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libfreenect modifications
Note: As of OpenFrameworks 0.8.0, ofxKinect has been integrated into the OF core. All future development of this addon will take place in the main OF Github repo so please log issues there.
As libfreenect progresses, we may need to make small modifications for use with ofxKinect. They are noted here.
The audio stream from the kinect using libfreenect is still a work in progress. As such the following files are not included with ofxKinect:
audio.c libfreenect-audio.h loader.c
FIXED IN FREENECT
There is a missing *2 operation in the rgb image registration. It is manually added for now until the fix enters freenect. See line 322 in registration.c:
double factor = ref_pix_size * wz / ref_distance;
should be:
double factor = 2 * ref_pix_size * wz / ref_distance;
Also, see this commit.
THIS IS CURRENTLY NOT BEING USED AS THE NEW RBG REGISTRATION WITHIN FREENECT REQUIRES AN UNMIRRORED IMAGE
libfreenect currently disables the horizontal flipping for depth and rgb images. We enable that by modifying the freenect_start_video function in cameras.c by changing
write_register(dev, hflip_reg, 0x00); // disable Hflip
to
write_register(dev, 0x47, 0x01); // enable rgb Hflip write_register(dev, 0x17, 0x01); // enable ir Hflip