From db160f87f34b406dff7db76fe55e24afa4c9b47a Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 10:41:20 +0900
Subject: [PATCH 01/29] there are lots of unimplemented features,but this can
 make

---
 .../Drivers/Libfreenect2/LF2DepthStream.cpp   | 30 +++++++++
 Source/Drivers/Libfreenect2/LF2DepthStream.h  | 38 +++++++++++
 Source/Drivers/Libfreenect2/LF2Device.cpp     | 42 ++++++++++++
 Source/Drivers/Libfreenect2/LF2Device.h       | 43 ++++++++++++
 Source/Drivers/Libfreenect2/LF2Driver.cpp     | 65 +++++++++++++++++++
 Source/Drivers/Libfreenect2/LF2Driver.h       | 33 ++++++++++
 Source/Drivers/Libfreenect2/LF2ImageStream.h  | 35 ++++++++++
 Source/Drivers/Libfreenect2/LF2IrStream.h     | 35 ++++++++++
 Source/Drivers/Libfreenect2/LF2Stream.cpp     | 16 +++++
 Source/Drivers/Libfreenect2/LF2Stream.h       | 40 ++++++++++++
 Source/Drivers/Libfreenect2/Makefile          | 37 +++++++++++
 11 files changed, 414 insertions(+)
 create mode 100644 Source/Drivers/Libfreenect2/LF2DepthStream.cpp
 create mode 100644 Source/Drivers/Libfreenect2/LF2DepthStream.h
 create mode 100644 Source/Drivers/Libfreenect2/LF2Device.cpp
 create mode 100644 Source/Drivers/Libfreenect2/LF2Device.h
 create mode 100644 Source/Drivers/Libfreenect2/LF2Driver.cpp
 create mode 100644 Source/Drivers/Libfreenect2/LF2Driver.h
 create mode 100644 Source/Drivers/Libfreenect2/LF2ImageStream.h
 create mode 100644 Source/Drivers/Libfreenect2/LF2IrStream.h
 create mode 100644 Source/Drivers/Libfreenect2/LF2Stream.cpp
 create mode 100644 Source/Drivers/Libfreenect2/LF2Stream.h
 create mode 100644 Source/Drivers/Libfreenect2/Makefile

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
new file mode 100644
index 00000000..970dbd52
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -0,0 +1,30 @@
+#include "LF2DepthStream.h"
+
+using namespace LF2;
+
+int
+LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
+{
+  frame_out->dataSize = frame_in->width * frame_in->height * frame_in->bytes_per_pixel;
+  frame_out->data = frame_in->data;
+  frame_out->frameIndex = frame_in->sequence;
+  frame_out->sensorType = ONI_SENSOR_DEPTH;
+
+  frame_out->videoMode.pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
+  frame_out->videoMode.resolutionX = frame_in->width;
+  frame_out->videoMode.resolutionY = frame_in->height;
+  frame_out->videoMode.fps = 30;
+
+  frame_out->width = frame_in->width;
+  frame_out->height = frame_in->height;
+
+  frame_out->cropOriginX = frame_out->cropOriginY = 0;
+  frame_out->croppingEnabled = FALSE;
+
+  frame_out->sensorType = ONI_SENSOR_DEPTH;
+  frame_out->stride = frame_in->width*sizeof(OniDepthPixel);
+  frame_out->timestamp = frame_in->sequence*33000;
+
+  return 1;
+}
+
diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.h b/Source/Drivers/Libfreenect2/LF2DepthStream.h
new file mode 100644
index 00000000..96d219db
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.h
@@ -0,0 +1,38 @@
+#ifndef LF2DEPTH_STREAM_H
+#define LF2DEPTH_STREAM_H
+
+#include "LF2Stream.h"
+
+namespace LF2 {
+  class LF2DepthStream :
+    public LF2Stream
+  {
+  public:
+    LF2DepthStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev){}
+
+    ~LF2DepthStream()
+    {
+      stop ();
+    }
+
+    // function for OpenNI2
+    OniStatus
+    start ()
+    {
+      m_f2dev->setIrAndDepthFrameListener (this);
+      return ONI_STATUS_OK;
+    }
+
+    void
+    stop ()
+    {
+      m_f2dev->setIrAndDepthFrameListener (NULL);
+    }
+
+  protected:
+    int
+    BuildFrame (libfreenect2::Frame*,OniFrame*);
+  };
+}
+
+#endif // LF2DEPTH_STREAM_H
diff --git a/Source/Drivers/Libfreenect2/LF2Device.cpp b/Source/Drivers/Libfreenect2/LF2Device.cpp
new file mode 100644
index 00000000..e05bb704
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2Device.cpp
@@ -0,0 +1,42 @@
+#include "XnLib.h"
+#include "LF2Device.h"
+#include "LF2DepthStream.h"
+#include "LF2ImageStream.h"
+#include "LF2IrStream.h"
+
+using namespace LF2;
+using namespace oni::driver;
+
+StreamBase*
+LF2Device::createStream (OniSensorType sensorType)
+{
+  if (sensorType == ONI_SENSOR_DEPTH)
+    {
+      LF2DepthStream* pDepth = XN_NEW(LF2DepthStream,m_f2dev);
+      return pDepth;
+    }
+  else
+    {
+      printf("This type of stream is not implemented yet\n");
+      abort ();
+    }
+  // else if (sensorType == ONI_SENSOR_COLOR)
+  //   {
+  //     LF2ImageStream* pImage = XN_NEW(LF2ImageStream);
+  //     return pImage;
+  //   }
+  // else if (sensorType == ONI_SENSOR_IR)
+  //   {
+  //     LF2IrStream* pIr = XN_NEW(LF2IrStream);
+  //     return pIr;
+  //   }
+
+  return NULL;
+}
+
+void
+LF2Device::destroyStream (StreamBase* pStream)
+{
+  XN_DELETE (pStream);
+}
+
diff --git a/Source/Drivers/Libfreenect2/LF2Device.h b/Source/Drivers/Libfreenect2/LF2Device.h
new file mode 100644
index 00000000..d8976a6b
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2Device.h
@@ -0,0 +1,43 @@
+#ifndef LF2DEVICE_H
+#define LF2DEVICE_H
+
+#include <string>
+#include "libfreenect2/libfreenect2.hpp"
+#include "Driver/OniDriverAPI.h"
+#include "LF2Driver.h"
+
+
+namespace LF2 {
+  class LF2Driver;
+  class LF2Device : 
+    public oni::driver::DeviceBase 
+  {
+  public :
+    LF2Device(libfreenect2::Freenect2Device* f2dev,LF2Driver* driver)
+    {
+      m_f2dev = f2dev;
+      m_driver = driver;
+    }
+
+	OniStatus
+    getSensorInfoList(OniSensorInfo**, int*)
+    {
+      return ONI_STATUS_NOT_IMPLEMENTED;
+    }
+
+    oni::driver::StreamBase* 
+    createStream (OniSensorType);
+
+    void
+    destroyStream (oni::driver::StreamBase*);
+  protected:
+    libfreenect2::Freenect2Device* m_f2dev;
+    LF2Driver* m_driver;
+  };
+}
+
+#endif // LF2DEVICE_H
+
+
+
+
diff --git a/Source/Drivers/Libfreenect2/LF2Driver.cpp b/Source/Drivers/Libfreenect2/LF2Driver.cpp
new file mode 100644
index 00000000..38d68722
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2Driver.cpp
@@ -0,0 +1,65 @@
+#include "LF2Driver.h"
+#include "LF2Device.h"
+
+using namespace LF2;
+using namespace oni::driver;
+using namespace libfreenect2;
+
+DeviceBase*
+LF2Driver::deviceOpen(const char * uri, const char *)
+{
+  Freenect2Device * f2dev;  
+  LF2Device* pDevice = NULL;
+
+  // if device was already opened for this uri, return the previous one
+  if (m_devices.Get (uri,pDevice) == XN_STATUS_OK)
+    {
+      getServices().errorLoggerAppend("Device is already open.");
+      return NULL;
+    }
+
+  f2dev = m_f2.openDevice (uri);
+
+  if (f2dev == 0)
+    {
+      getServices().errorLoggerAppend("Could not open \"%s\"", uri);
+      return NULL;
+    }
+
+  pDevice = XN_NEW(LF2Device, f2dev,this);  
+
+  // Add the device and return it.
+  m_devices[uri] = pDevice;
+  return pDevice;
+}
+
+void
+LF2Driver::deviceClose(DeviceBase* pDevice)
+{
+  for (xnl::StringsHash<LF2Device*>::Iterator iter = m_devices.Begin(); iter != m_devices.End(); ++iter)
+	{
+      if (iter->Value() == pDevice)
+		{
+          m_devices.Remove(iter);
+          XN_DELETE(pDevice);
+          return;
+		}
+	}
+
+  // not our device?!
+  XN_ASSERT(FALSE);
+}
+
+
+
+void
+LF2Driver::shutdown ()
+{
+  // delete devices
+  for (xnl::StringsHash<LF2Device*>::Iterator iter = m_devices.Begin(); iter != m_devices.End(); ++iter)
+	{
+      XN_DELETE(iter->Value ());
+    }
+
+  m_devices.Clear ();
+}
diff --git a/Source/Drivers/Libfreenect2/LF2Driver.h b/Source/Drivers/Libfreenect2/LF2Driver.h
new file mode 100644
index 00000000..75027f44
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2Driver.h
@@ -0,0 +1,33 @@
+#ifndef LF2DRIVER_H
+#define LF2DRIVER_H
+
+#include <XnHash.h>
+#include "Driver/OniDriverAPI.h"
+#include "LF2Device.h"
+#include <string>
+#include <libfreenect2/libfreenect2.hpp>
+
+namespace LF2 {
+  class LF2Device;
+  class LF2Driver :
+    public oni::driver::DriverBase
+  {
+  public:
+    //! @note mode is no supported now.
+    oni::driver::DeviceBase*
+    deviceOpen (const char*,const char*);
+
+    void
+    deviceClose (oni::driver::DeviceBase*);
+
+    void
+    shutdown ();
+
+  protected:
+    libfreenect2::Freenect2 m_f2;
+	//uri -> LF2Device map
+	xnl::StringsHash<LF2Device*> m_devices;
+  };
+}
+
+#endif // LF2DRIVER_H
diff --git a/Source/Drivers/Libfreenect2/LF2ImageStream.h b/Source/Drivers/Libfreenect2/LF2ImageStream.h
new file mode 100644
index 00000000..966c8e33
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2ImageStream.h
@@ -0,0 +1,35 @@
+#ifndef LF2IMAGE_STREAM_H
+#define LF2IMAGE_STREAM_H
+
+#include "LF2Stream.h"
+
+namespace LF2 {
+  class LF2ImageStream :
+    public LF2Stream
+  {
+  public:
+    LF2ImageStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) {}
+
+    ~LF2ImageStream()
+    {
+      stop ();
+    }
+
+    // function for OpenNI2
+    OniStatus
+    start ()
+    {
+      m_f2dev->setColorFrameListener (this);
+      return ONI_STATUS_OK;
+    }
+
+    void
+    stop ();
+
+  protected:
+    int
+    BuildFrame (libfreenect2::Frame*,OniFrame*);
+  };
+}
+
+#endif // LF2IMAGE_STREAM_H
diff --git a/Source/Drivers/Libfreenect2/LF2IrStream.h b/Source/Drivers/Libfreenect2/LF2IrStream.h
new file mode 100644
index 00000000..b2e458d0
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2IrStream.h
@@ -0,0 +1,35 @@
+#ifndef LF2IR_STREAM_H
+#define LF2IR_STREAM_H
+
+#include "LF2Stream.h"
+
+namespace LF2 {
+  class LF2IrStream :
+    public LF2Stream
+  {
+  public:
+    LF2IrStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) {}
+
+    ~LF2IrStream()
+    {
+      stop ();
+    }
+
+    // function for OpenNI2
+    OniStatus
+    start ()
+    {
+      m_f2dev->setIrAndDepthFrameListener (this);
+      return ONI_STATUS_OK;
+    }
+
+    void
+    stop ();
+
+  protected:
+    int
+    BuildFrame (libfreenect2::Frame*,OniFrame*);
+  };
+}
+
+#endif // LF2IR_STREAM_H
diff --git a/Source/Drivers/Libfreenect2/LF2Stream.cpp b/Source/Drivers/Libfreenect2/LF2Stream.cpp
new file mode 100644
index 00000000..e15e650e
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2Stream.cpp
@@ -0,0 +1,16 @@
+#include "LF2Stream.h"
+
+using namespace LF2;
+using namespace oni::driver;
+using namespace libfreenect2;
+
+bool
+LF2Stream::onNewFrame (Frame::Type type,Frame* frame)
+{
+  OniFrame* pFrame = getServices ().acquireFrame ();
+  BuildFrame (frame,pFrame);
+  raiseNewFrame (pFrame);
+  getServices ().releaseFrame (pFrame);
+  return true;
+}
+
diff --git a/Source/Drivers/Libfreenect2/LF2Stream.h b/Source/Drivers/Libfreenect2/LF2Stream.h
new file mode 100644
index 00000000..11f11d42
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2Stream.h
@@ -0,0 +1,40 @@
+#ifndef LF2STREAM_H
+#define LF2STREAM_H
+
+#include "Driver/OniDriverAPI.h"
+#include <string>
+#include <libfreenect2/frame_listener.hpp>
+#include <libfreenect2/libfreenect2.hpp>
+
+
+namespace LF2 {
+  class LF2Stream :
+    public oni::driver::StreamBase,
+    public libfreenect2::FrameListener
+  {
+  public:
+    LF2Stream (libfreenect2::Freenect2Device * f2dev) : oni::driver::StreamBase ()
+    {
+      m_f2dev = f2dev;
+    }
+
+    // function for libfreenect2
+    bool
+    onNewFrame(libfreenect2::Frame::Type, libfreenect2::Frame*);
+
+    // function for OpenNI2
+    virtual OniStatus
+    start () = 0;
+
+    virtual void
+    stop () = 0;
+
+  protected:
+    virtual int
+    BuildFrame (libfreenect2::Frame*,OniFrame* pFrame) = 0;
+
+    libfreenect2::Freenect2Device *m_f2dev;
+  };
+}
+
+#endif // LF2STREAM_H
diff --git a/Source/Drivers/Libfreenect2/Makefile b/Source/Drivers/Libfreenect2/Makefile
new file mode 100644
index 00000000..d9c073bd
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/Makefile
@@ -0,0 +1,37 @@
+include ../../../ThirdParty/PSCommon/BuildSystem/CommonDefs.mak
+
+BIN_DIR = ../../../Bin
+
+INC_DIRS = \
+	. \
+	../../../Include \
+	../../../ThirdParty/PSCommon/XnLib/Include \
+	../../../ThirdParty/LibJPEG \
+	Formats
+
+SRC_FILES = \
+	*.cpp \
+	Formats/*.cpp \
+	XnLibExtensions/*.cpp \
+	../../../ThirdParty/LibJPEG/*.c
+
+
+ifeq ("$(OSTYPE)","Darwin")
+	INC_DIRS += /opt/local/include
+	LIB_DIRS += /opt/local/lib
+#	LDFLAGS += -framework CoreFoundation -framework IOKit
+endif
+
+LIB_NAME = Libfreenect2
+
+LIB_DIRS = ../../../ThirdParty/PSCommon/XnLib/Bin/$(PLATFORM)-$(CFG)
+USED_LIBS = XnLib pthread freenect2
+ifneq ("$(OSTYPE)","Darwin")
+        USED_LIBS += rt  
+endif
+
+CFLAGS += -Wall
+
+OUT_DIR := $(OUT_DIR)/OpenNI2/Drivers
+
+include ../../../ThirdParty/PSCommon/BuildSystem/CommonCppMakefile

From 84efbf1028385cc6917a9003f3cb52089dfb34b5 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 11:05:46 +0900
Subject: [PATCH 02/29] This may work

---
 Source/Drivers/Libfreenect2/LF2DepthStream.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index 970dbd52..b38afd8b 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -6,7 +6,9 @@ int
 LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
 {
   frame_out->dataSize = frame_in->width * frame_in->height * frame_in->bytes_per_pixel;
-  frame_out->data = frame_in->data;
+
+  memcpy (frame_out->data,frame_in->data,frame_out->dataSize);
+
   frame_out->frameIndex = frame_in->sequence;
   frame_out->sensorType = ONI_SENSOR_DEPTH;
 

From e40fdeb4768e87f2e4bde65a799528ce8ba369a3 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 11:11:10 +0900
Subject: [PATCH 03/29] added libfreenect2 to Drivers

---
 Makefile                                  | 7 ++++---
 Source/Drivers/Libfreenect2/LF2Driver.cpp | 2 ++
 Source/Drivers/Libfreenect2/LF2Driver.h   | 2 ++
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index 4c666529..36de4184 100644
--- a/Makefile
+++ b/Makefile
@@ -37,7 +37,8 @@ ALL_DRIVERS = \
 	Source/Drivers/DummyDevice   \
 	Source/Drivers/PS1080 \
 	Source/Drivers/PSLink \
-	Source/Drivers/OniFile
+	Source/Drivers/OniFile \
+	Source/Drivers/Libfreenect2
 
 # list all wrappers
 ALL_WRAPPERS = \
@@ -48,7 +49,7 @@ ALL_WRAPPERS = \
 ALL_TOOLS = \
 	Source/Drivers/PS1080/PS1080Console \
 	Source/Drivers/PSLink/PSLinkConsole
-	
+
 # list all core projects
 ALL_CORE_PROJS = \
 	$(XNLIB)  \
@@ -152,7 +153,7 @@ $(FINAL_DIR):
 doc:
 	Source/Documentation/Runme.py
 	rm -f Source/Documentation/html/*.md5
-	
+
 release: | all doc $(FINAL_DIR)
 	Packaging/Harvest.py Packaging/$(PRODUCT_STRING) $(PLATFORM)
 	cd Packaging; tar -cjf Final/$(PRODUCT_STRING).tar.bz2 $(PRODUCT_STRING)
diff --git a/Source/Drivers/Libfreenect2/LF2Driver.cpp b/Source/Drivers/Libfreenect2/LF2Driver.cpp
index 38d68722..d9cb5ce2 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Driver.cpp
@@ -63,3 +63,5 @@ LF2Driver::shutdown ()
 
   m_devices.Clear ();
 }
+
+ONI_EXPORT_DRIVER(LF2Driver);
diff --git a/Source/Drivers/Libfreenect2/LF2Driver.h b/Source/Drivers/Libfreenect2/LF2Driver.h
index 75027f44..63c37819 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.h
+++ b/Source/Drivers/Libfreenect2/LF2Driver.h
@@ -13,6 +13,8 @@ namespace LF2 {
     public oni::driver::DriverBase
   {
   public:
+	LF2Driver(OniDriverServices* pDriverServices) : DriverBase(pDriverServices)	{}
+
     //! @note mode is no supported now.
     oni::driver::DeviceBase*
     deviceOpen (const char*,const char*);

From 4f58322f7f915cf7e4f06778450dfc0096ebc1da Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 11:23:11 +0900
Subject: [PATCH 04/29] added tryDevice to LF2Driver

---
 Source/Drivers/Libfreenect2/LF2Driver.cpp | 6 ++++++
 Source/Drivers/Libfreenect2/LF2Driver.h   | 3 +++
 2 files changed, 9 insertions(+)

diff --git a/Source/Drivers/Libfreenect2/LF2Driver.cpp b/Source/Drivers/Libfreenect2/LF2Driver.cpp
index d9cb5ce2..92835d33 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Driver.cpp
@@ -65,3 +65,9 @@ LF2Driver::shutdown ()
 }
 
 ONI_EXPORT_DRIVER(LF2Driver);
+
+OniStatus
+LF2Driver::tryDevice (const char*)
+{
+  return ONI_STATUS_OK;
+}
diff --git a/Source/Drivers/Libfreenect2/LF2Driver.h b/Source/Drivers/Libfreenect2/LF2Driver.h
index 63c37819..1486e853 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.h
+++ b/Source/Drivers/Libfreenect2/LF2Driver.h
@@ -22,6 +22,9 @@ namespace LF2 {
     void
     deviceClose (oni::driver::DeviceBase*);
 
+	virtual OniStatus 
+    tryDevice(const char* uri);
+
     void
     shutdown ();
 

From 1ab0183c26b75032825abe7e65187f2e909e2831 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 12:05:03 +0900
Subject: [PATCH 05/29] added initialize and search devices

---
 Source/Drivers/Libfreenect2/LF2Driver.cpp | 41 ++++++++++++++++++++++-
 Source/Drivers/Libfreenect2/LF2Driver.h   |  3 ++
 2 files changed, 43 insertions(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2Driver.cpp b/Source/Drivers/Libfreenect2/LF2Driver.cpp
index 92835d33..0628254e 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Driver.cpp
@@ -1,5 +1,9 @@
 #include "LF2Driver.h"
 #include "LF2Device.h"
+#include <XnOS.h>
+
+static const char VENDOR_VAL[] = "Microsoft";
+static const char NAME_VAL[] = "Kinect v2";
 
 using namespace LF2;
 using namespace oni::driver;
@@ -64,10 +68,45 @@ LF2Driver::shutdown ()
   m_devices.Clear ();
 }
 
-ONI_EXPORT_DRIVER(LF2Driver);
+OniStatus
+LF2Driver::initialize (DeviceConnectedCallback connectedCallback, DeviceDisconnectedCallback disconnectedCallback, DeviceStateChangedCallback deviceStateChangedCallback, void* pCookie)
+{
+  DriverBase::initialize (connectedCallback,disconnectedCallback,deviceStateChangedCallback,pCookie);
+  int num_of_device = m_f2.enumerateDevices ();
+
+  if (num_of_device == 0)
+    {
+      return ONI_STATUS_OK;
+    }
+
+  // discover Kinects
+  for (int t = 0; t < num_of_device; ++t)
+    {
+      Freenect2Device* dev = m_f2.openDevice (t);
+      OniDeviceInfo* pInfo = XN_NEW (OniDeviceInfo);
+      std::string serial = dev->getSerialNumber ();
+      
+      xnOSStrCopy (pInfo->uri,serial.c_str (),ONI_MAX_STR);      
+      xnOSStrCopy (pInfo->vendor,VENDOR_VAL,ONI_MAX_STR);
+      xnOSStrCopy (pInfo->name, NAME_VAL,ONI_MAX_STR);
+      deviceConnected (pInfo);
+      deviceStateChanged (pInfo,false);
+      
+      dev->close ();      
+    }
+  return ONI_STATUS_OK;  
+}
 
 OniStatus
 LF2Driver::tryDevice (const char*)
 {
   return ONI_STATUS_OK;
 }
+
+ONI_EXPORT_DRIVER(LF2Driver);
+
+
+
+
+
+
diff --git a/Source/Drivers/Libfreenect2/LF2Driver.h b/Source/Drivers/Libfreenect2/LF2Driver.h
index 1486e853..8a742809 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.h
+++ b/Source/Drivers/Libfreenect2/LF2Driver.h
@@ -15,6 +15,9 @@ namespace LF2 {
   public:
 	LF2Driver(OniDriverServices* pDriverServices) : DriverBase(pDriverServices)	{}
 
+    virtual OniStatus
+    initialize(oni::driver::DeviceConnectedCallback, oni::driver::DeviceDisconnectedCallback, oni::driver::DeviceStateChangedCallback , void*);
+
     //! @note mode is no supported now.
     oni::driver::DeviceBase*
     deviceOpen (const char*,const char*);

From 4c3223ba4c065d60f1d7e08b4fecb2d02c49a8a4 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 12:21:56 +0900
Subject: [PATCH 06/29] added getSensorInfo implementation

---
 Source/Drivers/Libfreenect2/LF2Device.h | 41 +++++++++++++++++++++++--
 1 file changed, 39 insertions(+), 2 deletions(-)

diff --git a/Source/Drivers/Libfreenect2/LF2Device.h b/Source/Drivers/Libfreenect2/LF2Device.h
index d8976a6b..af6cfb11 100644
--- a/Source/Drivers/Libfreenect2/LF2Device.h
+++ b/Source/Drivers/Libfreenect2/LF2Device.h
@@ -15,14 +15,49 @@ namespace LF2 {
   public :
     LF2Device(libfreenect2::Freenect2Device* f2dev,LF2Driver* driver)
     {
+      static const int DEFAULT_FPS = 30;
       m_f2dev = f2dev;
       m_driver = driver;
+      // this is actually 3. but now color and ir are not supprted yet.
+      m_numSensors = 1;
+
+      m_sensors[0].sensorType = ONI_SENSOR_DEPTH;
+      m_sensors[0].numSupportedVideoModes = 1;
+      m_sensors[0].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 1);
+      m_sensors[0].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
+      m_sensors[0].pSupportedVideoModes[0].fps = DEFAULT_FPS;
+      m_sensors[0].pSupportedVideoModes[0].resolutionX = 512;
+      m_sensors[0].pSupportedVideoModes[0].resolutionY = 424;
+
+      // m_sensors[1].sensorType = ONI_SENSOR_COLOR;
+      // m_sensors[1].numSupportedVideoModes = 2;
+      // m_sensors[1].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 2);
+      // m_sensors[1].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
+      // m_sensors[1].pSupportedVideoModes[0].fps         = DEFAULT_FPS;
+      // m_sensors[1].pSupportedVideoModes[0].resolutionX = 960;
+      // m_sensors[1].pSupportedVideoModes[0].resolutionY = 540;
+
+      // m_sensors[1].pSupportedVideoModes[1].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
+      // m_sensors[1].pSupportedVideoModes[1].fps         = DEFAULT_FPS;
+      // m_sensors[1].pSupportedVideoModes[1].resolutionX = 1920;
+      // m_sensors[1].pSupportedVideoModes[1].resolutionY = 1080;
+
+      // m_sensors[2].sensorType = ONI_SENSOR_IR;
+      // m_sensors[2].numSupportedVideoModes = 1;
+      // m_sensors[2].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 1);
+      // m_sensors[2].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_GRAY16;
+      // m_sensors[2].pSupportedVideoModes[0].fps = DEFAULT_FPS;
+      // m_sensors[2].pSupportedVideoModes[0].resolutionX = 512;
+      // m_sensors[2].pSupportedVideoModes[0].resolutionY = 424;
+
     }
 
 	OniStatus
-    getSensorInfoList(OniSensorInfo**, int*)
+    getSensorInfoList(OniSensorInfo** pSensors, int* numSensors)
     {
-      return ONI_STATUS_NOT_IMPLEMENTED;
+      *numSensors = m_numSensors;
+      *pSensors = m_sensors;
+      return ONI_STATUS_OK;
     }
 
     oni::driver::StreamBase* 
@@ -31,6 +66,8 @@ namespace LF2 {
     void
     destroyStream (oni::driver::StreamBase*);
   protected:
+    int m_numSensors;
+    OniSensorInfo * m_sensors;
     libfreenect2::Freenect2Device* m_f2dev;
     LF2Driver* m_driver;
   };

From 253d20c37b771b45bb701bbfe06b692cb1cd4d4e Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 12:24:37 +0900
Subject: [PATCH 07/29] fixed segv error and can open stream (but cannot get
 frame)

---
 Source/Drivers/Libfreenect2/LF2Device.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/Source/Drivers/Libfreenect2/LF2Device.h b/Source/Drivers/Libfreenect2/LF2Device.h
index af6cfb11..dd586fef 100644
--- a/Source/Drivers/Libfreenect2/LF2Device.h
+++ b/Source/Drivers/Libfreenect2/LF2Device.h
@@ -19,7 +19,6 @@ namespace LF2 {
       m_f2dev = f2dev;
       m_driver = driver;
       // this is actually 3. but now color and ir are not supprted yet.
-      m_numSensors = 1;
 
       m_sensors[0].sensorType = ONI_SENSOR_DEPTH;
       m_sensors[0].numSupportedVideoModes = 1;
@@ -66,8 +65,8 @@ namespace LF2 {
     void
     destroyStream (oni::driver::StreamBase*);
   protected:
-    int m_numSensors;
-    OniSensorInfo * m_sensors;
+    static const int m_numSensors = 3;
+    OniSensorInfo m_sensors[m_numSensors];
     libfreenect2::Freenect2Device* m_f2dev;
     LF2Driver* m_driver;
   };

From b638c51e415c99691fb74afa262adb2f1c27aa5c Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 12:31:44 +0900
Subject: [PATCH 08/29] modified to call libfreenect2Deivce::start in
 LF2DepthStream::start

---
 Source/Drivers/Libfreenect2/LF2DepthStream.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.h b/Source/Drivers/Libfreenect2/LF2DepthStream.h
index 96d219db..933f096e 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.h
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.h
@@ -20,6 +20,7 @@ namespace LF2 {
     start ()
     {
       m_f2dev->setIrAndDepthFrameListener (this);
+      m_f2dev->start();
       return ONI_STATUS_OK;
     }
 

From 6588a5a226e7b895923f5491c4843e7fcde14282 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 15:30:07 +0900
Subject: [PATCH 09/29] modified to malloc before memcpy Frame

---
 Source/Drivers/Libfreenect2/LF2DepthStream.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index b38afd8b..50183c35 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -1,4 +1,6 @@
 #include "LF2DepthStream.h"
+#include <XnOS.h>
+
 
 using namespace LF2;
 
@@ -7,7 +9,8 @@ LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
 {
   frame_out->dataSize = frame_in->width * frame_in->height * frame_in->bytes_per_pixel;
 
-  memcpy (frame_out->data,frame_in->data,frame_out->dataSize);
+  frame_out->data = xnOSMalloc (frame_out->dataSize);
+  xnOSMemCopy (frame_out->data,frame_in->data,frame_out->dataSize);
 
   frame_out->frameIndex = frame_in->sequence;
   frame_out->sensorType = ONI_SENSOR_DEPTH;

From e31a5f5d3fd5e2cf31999565241dd24291937d13 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 17:11:25 +0900
Subject: [PATCH 10/29] added VideoModes from VideoStream

---
 .../Drivers/Libfreenect2/LF2DepthStream.cpp   |  6 ++++
 Source/Drivers/Libfreenect2/LF2DepthStream.h  |  6 ++--
 Source/Drivers/Libfreenect2/LF2Stream.cpp     | 29 ++++++++++++++++++-
 Source/Drivers/Libfreenect2/LF2Stream.h       | 12 ++++++++
 4 files changed, 49 insertions(+), 4 deletions(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index 50183c35..cd272360 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -20,6 +20,12 @@ LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
   frame_out->videoMode.resolutionY = frame_in->height;
   frame_out->videoMode.fps = 30;
 
+  m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
+  m_videoMode.resolutionX = frame_in->width;
+  m_videoMode.resolutionY = frame_in->height;
+  m_videoMode.fps = 30;
+
+
   frame_out->width = frame_in->width;
   frame_out->height = frame_in->height;
 
diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.h b/Source/Drivers/Libfreenect2/LF2DepthStream.h
index 933f096e..6a48e428 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.h
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.h
@@ -8,9 +8,9 @@ namespace LF2 {
     public LF2Stream
   {
   public:
-    LF2DepthStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev){}
-
-    ~LF2DepthStream()
+    LF2DepthStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) { }
+    
+    ~LF2DepthStream ()
     {
       stop ();
     }
diff --git a/Source/Drivers/Libfreenect2/LF2Stream.cpp b/Source/Drivers/Libfreenect2/LF2Stream.cpp
index e15e650e..baff8bf9 100644
--- a/Source/Drivers/Libfreenect2/LF2Stream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Stream.cpp
@@ -6,7 +6,7 @@ using namespace libfreenect2;
 
 bool
 LF2Stream::onNewFrame (Frame::Type type,Frame* frame)
-{
+{    
   OniFrame* pFrame = getServices ().acquireFrame ();
   BuildFrame (frame,pFrame);
   raiseNewFrame (pFrame);
@@ -14,3 +14,30 @@ LF2Stream::onNewFrame (Frame::Type type,Frame* frame)
   return true;
 }
 
+OniStatus 
+LF2Stream::getProperty(int propertyId, void* data, int* pDataSize)
+{
+  OniStatus status = ONI_STATUS_NOT_SUPPORTED;
+
+  switch (propertyId)
+    {
+    case ONI_STREAM_PROPERTY_VIDEO_MODE:
+      {
+        if (*pDataSize != sizeof(OniVideoMode))
+          {
+            printf("Unexpected size: %d != %ld\n", *pDataSize, sizeof(OniVideoMode));
+            status = ONI_STATUS_ERROR;
+          }
+        else
+          {
+            status = GetVideoMode((OniVideoMode*)data);            
+          }
+        break;
+      }
+    default:
+      status = ONI_STATUS_NOT_SUPPORTED;
+      break;      
+    }
+
+  return status;  
+}
diff --git a/Source/Drivers/Libfreenect2/LF2Stream.h b/Source/Drivers/Libfreenect2/LF2Stream.h
index 11f11d42..dfa46033 100644
--- a/Source/Drivers/Libfreenect2/LF2Stream.h
+++ b/Source/Drivers/Libfreenect2/LF2Stream.h
@@ -29,11 +29,23 @@ namespace LF2 {
     virtual void
     stop () = 0;
 
+    virtual OniStatus
+    GetVideoMode (OniVideoMode* pVideoMode)
+    {
+      *pVideoMode = m_videoMode;
+      return ONI_STATUS_OK;
+    }
+
+	virtual OniStatus
+    getProperty(int propertyId, void* data, int* pDataSize);
+
   protected:
     virtual int
     BuildFrame (libfreenect2::Frame*,OniFrame* pFrame) = 0;
 
     libfreenect2::Freenect2Device *m_f2dev;
+
+    OniVideoMode m_videoMode;
   };
 }
 

From 243c46382f31f5bec91123e15c86796453b312eb Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 18:33:17 +0900
Subject: [PATCH 11/29] modified timestamp microsec to milisec

---
 Source/Drivers/Libfreenect2/LF2DepthStream.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index cd272360..027f1254 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -34,7 +34,7 @@ LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
 
   frame_out->sensorType = ONI_SENSOR_DEPTH;
   frame_out->stride = frame_in->width*sizeof(OniDepthPixel);
-  frame_out->timestamp = frame_in->sequence*33000;
+  frame_out->timestamp = frame_in->sequence*33;
 
   return 1;
 }

From 6e8639ba87e98d84678d6bd36551ec6d7d366969 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 20:29:30 +0900
Subject: [PATCH 12/29] modified libfreenect depth format float to uint16_t

---
 Source/Drivers/Libfreenect2/LF2DepthStream.cpp | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index 027f1254..602ea81e 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -7,10 +7,23 @@ using namespace LF2;
 int
 LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
 {
-  frame_out->dataSize = frame_in->width * frame_in->height * frame_in->bytes_per_pixel;
+  // 1 DepthPixel is 2 byte
+  frame_out->dataSize = frame_in->width * frame_in->height * 2;
 
   frame_out->data = xnOSMalloc (frame_out->dataSize);
-  xnOSMemCopy (frame_out->data,frame_in->data,frame_out->dataSize);
+
+  const float* const in_array = (float*) frame_in->data;
+  uint16_t* const out_array = (uint16_t*) frame_out->data;
+  unsigned int t = 0;
+  for (unsigned int y = 0; y < frame_in->height; y++)
+	{
+      for (unsigned int x = 0; x < frame_in->width; x++)
+		{
+          out_array[t] = in_array[t];
+          ++t;
+        }
+    }
+
 
   frame_out->frameIndex = frame_in->sequence;
   frame_out->sensorType = ONI_SENSOR_DEPTH;

From 01c2a457d6d5244017d2e4c725a63c621dedab7f Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Sun, 1 Feb 2015 20:50:40 +0900
Subject: [PATCH 13/29] modified to raise callback only when type match

---
 Source/Drivers/Libfreenect2/LF2Stream.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Source/Drivers/Libfreenect2/LF2Stream.cpp b/Source/Drivers/Libfreenect2/LF2Stream.cpp
index baff8bf9..72c12165 100644
--- a/Source/Drivers/Libfreenect2/LF2Stream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Stream.cpp
@@ -7,6 +7,11 @@ using namespace libfreenect2;
 bool
 LF2Stream::onNewFrame (Frame::Type type,Frame* frame)
 {    
+  if ((m_videoMode.pixelFormat == ONI_PIXEL_FORMAT_DEPTH_1_MM && type != Frame::Depth) || (m_videoMode.pixelFormat != ONI_PIXEL_FORMAT_DEPTH_1_MM && type != Frame::Ir))
+    {
+      return false;      
+    }
+  
   OniFrame* pFrame = getServices ().acquireFrame ();
   BuildFrame (frame,pFrame);
   raiseNewFrame (pFrame);

From dfdf092f923dd8c58654274bdc45ac80efc8c133 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Mon, 2 Feb 2015 15:24:51 +0900
Subject: [PATCH 14/29] added max/min property of depth stream

---
 .../Drivers/Libfreenect2/LF2DepthStream.cpp   | 29 +++++++++++++++++++
 Source/Drivers/Libfreenect2/LF2DepthStream.h  |  3 ++
 2 files changed, 32 insertions(+)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index 602ea81e..e7d65030 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -52,3 +52,32 @@ LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
   return 1;
 }
 
+OniStatus 
+LF2DepthStream::getProperty(int propertyId, void* data, int* pDataSize)
+{
+  OniStatus status = ONI_STATUS_NOT_SUPPORTED;
+
+  switch (propertyId)
+    {
+	case ONI_STREAM_PROPERTY_MAX_VALUE:
+      if (*pDataSize != sizeof(int))
+		{
+          return ONI_STATUS_BAD_PARAMETER;
+		}
+
+      *(int*)data = 10000;
+      return ONI_STATUS_OK;
+	case ONI_STREAM_PROPERTY_MIN_VALUE:
+      if (*pDataSize != sizeof(int))
+		{
+          return ONI_STATUS_BAD_PARAMETER;
+		}
+
+      *(int*)data = 0;
+      return ONI_STATUS_OK;
+    default:
+      return LF2Stream::getProperty(propertyId, data, pDataSize);
+    }
+
+  return status;  
+}
diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.h b/Source/Drivers/Libfreenect2/LF2DepthStream.h
index 6a48e428..af8b457d 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.h
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.h
@@ -30,6 +30,9 @@ namespace LF2 {
       m_f2dev->setIrAndDepthFrameListener (NULL);
     }
 
+	OniStatus
+    getProperty(int propertyId, void* data, int* pDataSize);
+
   protected:
     int
     BuildFrame (libfreenect2::Frame*,OniFrame*);

From 3d85f89f84ba5daffb470a32a69ca11edfd70940 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Mon, 2 Feb 2015 17:10:17 +0900
Subject: [PATCH 15/29] added property of cropping

---
 Source/Drivers/Libfreenect2/LF2Stream.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/Source/Drivers/Libfreenect2/LF2Stream.cpp b/Source/Drivers/Libfreenect2/LF2Stream.cpp
index 72c12165..ea180f79 100644
--- a/Source/Drivers/Libfreenect2/LF2Stream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Stream.cpp
@@ -26,6 +26,21 @@ LF2Stream::getProperty(int propertyId, void* data, int* pDataSize)
 
   switch (propertyId)
     {
+    case ONI_STREAM_PROPERTY_CROPPING:
+      {
+        if (*pDataSize != sizeof(OniCropping))
+          {
+            printf("Unexpected size: %d != %ld\n", *pDataSize, sizeof(OniCropping));
+            status = ONI_STATUS_ERROR;
+          }
+        ((OniCropping*) data)->enabled = false;
+        ((OniCropping*) data)->originX = 0;
+        ((OniCropping*) data)->originY = 0;
+        ((OniCropping*) data)->width = m_videoMode.resolutionX;
+        ((OniCropping*) data)->height = m_videoMode.resolutionY;
+        status = ONI_STATUS_OK;        
+        break;      
+      }      
     case ONI_STREAM_PROPERTY_VIDEO_MODE:
       {
         if (*pDataSize != sizeof(OniVideoMode))

From 47d1cf7053f3b8758f8fcb8f28f6bcebed37c6ce Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Mon, 2 Feb 2015 18:27:41 +0900
Subject: [PATCH 16/29] modified video mode of depth stream

---
 Source/Drivers/Libfreenect2/LF2DepthStream.cpp | 6 ------
 Source/Drivers/Libfreenect2/LF2DepthStream.h   | 7 ++++++-
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index e7d65030..79343fee 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -33,12 +33,6 @@ LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
   frame_out->videoMode.resolutionY = frame_in->height;
   frame_out->videoMode.fps = 30;
 
-  m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
-  m_videoMode.resolutionX = frame_in->width;
-  m_videoMode.resolutionY = frame_in->height;
-  m_videoMode.fps = 30;
-
-
   frame_out->width = frame_in->width;
   frame_out->height = frame_in->height;
 
diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.h b/Source/Drivers/Libfreenect2/LF2DepthStream.h
index af8b457d..c8e33eaa 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.h
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.h
@@ -8,7 +8,12 @@ namespace LF2 {
     public LF2Stream
   {
   public:
-    LF2DepthStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) { }
+    LF2DepthStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) { 
+      m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
+      m_videoMode.resolutionX = 512;
+      m_videoMode.resolutionY = 424;
+      m_videoMode.fps = 30;
+    }
     
     ~LF2DepthStream ()
     {

From 95b069b59c9696b229a3e967c65909ee951ef1dd Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Mon, 2 Feb 2015 19:08:05 +0900
Subject: [PATCH 17/29] modified timestamp

---
 Source/Drivers/Libfreenect2/LF2DepthStream.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index 79343fee..c7c19619 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -41,7 +41,7 @@ LF2DepthStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
 
   frame_out->sensorType = ONI_SENSOR_DEPTH;
   frame_out->stride = frame_in->width*sizeof(OniDepthPixel);
-  frame_out->timestamp = frame_in->sequence*33;
+  frame_out->timestamp = frame_in->sequence*33369;
 
   return 1;
 }

From d7302d324da0a6620042d5456610f160958f1b5e Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Tue, 3 Feb 2015 14:31:51 +0900
Subject: [PATCH 18/29] added FOV to LF2DepthStream's Property

---
 Source/Drivers/Libfreenect2/LF2Common.h       |  7 +++++++
 .../Drivers/Libfreenect2/LF2DepthStream.cpp   | 21 ++++++++++++++++++-
 2 files changed, 27 insertions(+), 1 deletion(-)
 create mode 100644 Source/Drivers/Libfreenect2/LF2Common.h

diff --git a/Source/Drivers/Libfreenect2/LF2Common.h b/Source/Drivers/Libfreenect2/LF2Common.h
new file mode 100644
index 00000000..956948cc
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2Common.h
@@ -0,0 +1,7 @@
+#ifndef LF2COMMON_H
+#define LF2COMMON_H
+
+#define LF2_DEPTH_HORIZONTAL_FOV 70.6
+#define LF2_DEPTH_VERTICAL_FOV 60
+
+#endif // LF2COMMON_H
diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
index c7c19619..16e0bb1c 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.cpp
@@ -1,6 +1,7 @@
 #include "LF2DepthStream.h"
 #include <XnOS.h>
-
+#include "LF2Common.h"
+#include <XnMath.h>
 
 using namespace LF2;
 
@@ -53,6 +54,24 @@ LF2DepthStream::getProperty(int propertyId, void* data, int* pDataSize)
 
   switch (propertyId)
     {
+    case ONI_STREAM_PROPERTY_HORIZONTAL_FOV:
+      {
+        float* val = (float*)data;
+        XnDouble tmp;
+        tmp =  LF2_DEPTH_HORIZONTAL_FOV * xnl::Math::DTR;
+        *val = (float)tmp;
+        status = ONI_STATUS_OK;
+        break;
+      }
+    case ONI_STREAM_PROPERTY_VERTICAL_FOV:
+      {
+        float* val = (float*)data;
+        XnDouble tmp;
+        tmp =  LF2_DEPTH_VERTICAL_FOV * xnl::Math::DTR;
+        *val = (float)tmp;
+        status = ONI_STATUS_OK;
+        break;
+      }		
 	case ONI_STREAM_PROPERTY_MAX_VALUE:
       if (*pDataSize != sizeof(int))
 		{

From ab5b3fa2a2cdaaab8d19f1e7eee5daf08328ab2e Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Wed, 4 Feb 2015 12:22:08 +0900
Subject: [PATCH 19/29] modified libfreenect2's depth config and enabled depth
 further than 4.5m

---
 Source/Drivers/Libfreenect2/LF2Driver.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2Driver.cpp b/Source/Drivers/Libfreenect2/LF2Driver.cpp
index 0628254e..50ec0472 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Driver.cpp
@@ -1,5 +1,7 @@
 #include "LF2Driver.h"
 #include "LF2Device.h"
+#include <libfreenect2/depth_packet_processor.h>
+#include <libfreenect2/packet_pipeline.h>
 #include <XnOS.h>
 
 static const char VENDOR_VAL[] = "Microsoft";
@@ -22,7 +24,11 @@ LF2Driver::deviceOpen(const char * uri, const char *)
       return NULL;
     }
 
-  f2dev = m_f2.openDevice (uri);
+  DepthPacketProcessor::Config config;
+  DefaultPacketPipeline* packetPipeline = new DefaultPacketPipeline ();
+  config.MaxDepth = 10000;
+  packetPipeline->getDepthPacketProcessor()->setConfiguration(config);
+  f2dev = m_f2.openDevice (uri,packetPipeline);
 
   if (f2dev == 0)
     {

From e6d19d81c106d644fe002107d67ab6662e17930f Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Thu, 19 Feb 2015 00:13:59 +0900
Subject: [PATCH 20/29] added ir and image stream (not tested yet)

---
 Source/Drivers/Libfreenect2/LF2Common.h      |  3 +++
 Source/Drivers/Libfreenect2/LF2Device.cpp    | 21 ++++++++------------
 Source/Drivers/Libfreenect2/LF2ImageStream.h | 16 +++++++++++++--
 Source/Drivers/Libfreenect2/LF2IrStream.h    | 16 +++++++++++++--
 4 files changed, 39 insertions(+), 17 deletions(-)

diff --git a/Source/Drivers/Libfreenect2/LF2Common.h b/Source/Drivers/Libfreenect2/LF2Common.h
index 956948cc..466ea215 100644
--- a/Source/Drivers/Libfreenect2/LF2Common.h
+++ b/Source/Drivers/Libfreenect2/LF2Common.h
@@ -4,4 +4,7 @@
 #define LF2_DEPTH_HORIZONTAL_FOV 70.6
 #define LF2_DEPTH_VERTICAL_FOV 60
 
+#define LF2_COLOR_HORIZONTAL_FOV 84.1
+#define LF2_COLOR_VERTICAL_FOV 53.8
+
 #endif // LF2COMMON_H
diff --git a/Source/Drivers/Libfreenect2/LF2Device.cpp b/Source/Drivers/Libfreenect2/LF2Device.cpp
index e05bb704..31fcd083 100644
--- a/Source/Drivers/Libfreenect2/LF2Device.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Device.cpp
@@ -15,21 +15,16 @@ LF2Device::createStream (OniSensorType sensorType)
       LF2DepthStream* pDepth = XN_NEW(LF2DepthStream,m_f2dev);
       return pDepth;
     }
-  else
+  else if (sensorType == ONI_SENSOR_COLOR)
     {
-      printf("This type of stream is not implemented yet\n");
-      abort ();
+      LF2ImageStream* pImage = XN_NEW(LF2ImageStream,m_f2dev);
+      return pImage;
+    }
+  else if (sensorType == ONI_SENSOR_IR)
+    {
+      LF2IrStream* pIr = XN_NEW(LF2IrStream,m_f2dev);
+      return pIr;
     }
-  // else if (sensorType == ONI_SENSOR_COLOR)
-  //   {
-  //     LF2ImageStream* pImage = XN_NEW(LF2ImageStream);
-  //     return pImage;
-  //   }
-  // else if (sensorType == ONI_SENSOR_IR)
-  //   {
-  //     LF2IrStream* pIr = XN_NEW(LF2IrStream);
-  //     return pIr;
-  //   }
 
   return NULL;
 }
diff --git a/Source/Drivers/Libfreenect2/LF2ImageStream.h b/Source/Drivers/Libfreenect2/LF2ImageStream.h
index 966c8e33..ccea5eb9 100644
--- a/Source/Drivers/Libfreenect2/LF2ImageStream.h
+++ b/Source/Drivers/Libfreenect2/LF2ImageStream.h
@@ -8,7 +8,12 @@ namespace LF2 {
     public LF2Stream
   {
   public:
-    LF2ImageStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) {}
+    LF2ImageStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) {
+          m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_RGB888;
+          m_videoMode.resolutionX = 1920;
+          m_videoMode.resolutionY = 1080;
+          m_videoMode.fps = 30;
+      }
 
     ~LF2ImageStream()
     {
@@ -20,11 +25,18 @@ namespace LF2 {
     start ()
     {
       m_f2dev->setColorFrameListener (this);
+      m_f2dev->start ();
       return ONI_STATUS_OK;
     }
 
     void
-    stop ();
+    stop ()
+    {
+        m_f2dev->setColorFrameListener (NULL);
+    }
+
+	OniStatus
+    getProperty(int propertyId, void* data, int* pDataSize);
 
   protected:
     int
diff --git a/Source/Drivers/Libfreenect2/LF2IrStream.h b/Source/Drivers/Libfreenect2/LF2IrStream.h
index b2e458d0..90c2784e 100644
--- a/Source/Drivers/Libfreenect2/LF2IrStream.h
+++ b/Source/Drivers/Libfreenect2/LF2IrStream.h
@@ -8,7 +8,12 @@ namespace LF2 {
     public LF2Stream
   {
   public:
-    LF2IrStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) {}
+    LF2IrStream (libfreenect2::Freenect2Device * f2dev) : LF2Stream (f2dev) {
+          m_videoMode.pixelFormat = ONI_PIXEL_FORMAT_GRAY16;
+          m_videoMode.resolutionX = 512;
+          m_videoMode.resolutionY = 424;
+          m_videoMode.fps = 30;
+      }
 
     ~LF2IrStream()
     {
@@ -20,11 +25,18 @@ namespace LF2 {
     start ()
     {
       m_f2dev->setIrAndDepthFrameListener (this);
+      m_f2dev->start();
       return ONI_STATUS_OK;
     }
 
     void
-    stop ();
+    stop ()
+    {
+      m_f2dev->setIrAndDepthFrameListener (NULL);
+    }
+
+	OniStatus
+    getProperty(int propertyId, void* data, int* pDataSize);
 
   protected:
     int

From 420550973258c713bb4672fd64b6cf69917e5e25 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Thu, 19 Feb 2015 10:59:46 +0900
Subject: [PATCH 21/29] added image and ir streams

---
 .../Drivers/Libfreenect2/LF2ImageStream.cpp   | 68 ++++++++++++++++
 Source/Drivers/Libfreenect2/LF2IrStream.cpp   | 80 +++++++++++++++++++
 2 files changed, 148 insertions(+)
 create mode 100644 Source/Drivers/Libfreenect2/LF2ImageStream.cpp
 create mode 100644 Source/Drivers/Libfreenect2/LF2IrStream.cpp

diff --git a/Source/Drivers/Libfreenect2/LF2ImageStream.cpp b/Source/Drivers/Libfreenect2/LF2ImageStream.cpp
new file mode 100644
index 00000000..33dc312c
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2ImageStream.cpp
@@ -0,0 +1,68 @@
+#include "LF2ImageStream.h"
+#include <XnOS.h>
+#include "LF2Common.h"
+#include <XnMath.h>
+
+using namespace LF2;
+
+int
+LF2ImageStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
+{
+  frame_out->dataSize = frame_in->width * frame_in->height * sizeof (OniRGB888Pixel);
+
+  frame_out->data = xnOSMalloc (frame_out->dataSize);
+
+  xnOSMemCopy (frame_out->data,frame_in->data,frame_out->dataSize);
+
+  frame_out->frameIndex = frame_in->sequence;
+  frame_out->sensorType = ONI_SENSOR_COLOR;
+
+  frame_out->videoMode.pixelFormat = ONI_PIXEL_FORMAT_RGB888;
+  frame_out->videoMode.resolutionX = frame_in->width;
+  frame_out->videoMode.resolutionY = frame_in->height;
+  frame_out->videoMode.fps = 30;
+
+  frame_out->width = frame_in->width;
+  frame_out->height = frame_in->height;
+
+  frame_out->cropOriginX = frame_out->cropOriginY = 0;
+  frame_out->croppingEnabled = FALSE;
+
+  frame_out->sensorType = ONI_SENSOR_COLOR;
+  frame_out->stride = frame_in->width*sizeof(OniRGB888Pixel);
+  frame_out->timestamp = frame_in->sequence*33369;
+
+  return 1;
+}
+
+OniStatus 
+LF2ImageStream::getProperty(int propertyId, void* data, int* pDataSize)
+{
+  OniStatus status = ONI_STATUS_NOT_SUPPORTED;
+
+  switch (propertyId)
+    {
+    case ONI_STREAM_PROPERTY_HORIZONTAL_FOV:
+      {
+        float* val = (float*)data;
+        XnDouble tmp;        
+        tmp =  LF2_COLOR_HORIZONTAL_FOV * xnl::Math::DTR;
+        *val = (float)tmp;
+        status = ONI_STATUS_OK;
+        break;
+      }
+    case ONI_STREAM_PROPERTY_VERTICAL_FOV:
+      {
+        float* val = (float*)data;
+        XnDouble tmp;
+        tmp =  LF2_COLOR_VERTICAL_FOV * xnl::Math::DTR;
+        *val = (float)tmp;
+        status = ONI_STATUS_OK;
+        break;
+      }		
+    default:
+      return LF2Stream::getProperty(propertyId, data, pDataSize);
+    }
+
+  return status;  
+}
diff --git a/Source/Drivers/Libfreenect2/LF2IrStream.cpp b/Source/Drivers/Libfreenect2/LF2IrStream.cpp
new file mode 100644
index 00000000..dd96cfb9
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/LF2IrStream.cpp
@@ -0,0 +1,80 @@
+#include "LF2IrStream.h"
+#include <XnOS.h>
+#include "LF2Common.h"
+#include <XnMath.h>
+
+using namespace LF2;
+
+int
+LF2IrStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
+{
+  // 1 DepthPixel is 2 byte
+  frame_out->dataSize = frame_in->width * frame_in->height * sizeof (ONI_PIXEL_FORMAT_GRAY16);
+
+  frame_out->data = xnOSMalloc (frame_out->dataSize);
+
+  const float* const in_array = (float*) frame_in->data;
+  uint16_t* const out_array = (uint16_t*) frame_out->data;
+  unsigned int t = 0;
+  for (unsigned int y = 0; y < frame_in->height; y++)
+	{
+      for (unsigned int x = 0; x < frame_in->width; x++)
+		{
+          out_array[t] = in_array[t];
+          ++t;
+        }
+    }
+
+
+  frame_out->frameIndex = frame_in->sequence;
+  frame_out->sensorType = ONI_SENSOR_IR;
+
+  frame_out->videoMode.pixelFormat = ONI_PIXEL_FORMAT_GRAY16;
+  frame_out->videoMode.resolutionX = frame_in->width;
+  frame_out->videoMode.resolutionY = frame_in->height;
+  frame_out->videoMode.fps = 30;
+
+  frame_out->width = frame_in->width;
+  frame_out->height = frame_in->height;
+
+  frame_out->cropOriginX = frame_out->cropOriginY = 0;
+  frame_out->croppingEnabled = FALSE;
+
+  frame_out->sensorType = ONI_SENSOR_IR;
+  frame_out->stride = frame_in->width*sizeof(ONI_PIXEL_FORMAT_GRAY16);
+  frame_out->timestamp = frame_in->sequence*33369;
+
+  return 1;
+}
+
+OniStatus 
+LF2IrStream::getProperty(int propertyId, void* data, int* pDataSize)
+{
+  OniStatus status = ONI_STATUS_NOT_SUPPORTED;
+
+  switch (propertyId)
+    {
+    case ONI_STREAM_PROPERTY_HORIZONTAL_FOV:
+      {
+        float* val = (float*)data;
+        XnDouble tmp;
+        tmp =  LF2_DEPTH_HORIZONTAL_FOV * xnl::Math::DTR;
+        *val = (float)tmp;
+        status = ONI_STATUS_OK;
+        break;
+      }
+    case ONI_STREAM_PROPERTY_VERTICAL_FOV:
+      {
+        float* val = (float*)data;
+        XnDouble tmp;
+        tmp =  LF2_DEPTH_VERTICAL_FOV * xnl::Math::DTR;
+        *val = (float)tmp;
+        status = ONI_STATUS_OK;
+        break;
+      }		
+    default:
+      return LF2Stream::getProperty(propertyId, data, pDataSize);
+    }
+
+  return status;  
+}

From 6f1d9ab7b96e1d2a04d6a82f58cf2d74cc2ac444 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Thu, 19 Feb 2015 11:04:45 +0900
Subject: [PATCH 22/29] modified image and ir stream info

---
 Source/Drivers/Libfreenect2/LF2Device.h | 35 +++++++++++--------------
 1 file changed, 15 insertions(+), 20 deletions(-)

diff --git a/Source/Drivers/Libfreenect2/LF2Device.h b/Source/Drivers/Libfreenect2/LF2Device.h
index dd586fef..be1d9859 100644
--- a/Source/Drivers/Libfreenect2/LF2Device.h
+++ b/Source/Drivers/Libfreenect2/LF2Device.h
@@ -28,26 +28,21 @@ namespace LF2 {
       m_sensors[0].pSupportedVideoModes[0].resolutionX = 512;
       m_sensors[0].pSupportedVideoModes[0].resolutionY = 424;
 
-      // m_sensors[1].sensorType = ONI_SENSOR_COLOR;
-      // m_sensors[1].numSupportedVideoModes = 2;
-      // m_sensors[1].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 2);
-      // m_sensors[1].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
-      // m_sensors[1].pSupportedVideoModes[0].fps         = DEFAULT_FPS;
-      // m_sensors[1].pSupportedVideoModes[0].resolutionX = 960;
-      // m_sensors[1].pSupportedVideoModes[0].resolutionY = 540;
-
-      // m_sensors[1].pSupportedVideoModes[1].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
-      // m_sensors[1].pSupportedVideoModes[1].fps         = DEFAULT_FPS;
-      // m_sensors[1].pSupportedVideoModes[1].resolutionX = 1920;
-      // m_sensors[1].pSupportedVideoModes[1].resolutionY = 1080;
-
-      // m_sensors[2].sensorType = ONI_SENSOR_IR;
-      // m_sensors[2].numSupportedVideoModes = 1;
-      // m_sensors[2].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 1);
-      // m_sensors[2].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_GRAY16;
-      // m_sensors[2].pSupportedVideoModes[0].fps = DEFAULT_FPS;
-      // m_sensors[2].pSupportedVideoModes[0].resolutionX = 512;
-      // m_sensors[2].pSupportedVideoModes[0].resolutionY = 424;
+      m_sensors[1].sensorType = ONI_SENSOR_COLOR;
+      m_sensors[1].numSupportedVideoModes = 2;
+      m_sensors[1].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 1);
+      m_sensors[1].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_RGB888;
+      m_sensors[1].pSupportedVideoModes[0].fps         = DEFAULT_FPS;
+      m_sensors[1].pSupportedVideoModes[0].resolutionX = 1920;
+      m_sensors[1].pSupportedVideoModes[0].resolutionY = 1080;
+
+      m_sensors[2].sensorType = ONI_SENSOR_IR;
+      m_sensors[2].numSupportedVideoModes = 1;
+      m_sensors[2].pSupportedVideoModes = XN_NEW_ARR(OniVideoMode, 1);
+      m_sensors[2].pSupportedVideoModes[0].pixelFormat = ONI_PIXEL_FORMAT_GRAY16;
+      m_sensors[2].pSupportedVideoModes[0].fps = DEFAULT_FPS;
+      m_sensors[2].pSupportedVideoModes[0].resolutionX = 512;
+      m_sensors[2].pSupportedVideoModes[0].resolutionY = 424;
 
     }
 

From aba6846440492be396d5f05f96f438df0a9c59d2 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Thu, 19 Feb 2015 11:12:35 +0900
Subject: [PATCH 23/29] fixed condition of stream refresh callback

---
 Source/Drivers/Libfreenect2/LF2DepthStream.h | 2 ++
 Source/Drivers/Libfreenect2/LF2ImageStream.h | 2 ++
 Source/Drivers/Libfreenect2/LF2IrStream.h    | 2 ++
 Source/Drivers/Libfreenect2/LF2Stream.cpp    | 2 +-
 Source/Drivers/Libfreenect2/LF2Stream.h      | 1 +
 5 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2DepthStream.h b/Source/Drivers/Libfreenect2/LF2DepthStream.h
index c8e33eaa..c0bf380f 100644
--- a/Source/Drivers/Libfreenect2/LF2DepthStream.h
+++ b/Source/Drivers/Libfreenect2/LF2DepthStream.h
@@ -13,6 +13,8 @@ namespace LF2 {
       m_videoMode.resolutionX = 512;
       m_videoMode.resolutionY = 424;
       m_videoMode.fps = 30;
+
+      m_frameType = libfreenect2::Frame::Depth;
     }
     
     ~LF2DepthStream ()
diff --git a/Source/Drivers/Libfreenect2/LF2ImageStream.h b/Source/Drivers/Libfreenect2/LF2ImageStream.h
index ccea5eb9..6be1b89a 100644
--- a/Source/Drivers/Libfreenect2/LF2ImageStream.h
+++ b/Source/Drivers/Libfreenect2/LF2ImageStream.h
@@ -13,6 +13,8 @@ namespace LF2 {
           m_videoMode.resolutionX = 1920;
           m_videoMode.resolutionY = 1080;
           m_videoMode.fps = 30;
+
+          m_frameType = libfreenect2::Frame::Color;
       }
 
     ~LF2ImageStream()
diff --git a/Source/Drivers/Libfreenect2/LF2IrStream.h b/Source/Drivers/Libfreenect2/LF2IrStream.h
index 90c2784e..2105dcbb 100644
--- a/Source/Drivers/Libfreenect2/LF2IrStream.h
+++ b/Source/Drivers/Libfreenect2/LF2IrStream.h
@@ -13,6 +13,8 @@ namespace LF2 {
           m_videoMode.resolutionX = 512;
           m_videoMode.resolutionY = 424;
           m_videoMode.fps = 30;
+
+          m_frameType = libfreenect2::Frame::Ir;
       }
 
     ~LF2IrStream()
diff --git a/Source/Drivers/Libfreenect2/LF2Stream.cpp b/Source/Drivers/Libfreenect2/LF2Stream.cpp
index ea180f79..2c1887a6 100644
--- a/Source/Drivers/Libfreenect2/LF2Stream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Stream.cpp
@@ -7,7 +7,7 @@ using namespace libfreenect2;
 bool
 LF2Stream::onNewFrame (Frame::Type type,Frame* frame)
 {    
-  if ((m_videoMode.pixelFormat == ONI_PIXEL_FORMAT_DEPTH_1_MM && type != Frame::Depth) || (m_videoMode.pixelFormat != ONI_PIXEL_FORMAT_DEPTH_1_MM && type != Frame::Ir))
+  if (m_frameType != type)
     {
       return false;      
     }
diff --git a/Source/Drivers/Libfreenect2/LF2Stream.h b/Source/Drivers/Libfreenect2/LF2Stream.h
index dfa46033..6e351b56 100644
--- a/Source/Drivers/Libfreenect2/LF2Stream.h
+++ b/Source/Drivers/Libfreenect2/LF2Stream.h
@@ -46,6 +46,7 @@ namespace LF2 {
     libfreenect2::Freenect2Device *m_f2dev;
 
     OniVideoMode m_videoMode;
+    libfreenect2::Frame::Type m_frameType;
   };
 }
 

From 25ea7dd1f54db6dd71fa1015342d731b72fb07f1 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Thu, 19 Feb 2015 11:56:47 +0900
Subject: [PATCH 24/29] wrote readme

---
 Source/Drivers/Libfreenect2/README.md | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)
 create mode 100644 Source/Drivers/Libfreenect2/README.md

diff --git a/Source/Drivers/Libfreenect2/README.md b/Source/Drivers/Libfreenect2/README.md
new file mode 100644
index 00000000..f115bdb4
--- /dev/null
+++ b/Source/Drivers/Libfreenect2/README.md
@@ -0,0 +1,26 @@
+Features
+========
+* Depth,Image,Ir streams of Kinect v2 are available through OpenNI2 interface.
+* Free from Kinect SDK, so you can use this even in Linux,Mac OSX, and so on. (I have tested on Ubuntu 14.10.)
+* libfreenect2 is now experimental and this implementation is still more experimental.
+
+Requirement
+===========
+* libfreenect2
+* libfreenect2's patched libusb-1.0 (You may already have libusb, but you need to config to be loaded patched libusb.)
+* Powerfull GPU resource
+* USB3.0 port
+
+Getting Started
+===============
+1. You should try example of libfreenect2 first.
+2. install libfreenect2
+3. configure to be loaded patched libusb
+4. write code of OpenNI2
+5. build and run!!
+
+Known Issue
+===========
+* Xtion Pro Live's color stream returns BGR but Kinect v2's one returns RGB.
+* Color Record does not work well.
+

From 0f383933fa5c4d1f4ecd8afe740da3cec25df8da Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Thu, 19 Feb 2015 12:07:16 +0900
Subject: [PATCH 25/29] added libfreenect2 to packaging script

---
 Packaging/Harvest.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Packaging/Harvest.py b/Packaging/Harvest.py
index 4ce9ed26..0aa31309 100755
--- a/Packaging/Harvest.py
+++ b/Packaging/Harvest.py
@@ -92,6 +92,7 @@ def copyRedistFiles(self, targetDir):
         self.copySharedObject(binDriversDir, 'OniFile', targetDriversDir)
         self.copySharedObject(binDriversDir, 'PS1080', targetDriversDir)
         self.copySharedObject(binDriversDir, 'PSLink', targetDriversDir)
+        self.copySharedObject(binDriversDir, 'Libfreenect2', targetDriversDir)
         shutil.copy(os.path.join(self.rootDir, 'Config', 'OpenNI2', 'Drivers', 'PS1080.ini'), targetDriversDir)
         shutil.copy(os.path.join(self.rootDir, 'Config', 'OpenNI2', 'Drivers', 'PSLink.ini'), targetDriversDir)
         if self.osName == 'Windows':

From efc6b329a9106f108b157c73fb601f23901dbc54 Mon Sep 17 00:00:00 2001
From: Masaki Waga <MasWag@users.noreply.github.com>
Date: Thu, 26 Feb 2015 12:17:17 +0900
Subject: [PATCH 26/29] added comment for libfreenect2

---
 Source/Drivers/Libfreenect2/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/README.md b/Source/Drivers/Libfreenect2/README.md
index f115bdb4..e32338f6 100644
--- a/Source/Drivers/Libfreenect2/README.md
+++ b/Source/Drivers/Libfreenect2/README.md
@@ -6,7 +6,7 @@ Features
 
 Requirement
 ===========
-* libfreenect2
+* libfreenect2 (https://github.com/MasWag/libfreenect2/commit/0d78c38c38be35af2b71e063e954203689f1fdbb is required.So don't use master but https://github.com/MasWag/libfreenect2/tree/sequence (branch sequence))
 * libfreenect2's patched libusb-1.0 (You may already have libusb, but you need to config to be loaded patched libusb.)
 * Powerfull GPU resource
 * USB3.0 port

From 5193c4525ec4e07917efadaae276d0bccab69ffc Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Fri, 27 Feb 2015 21:47:26 +0900
Subject: [PATCH 27/29] supported libfreenect2's change

---
 Source/Drivers/Libfreenect2/LF2Driver.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2Driver.cpp b/Source/Drivers/Libfreenect2/LF2Driver.cpp
index 50ec0472..edafdd2d 100644
--- a/Source/Drivers/Libfreenect2/LF2Driver.cpp
+++ b/Source/Drivers/Libfreenect2/LF2Driver.cpp
@@ -11,6 +11,11 @@ using namespace LF2;
 using namespace oni::driver;
 using namespace libfreenect2;
 
+namespace libfreenect2 {
+  extern PacketPipeline *createDefaultPacketPipeline();  
+}
+
+
 DeviceBase*
 LF2Driver::deviceOpen(const char * uri, const char *)
 {
@@ -25,7 +30,7 @@ LF2Driver::deviceOpen(const char * uri, const char *)
     }
 
   DepthPacketProcessor::Config config;
-  DefaultPacketPipeline* packetPipeline = new DefaultPacketPipeline ();
+  PacketPipeline* packetPipeline = createDefaultPacketPipeline();
   config.MaxDepth = 10000;
   packetPipeline->getDepthPacketProcessor()->setConfiguration(config);
   f2dev = m_f2.openDevice (uri,packetPipeline);

From e3ce1157f8eff41ffafc60827172a5533c2ea203 Mon Sep 17 00:00:00 2001
From: Masaki Waga <masakiwaga@gmail.com>
Date: Fri, 10 Jul 2015 08:13:41 +0900
Subject: [PATCH 28/29] updated README

---
 Source/Drivers/Libfreenect2/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/README.md b/Source/Drivers/Libfreenect2/README.md
index e32338f6..08f795cf 100644
--- a/Source/Drivers/Libfreenect2/README.md
+++ b/Source/Drivers/Libfreenect2/README.md
@@ -6,7 +6,7 @@ Features
 
 Requirement
 ===========
-* libfreenect2 (https://github.com/MasWag/libfreenect2/commit/0d78c38c38be35af2b71e063e954203689f1fdbb is required.So don't use master but https://github.com/MasWag/libfreenect2/tree/sequence (branch sequence))
+* libfreenect2 (master is OK now!!)
 * libfreenect2's patched libusb-1.0 (You may already have libusb, but you need to config to be loaded patched libusb.)
 * Powerfull GPU resource
 * USB3.0 port

From 0c4a95e3e6e39251c53bc8627502e1311f19f51e Mon Sep 17 00:00:00 2001
From: Youssef Alj <youssef_alj@hotmail.com>
Date: Wed, 15 Jul 2015 16:11:24 +0200
Subject: [PATCH 29/29] handling 4 channels in color stream

---
 Source/Drivers/Libfreenect2/LF2ImageStream.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Source/Drivers/Libfreenect2/LF2ImageStream.cpp b/Source/Drivers/Libfreenect2/LF2ImageStream.cpp
index 33dc312c..f5304a37 100644
--- a/Source/Drivers/Libfreenect2/LF2ImageStream.cpp
+++ b/Source/Drivers/Libfreenect2/LF2ImageStream.cpp
@@ -8,7 +8,7 @@ using namespace LF2;
 int
 LF2ImageStream::BuildFrame(libfreenect2::Frame* frame_in,OniFrame* frame_out)
 {
-  frame_out->dataSize = frame_in->width * frame_in->height * sizeof (OniRGB888Pixel);
+  frame_out->dataSize = frame_in->width * frame_in->height * (sizeof (OniRGB888Pixel) +1);
 
   frame_out->data = xnOSMalloc (frame_out->dataSize);