Generate depth tables with camera parameters

The xtable, ztable, and 11to16 LUT can now be generated with
camera parameters at runtime according to analysis in #144.
The tables are generated during Freenect2Device::start(), and
passed to depth processors.

Users can provide custom camera parameters at runtime with new
API: setIrCameraParams(), and setColorCameraParams(), and depth
processors will use those instead of USB queried parameters.

File loading functions in depth processors are removed.

Hardcoded table binary files are removed.

Author: xlz

CMakeLists.txt

@@ -126,12 +126,6 @@ SET(LIBRARIES
   ${LIBFREENECT2_THREADING_LIBRARIES}
 )
 
-SET(RESOURCES
-  data/11to16.bin
-  data/xTable.bin
-  data/zTable.bin
-)
-
 IF(ENABLE_OPENGL)
   FIND_PACKAGE(GLFW3)
   FIND_PACKAGE(OpenGL)

data/11to16.bin

@@ -110,6 +110,12 @@ class LIBFREENECT2_API DepthPacketProcessor : public BaseDepthPacketProcessor
   virtual void setConfiguration(const libfreenect2::DepthPacketProcessor::Config &config);
 
   virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length) = 0;
+
+  static const size_t TABLE_SIZE = 512*424;
+  static const size_t LUT_SIZE = 2048;
+  virtual void loadXZTables(const float *xtable, const float *ztable) = 0;
+  virtual void loadLookupTable(const short *lut) = 0;
+
 protected:
   libfreenect2::DepthPacketProcessor::Config config_;
   libfreenect2::FrameListener *listener_;
@@ -128,17 +134,8 @@ class LIBFREENECT2_API OpenGLDepthPacketProcessor : public DepthPacketProcessor
 
   virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length);
 
-  void loadP0TablesFromFiles(const char* p0_filename, const char* p1_filename, const char* p2_filename);
-
-  /**
-   * GUESS: the x and z table follow some polynomial, until we know the exact polynom formula and its coefficients
-   * just load them from a memory dump - although they probably vary per camera
-   */
-  void loadXTableFromFile(const char* filename);
-
-  void loadZTableFromFile(const char* filename);
-
-  void load11To16LutFromFile(const char* filename);
+  virtual void loadXZTables(const float *xtable, const float *ztable);
+  virtual void loadLookupTable(const short *lut);
 
   virtual void process(const DepthPacket &packet);
 private:
@@ -159,17 +156,8 @@ class LIBFREENECT2_API CpuDepthPacketProcessor : public DepthPacketProcessor
 
   virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length);
 
-  void loadP0TablesFromFiles(const char* p0_filename, const char* p1_filename, const char* p2_filename);
-
-  /**
-   * GUESS: the x and z table follow some polynomial, until we know the exact polynom formula and its coefficients
-   * just load them from a memory dump - although they probably vary per camera
-   */
-  void loadXTableFromFile(const char* filename);
-
-  void loadZTableFromFile(const char* filename);
-
-  void load11To16LutFromFile(const char* filename);
+  virtual void loadXZTables(const float *xtable, const float *ztable);
+  virtual void loadLookupTable(const short *lut);
 
   virtual void process(const DepthPacket &packet);
 private:
@@ -189,15 +177,8 @@ class LIBFREENECT2_API OpenCLDepthPacketProcessor : public DepthPacketProcessor
 
   virtual void loadP0TablesFromCommandResponse(unsigned char* buffer, size_t buffer_length);
 
-  /**
-   * GUESS: the x and z table follow some polynomial, until we know the exact polynom formula and its coefficients
-   * just load them from a memory dump - although they probably vary per camera
-   */
-  void loadXTableFromFile(const char* filename);
-
-  void loadZTableFromFile(const char* filename);
-
-  void load11To16LutFromFile(const char* filename);
+  virtual void loadXZTables(const float *xtable, const float *ztable);
+  virtual void loadLookupTable(const short *lut);
 
   virtual void process(const DepthPacket &packet);
 private:

data/xTable.bin

@@ -88,7 +88,8 @@ class LIBFREENECT2_API Freenect2Device
 
   virtual Freenect2Device::ColorCameraParams getColorCameraParams() = 0;
   virtual Freenect2Device::IrCameraParams getIrCameraParams() = 0;
-
+  virtual void setColorCameraParams(const Freenect2Device::ColorCameraParams &params) = 0;
+  virtual void setIrCameraParams(const Freenect2Device::IrCameraParams &params) = 0;
 
   virtual void setColorFrameListener(libfreenect2::FrameListener* rgb_frame_listener) = 0;
   virtual void setIrAndDepthFrameListener(libfreenect2::FrameListener* ir_frame_listener) = 0;

data/zTable.bin

@@ -261,26 +261,6 @@ void flipHorizontal(const Mat<ScalarT> &in, Mat<ScalarT>& out)
 namespace libfreenect2
 {
 
-/**
- * Load a buffer from data of a file.
- * @param filename Name of the file to load.
- * @param buffer Start of the buffer to load.
- * @param n Size of the buffer to load.
- * @return Whether loading succeeded.
- */
-bool loadBufferFromFile2(const std::string& filename, unsigned char *buffer, size_t n)
-{
-  bool success;
-  std::ifstream in(filename.c_str());
-
-  in.read(reinterpret_cast<char*>(buffer), n);
-  success = in.gcount() == n;
-
-  in.close();
-
-  return success;
-}
-
 inline int bfi(int width, int offset, int src2, int src3)
 {
   int bitmask = (((1 << width)-1) << offset) & 0xffffffff;
@@ -897,111 +877,18 @@ void CpuDepthPacketProcessor::loadP0TablesFromCommandResponse(unsigned char* buf
   impl_->fillTrigTable(impl_->p0_table2, impl_->trig_table2);
 }
 
-/**
- * Load p0 tables.
- * @param p0_filename Filename of the first p0 table.
- * @param p1_filename Filename of the second p0 table.
- * @param p2_filename Filename of the third p0 table.
- */
-void CpuDepthPacketProcessor::loadP0TablesFromFiles(const char* p0_filename, const char* p1_filename, const char* p2_filename)
-{
-  Mat<uint16_t> p0_table0(424, 512);
-  if(!loadBufferFromFile2(p0_filename, p0_table0.buffer(), p0_table0.sizeInBytes()))
-  {
-    LOG_ERROR << "Loading p0table 0 from '" << p0_filename << "' failed!";
-  }
-
-  Mat<uint16_t> p0_table1(424, 512);
-  if(!loadBufferFromFile2(p1_filename, p0_table1.buffer(), p0_table1.sizeInBytes()))
-  {
-    LOG_ERROR << "Loading p0table 1 from '" << p1_filename << "' failed!";
-  }
-
-  Mat<uint16_t> p0_table2(424, 512);
-  if(!loadBufferFromFile2(p2_filename, p0_table2.buffer(), p0_table2.sizeInBytes()))
-  {
-    LOG_ERROR << "Loading p0table 2 from '" << p2_filename << "' failed!";
-  }
-
-  if(impl_->flip_ptables)
-  {
-    flipHorizontal(p0_table0, impl_->p0_table0);
-    flipHorizontal(p0_table1, impl_->p0_table1);
-    flipHorizontal(p0_table2, impl_->p0_table2);
-
-    impl_->fillTrigTable(impl_->p0_table0, impl_->trig_table0);
-    impl_->fillTrigTable(impl_->p0_table1, impl_->trig_table1);
-    impl_->fillTrigTable(impl_->p0_table2, impl_->trig_table2);
-  }
-  else
-  {
-    impl_->fillTrigTable(p0_table0, impl_->trig_table0);
-    impl_->fillTrigTable(p0_table1, impl_->trig_table1);
-    impl_->fillTrigTable(p0_table2, impl_->trig_table2);
-  }
-}
-
-/**
- * Load the X table from the resources.
- * @param filename Name of the file to load.
- * @note Filename is not actually used!
- */
-void CpuDepthPacketProcessor::loadXTableFromFile(const char* filename)
+void CpuDepthPacketProcessor::loadXZTables(const float *xtable, const float *ztable)
 {
   impl_->x_table.create(424, 512);
-  const unsigned char *data;
-  size_t length;
-
-  if(loadResource("xTable.bin", &data, &length))
-  {
-    std::copy(data, data + length, impl_->x_table.buffer());
-  }
-  else
-  {
-    LOG_ERROR << "Loading xtable from resource 'xTable.bin' failed!";
-  }
-}
+  std::copy(xtable, xtable + TABLE_SIZE, impl_->x_table.ptr(0,0));
 
-/**
- * Load the Z table from the resources.
- * @param filename Name of the file to load.
- * @note Filename is not actually used!
- */
-void CpuDepthPacketProcessor::loadZTableFromFile(const char* filename)
-{
   impl_->z_table.create(424, 512);
-
-  const unsigned char *data;
-  size_t length;
-
-  if(loadResource("zTable.bin", &data, &length))
-  {
-    std::copy(data, data + length, impl_->z_table.buffer());
-  }
-  else
-  {
-    LOG_ERROR << "Loading ztable from resource 'zTable.bin' failed!";
-  }
+  std::copy(ztable, ztable + TABLE_SIZE, impl_->z_table.ptr(0,0));
 }
 
-/**
- * Load the lookup table from 11 to 16 from the resources.
- * @param filename Name of the file to load.
- * @note Filename is not actually used!
- */
-void CpuDepthPacketProcessor::load11To16LutFromFile(const char* filename)
+void CpuDepthPacketProcessor::loadLookupTable(const short *lut)
 {
-  const unsigned char *data;
-  size_t length;
-
-  if(loadResource("11to16.bin", &data, &length))
-  {
-    std::copy(data, data + length, reinterpret_cast<unsigned char*>(impl_->lut11to16));
-  }
-  else
-  {
-    LOG_ERROR << "Loading 11to16 lut from resource '11to16.bin' failed!";
-  }
+  std::copy(lut, lut + LUT_SIZE, impl_->lut11to16);
 }
 
 /**