c_sync: Add freenect_sync_camera_to_world() (thanks @martyvona) - fixes OpenKinect#294

Signed-off-by: Benn Snyder <[email protected]>

Author: piedar

wrappers/c_sync/libfreenect_sync.c

@@ -28,6 +28,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include <assert.h>
+#include "libfreenect_registration.h"
 #include "libfreenect_sync.h"
 
 typedef struct buffer_ring {
@@ -402,6 +403,13 @@ int freenect_sync_set_led(freenect_led_options led, int index) {
 	return 0;
 }
 
+int freenect_sync_camera_to_world(int cx, int cy, int wz, double* wx, double* wy, int index) {
+	if (runloop_enter(index)) return -1;
+	freenect_camera_to_world(kinects[index]->dev, cx, cy, wz, wx, wy);
+	runloop_exit();
+	return 0;
+}
+
 void freenect_sync_stop(void)
 {
 	if (thread_running) {

wrappers/c_sync/libfreenect_sync.h

@@ -113,6 +113,11 @@ FREENECTAPI_SYNC int freenect_sync_set_led(freenect_led_options led, int index);
         Nonzero on error.
 */
 
+FREENECTAPI_SYNC int freenect_sync_camera_to_world(int cx, int cy, int wz, double* wx, double* wy, int index);
+/*  Camera to world mapping, starts the runloop if it isn't running
+
+    Wraps libfreenect_registration.h function of same name.
+*/
 
 FREENECTAPI_SYNC void freenect_sync_stop(void);
 #ifdef __cplusplus