I’m a code janitor!
First off, the kinect code here is in such a massive amount of flux as to like, totally not even be funny. You are so amazingly on your own right now, but feel free to hit the #openkinect IRC channel on Freenode for questions.
What you’ll get when compiling this branch:
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the libfreenect library, not the it does a whole lot right now.
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an executable called glview. glview will render depth data next to rgb data in a glut window.
To use CMake:
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Make a directory somewhere. Like, say, c/build in your repo directory.
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Go into that directory
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Type cmake ..
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Watch the magic happen
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After this, just run make and you’ll be fine.
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If you want to use an IDE or whatever, well, you’ll figure it out.
Should "just work" if you have the following packages installed:
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libusb-1.0-dev
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freeglut3-dev (or whatever freeglut dev package your distro has)
Since there’s no udev rules yet, you’ll need to run glview as root. Deal with it.
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Note
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AS OF 2010-11-16, WE HAVE UPDATED THIS PATCH. IF YOU HAVE ALREADY PATCHED, PLEASE REPATCH AND REINSTALL LIBUSB TO GET OS X WORKING AT FULL 30FPS. |
You will need to pull the libusb-1.0 repo head and patch using the files in platform/osx/. Just go to the root directory of the cloned libusb-1.0 repo and run
patch -p1 < [path_to_OpenKinectRepo]/platform/osx/libusb-osx-kinect.diff
Recompile libusb and put it wherever CMake will look (/usr/local/lib, /usr/lib, etc…). If you’re using a package manager like fink, macports, or homebrew, I’m going to expect you know what your doing and can deal with this. If not, see IRC channel.
Below is the readmes of the other repos I’m organizing this from. This currently consists of:
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Marcan’s original libfreenect repo (in the c directory here) - GPL’d.
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ofTheo’s OS X libfreenect patched (integrated by me, with libusb-1.0 patches in platform directory) - GPL’d
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JoshBlake’s C# OpenKinect (in the csharp directory, with inf files in platform directory) - Apache’d
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Brandyn’s Python bindings (in c/python, see README there)
The aggregated READMEs are below.
Horribly hacky first take at a Kinect Camera driver. Does RGB and Depth.
main.c implements a simple OpenGL visualization. Hopefully it should be mostly self-explanatory… You pretty much just open the USB device, call cams_init(dev, depthimg, rgbimg), and your depthimg and rgbimg callbacks get called as libusb processes events.
TODO:
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TONS of cleanup. I mean LOTS.
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Determine exactly what the inits do
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Bayer to RGB conversion that doesn’t suck
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Integrate support for the servo and accelerometer (which have already been reverse engineered)
BIG TODO: audio. The audio chip (the Marvell) requires firmware and more init and does a TON of stuff including the crypto authentication to prove that it is an original Kinect and not a clone. Who knows what this thing does to the incoming audio. This should be interesting to look at.
Libfreenect is Copyright © 2010 Hector Martin "marcan" <hector@marcansoft.com>
This code is licensed to you under the terms of the GNU GPL, version 2 or version 3; see: http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt http://www.gnu.org/licenses/gpl-3.0.txt
Credits:
Adafruit, for providing the USB logs that I used to work out the initialization sequence and data format.
bushing, for trying to provide USB logs, although he got preempted by Adafruit ;)
A few other people who provided hints and encouragement along the way, you know who you are!
OpenKinect project
Copyright (c) 2010 Joshua Blake and other contributors
The folder INF contains Windows drivers. Plug in Kinect and during the driver installation browse to the proper folder. The drivers were generated via libusbdotnet tools and are distributed under their own licenses.
The rest of the project is distributed under the Apache 2 license.