kinect2.h

/*
 * Kinect2-related constans and structures
 *
 * Copyright (C) 2015  Hiromasa Yoshimoto <hrmsysmt@gmail.com>
 *
 * This code is based on the OpenKinect project and libfreenect2
 * See the following URLs for details;
 * - http://openkinect.org/wiki/
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#ifndef _UAPI__LINUX_KINECT2_H
#define _UAPI__LINUX_KINECT2_H

#include <linux/types.h> /* __u8 etc */

struct kinect2_color_camera_param {
	/* unknown, always seen as 1 so far */
	__u8 table_id;

	/* color -> depth mapping parameters */
	float f;
	float cx;
	float cy;

	float shift_d;
	float shift_m;

	float mx_x3y0; /* xxx */
	float mx_x0y3; /* yyy */
	float mx_x2y1; /* xxy */
	float mx_x1y2; /* yyx */
	float mx_x2y0; /* xx */
	float mx_x0y2; /* yy */
	float mx_x1y1; /* xy */
	float mx_x1y0; /* x */
	float mx_x0y1; /* y */
	float mx_x0y0; /* 1 */

	float my_x3y0; /* xxx */
	float my_x0y3; /* yyy */
	float my_x2y1; /* xxy */
	float my_x1y2; /* yyx */
	float my_x2y0; /* xx */
	float my_x0y2; /* yy */
	float my_x1y1; /* xy */
	float my_x1y0; /* x */
	float my_x0y1; /* y */
	float my_x0y0; /* 1 */

	/* perhaps related to xtable/ztable in the deconvolution code. */
	/* data seems to be arranged into two tables of 28*23, which */
	/* matches the depth image aspect ratio of 512*424 very closely */
	float table1[28 * 23 * 4];
	float table2[28 * 23];
} __packed;


/* Depth camera's intrinsic & distortion parameters */
struct kinect2_depth_camera_param {
	/* intrinsics (this is pretty certain) */
	float fx;
	float fy;
	float unknown0; /* assumed to be always zero */
	float cx;
	float cy;

	/* radial distortion (educated guess based on  */
	/* calibration data from Kinect SDK) */
	float k1;
	float k2;
	float p1; /* always seen as zero so far, so purely a guess */
	float p2; /* always seen as zero so far, so purely a guess */
	float k3;

	float unknown1[13]; /* assumed to be always zero */
} __packed;


/* "P0" coefficient tables, input to the deconvolution code */
struct kinect2_p0table {
	__u32 headersize;
	__u32 unknown1;
	__u32 unknown2;
	__u32 tablesize;
	__u32 unknown3;
	__u32 unknown4;
	__u32 unknown5;
	__u32 unknown6;

	__u16 unknown7;
	__u16 p0table0[512*424]; /* row[0] == row[511] == 0x2c9a */
	__u16 unknown8;

	__u16 unknown9;
	__u16 p0table1[512*424]; /* row[0] == row[511] == 0x08ec */
	__u16 unknownA;

	__u16 unknownB;
	__u16 p0table2[512*424]; /* row[0] == row[511] == 0x42e8 */
	__u16 unknownC;

	__u8  unknownD[];
} __packed;

struct kinect2_depth_footer {
	__u32 magic0;
	__u32 magic1;
	__u32 timestamp;
	__u32 sequence;
	__u32 subsequence;
	__u32 length;
	__u32 fields[32];
} __packed;

struct kinect2_color_header {
	__u32 sequence;
	__u32 magic; /* 0x42424242 */
	__u8 image[];
} __packed;

struct kinect2_color_footer {
	__u32 sequence;
	__u32 unknownA[3];
	__u32 timestamp;
	__u32 unknownB[2];
	__u32 magic;       /* 0x42424242 */
	__u32 length;
	__u32 unknownC[4];
} __packed;

#define KINECT2_DEPTH_IMAGE_SIZE (512*424*11/8)
#define KINECT2_DEPTH_FRAME_SIZE \
	(KINECT2_DEPTH_IMAGE_SIZE + sizeof(struct kinect2_depth_footer))

#define KINECT2_GET_DEPTH_FOOTER(p)					\
	((struct kinect2_depth_footer *)((char *)(p) + KINECT2_DEPTH_FRAME_SIZE*10 - sizeof(struct kinect2_depth_footer)))
#define KINECT2_GET_COLOR_FOOTER(ptr, len)				\
	((struct kinect2_color_footer *)((char *)(ptr) + (len) - sizeof(struct kinect2_color_footer)))

#include <linux/videodev2.h>


struct kinect2_ioctl_req {
	int   len;
	void *ptr;
} __packed;

#define VIDIOC_KINECT2_COLOR_PARAM	_IOWR('V', BASE_VIDIOC_PRIVATE + 0,\
					      struct kinect2_ioctl_req)
#define VIDIOC_KINECT2_DEPTH_PARAM	_IOWR('V', BASE_VIDIOC_PRIVATE + 1,\
					      struct kinect2_ioctl_req)
#define VIDIOC_KINECT2_P0TABLE		_IOWR('V', BASE_VIDIOC_PRIVATE + 2,\
					      struct kinect2_ioctl_req)


#endif /* _UAPI__LINUX_KINECT2_H */