A slightly more aggressive form of allowing resolution to be set through c_sync wrapper

Signed-off-by: Thomas Dunne <[email protected]>

Author: mcteo

examples/glpclview.c

@@ -117,9 +117,9 @@ void DrawGLScene()
     short *depth = 0;
     char *rgb = 0;
     uint32_t ts;
-    if (freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_11BIT) < 0)
+    if (freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT) < 0)
 	no_kinect_quit();
-    if (freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB) < 0)
+    if (freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB) < 0)
 	no_kinect_quit();
 
     static unsigned int indices[480][640];

examples/regtest.c

@@ -67,31 +67,31 @@ int main(void)
 	FILE *fp;
 	int ret;
 
-	ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB);
+	ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_RESOLUTION_MEDIUM, 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);
+	ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, 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);
+	ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, 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);
+	ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM);
 	if (ret < 0)
 		no_kinect_quit();
 

wrappers/c_sync/libfreenect_sync.c

@@ -37,6 +37,7 @@ typedef struct buffer_ring {
 	uint32_t timestamp;
 	int valid; // True if middle buffer is valid
 	int fmt;
+    int res;
 } buffer_ring_t;
 
 typedef struct sync_kinect {
@@ -56,8 +57,6 @@ static pthread_mutex_t runloop_lock = PTHREAD_MUTEX_INITIALIZER;
 static int pending_runloop_tasks = 0;
 static pthread_mutex_t pending_runloop_tasks_lock = PTHREAD_MUTEX_INITIALIZER;
 static pthread_cond_t pending_runloop_tasks_cond = PTHREAD_COND_INITIALIZER;
-static freenect_resolution m_video_resolution = FREENECT_RESOLUTION_MEDIUM;
-static freenect_resolution m_depth_resolution = FREENECT_RESOLUTION_MEDIUM;
 
 /* Locking Convention
    Rules:
@@ -69,7 +68,7 @@ static freenect_resolution m_depth_resolution = FREENECT_RESOLUTION_MEDIUM;
        - runloop_lock, buffer_ring_t.lock (NOTE: You may only have one)
 */
 
-static int alloc_buffer_ring_video(freenect_video_format fmt, buffer_ring_t *buf)
+static int alloc_buffer_ring_video(freenect_resolution res, freenect_video_format fmt, buffer_ring_t *buf)
 {
 	int sz, i;
 	switch (fmt) {
@@ -78,7 +77,7 @@ static int alloc_buffer_ring_video(freenect_video_format fmt, buffer_ring_t *buf
 		case FREENECT_VIDEO_IR_8BIT:
 		case FREENECT_VIDEO_IR_10BIT:
 		case FREENECT_VIDEO_IR_10BIT_PACKED:
-			sz = freenect_find_video_mode(m_video_resolution, fmt).bytes;
+			sz = freenect_find_video_mode(res, fmt).bytes;
 			break;
 		default:
 			printf("Invalid video format %d\n", fmt);
@@ -89,10 +88,11 @@ static int alloc_buffer_ring_video(freenect_video_format fmt, buffer_ring_t *buf
 	buf->timestamp = 0;
 	buf->valid = 0;
 	buf->fmt = fmt;
+    buf->res = res;
 	return 0;
 }
 
-static int alloc_buffer_ring_depth(freenect_depth_format fmt, buffer_ring_t *buf)
+static int alloc_buffer_ring_depth(freenect_resolution res, freenect_depth_format fmt, buffer_ring_t *buf)
 {
 	int sz, i;
 	switch (fmt) {
@@ -102,7 +102,7 @@ static int alloc_buffer_ring_depth(freenect_depth_format fmt, buffer_ring_t *buf
 		case FREENECT_DEPTH_10BIT_PACKED:
 		case FREENECT_DEPTH_REGISTERED:
 		case FREENECT_DEPTH_MM:
-			sz = freenect_find_depth_mode(m_depth_resolution, fmt).bytes;
+			sz = freenect_find_depth_mode(res, fmt).bytes;
 			break;
 		default:
 			printf("Invalid depth format %d\n", fmt);
@@ -113,6 +113,7 @@ static int alloc_buffer_ring_depth(freenect_depth_format fmt, buffer_ring_t *buf
 	buf->timestamp = 0;
 	buf->valid = 0;
 	buf->fmt = fmt;
+    buf->res = res;
 	return 0;
 }
 
@@ -126,6 +127,7 @@ static void free_buffer_ring(buffer_ring_t *buf)
 	buf->timestamp = 0;
 	buf->valid = 0;
 	buf->fmt = -1;
+    buf->res = -1;
 }
 
 static void producer_cb_inner(freenect_device *dev, void *data, uint32_t timestamp, buffer_ring_t *buf, set_buffer_t set_buffer)
@@ -219,29 +221,27 @@ static void init_thread(void)
 	pthread_create(&thread, NULL, init, NULL);
 }
 
-static int change_video_format(sync_kinect_t *kinect, freenect_video_format fmt, freenect_resolution requested_resolution)
+static int change_video_format(sync_kinect_t *kinect, freenect_resolution res, freenect_video_format fmt)
 {
 	freenect_stop_video(kinect->dev);
 	free_buffer_ring(&kinect->video);
-	if (alloc_buffer_ring_video(fmt, &kinect->video))
+	if (alloc_buffer_ring_video(res, fmt, &kinect->video))
 		return -1;
-	freenect_set_video_mode(kinect->dev, freenect_find_video_mode(requested_resolution, fmt));
+	freenect_set_video_mode(kinect->dev, freenect_find_video_mode(res, fmt));
 	freenect_set_video_buffer(kinect->dev, kinect->video.bufs[2]);
 	freenect_start_video(kinect->dev);
-	m_video_resolution = requested_resolution;
 	return 0;
 }
 
-static int change_depth_format(sync_kinect_t *kinect, freenect_depth_format fmt, freenect_resolution requested_resolution)
+static int change_depth_format(sync_kinect_t *kinect, freenect_resolution res, freenect_depth_format fmt)
 {
 	freenect_stop_depth(kinect->dev);
 	free_buffer_ring(&kinect->depth);
-	if (alloc_buffer_ring_depth(fmt, &kinect->depth))
+	if (alloc_buffer_ring_depth(res, fmt, &kinect->depth))
 		return -1;
-	freenect_set_depth_mode(kinect->dev, freenect_find_depth_mode(requested_resolution, fmt));
+	freenect_set_depth_mode(kinect->dev, freenect_find_depth_mode(res, fmt));
 	freenect_set_depth_buffer(kinect->dev, kinect->depth.bufs[2]);
 	freenect_start_depth(kinect->dev);
-	m_depth_resolution = requested_resolution;
 	return 0;
 }
 
@@ -258,7 +258,9 @@ static sync_kinect_t *alloc_kinect(int index)
 		kinect->depth.bufs[i] = NULL;
 	}
 	kinect->video.fmt = -1;
+    kinect->video.res = -1;
 	kinect->depth.fmt = -1;
+    kinect->depth.res = -1;
 	freenect_set_video_callback(kinect->dev, video_producer_cb);
 	freenect_set_depth_callback(kinect->dev, depth_producer_cb);
 	pthread_mutex_init(&kinect->video.lock, NULL);
@@ -268,7 +270,7 @@ static sync_kinect_t *alloc_kinect(int index)
 	return kinect;
 }
 
-static int setup_kinect(int index, int fmt, int is_depth)
+static int setup_kinect(int index, int res, int fmt, int is_depth)
 {
 	pending_runloop_tasks_inc();
 	pthread_mutex_lock(&runloop_lock);
@@ -299,12 +301,12 @@ static int setup_kinect(int index, int fmt, int is_depth)
 	else
 		buf = &kinects[index]->video;
 	pthread_mutex_lock(&buf->lock);
-	if (buf->fmt != fmt) {
+	if ((buf->fmt != fmt) || (buf->res != res)) {
 		if (is_depth)
-			change_depth_format(kinects[index], (freenect_depth_format)fmt, m_video_resolution);
+			change_depth_format(kinects[index], (freenect_resolution)res, (freenect_depth_format)fmt);
 		else
-			change_video_format(kinects[index], (freenect_video_format)fmt, m_video_resolution);
-	}
+			change_video_format(kinects[index], (freenect_resolution)res, (freenect_video_format)fmt);
+    }
 	pthread_mutex_unlock(&buf->lock);
 	pthread_mutex_unlock(&runloop_lock);
 	pending_runloop_tasks_dec();
@@ -343,7 +345,7 @@ static int runloop_enter(int index)
 		return -1;
 	}
 	if (!thread_running || !kinects[index])
-		if (setup_kinect(index, FREENECT_DEPTH_11BIT, 1))
+		if (setup_kinect(index, FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT, 1))
 			return -1;
 
 	pending_runloop_tasks_inc();
@@ -357,27 +359,31 @@ static void runloop_exit()
 	pending_runloop_tasks_dec();
 }
 
-int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freenect_video_format fmt)
+int freenect_sync_get_video(void **video, uint32_t *timestamp, int index,
+        freenect_resolution res, freenect_video_format fmt)
 {
 	if (index < 0 || index >= MAX_KINECTS) {
 		printf("Error: Invalid index [%d]\n", index);
 		return -1;
 	}
-	if (!thread_running || !kinects[index] || kinects[index]->video.fmt != fmt)
-		if (setup_kinect(index, fmt, 0))
+	if (!thread_running || !kinects[index] || kinects[index]->video.fmt != fmt
+            || kinects[index]->video.res != res)
+		if (setup_kinect(index, res, fmt, 0))
 			return -1;
 	sync_get(video, timestamp, &kinects[index]->video);
 	return 0;
 }
 
-int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt)
+int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index,
+        freenect_resolution res, freenect_depth_format fmt)
 {
 	if (index < 0 || index >= MAX_KINECTS) {
 		printf("Error: Invalid index [%d]\n", index);
 		return -1;
 	}
-	if (!thread_running || !kinects[index] || kinects[index]->depth.fmt != fmt)
-		if (setup_kinect(index, fmt, 1))
+	if (!thread_running || !kinects[index] || kinects[index]->depth.fmt != fmt
+            || kinects[index]->depth.res != res)
+		if (setup_kinect(index, res, fmt, 1))
 			return -1;
 	sync_get(depth, timestamp, &kinects[index]->depth);
 	return 0;

wrappers/c_sync/libfreenect_sync.h

@@ -33,7 +33,8 @@
 extern "C" {
 #endif
 
-int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freenect_video_format fmt);
+int freenect_sync_get_video(void **video, uint32_t *timestamp, int index,
+        freenect_resolution res, freenect_video_format fmt);
 /*  Synchronous video function, starts the runloop if it isn't running
 
     The returned buffer is valid until this function is called again, after which the buffer must not
@@ -49,8 +50,8 @@ int freenect_sync_get_video(void **video, uint32_t *timestamp, int index, freene
         Nonzero on error.
 */
 
-
-int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index, freenect_depth_format fmt);
+int freenect_sync_get_depth(void **depth, uint32_t *timestamp, int index,
+        freenect_resolution res, freenect_depth_format fmt);
 /*  Synchronous depth function, starts the runloop if it isn't running
 
     The returned buffer is valid until this function is called again, after which the buffer must not