(FREENECT_DEPTH_11BIT_SIZE);
8888
if (!thread_running)
8989
init_thread();
9090
pthread_mutex_lock(&depth_mutex);
9191
pthread_cond_wait(&depth_cond, &depth_mutex);
92-
memcpy(*depth, depth_img, FREENECT_DEPTH_SIZE);
92+
memcpy(*depth, depth_img, FREENECT_DEPTH_11BIT_SIZE);
9393
*timestamp = depth_timestamp;
9494
pthread_mutex_unlock(&depth_mutex);
9595
return 0;
9696
}
9797

9898
int freenect_sync_get_rgb(char **rgb, uint32_t *timestamp) {
99-
*rgb = malloc(FREENECT_RGB_SIZE);
99+
*rgb = malloc(FREENECT_VIDEO_RGB_SIZE);
100100
if (!thread_running)
101101
init_thread();
102102
pthread_mutex_lock(&rgb_mutex);
103103
pthread_cond_wait(&rgb_cond, &rgb_mutex);
104-
memcpy(*rgb, rgb_img, FREENECT_RGB_SIZE);
104+
memcpy(*rgb, rgb_img, FREENECT_VIDEO_RGB_SIZE);
105105
*timestamp = rgb_timestamp;
106106
pthread_mutex_unlock(&rgb_mutex);
107107
return 0;

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