[libfreenect] fixes for secondary arches
Dan Horák
sharkcz at fedoraproject.org
Wed Jan 9 16:41:35 UTC 2013
commit 125998198b750f179b57ca4040039c76da480db1
Author: Dan Horák <dan at danny.cz>
Date: Wed Jan 9 17:41:24 2013 +0100
fixes for secondary arches
libfreenect-0.1.2-align.patch | 177 ++++++++++++++++++++++++++++++++++++
libfreenect-0.1.2-big-endian.patch | 59 ++++++++++++
libfreenect.spec | 12 ++-
3 files changed, 247 insertions(+), 1 deletions(-)
---
diff --git a/libfreenect-0.1.2-align.patch b/libfreenect-0.1.2-align.patch
new file mode 100644
index 0000000..5ad2d52
--- /dev/null
+++ b/libfreenect-0.1.2-align.patch
@@ -0,0 +1,177 @@
+commit e1365de85617781e370abdc7ce1ef6d9875d55de
+Author: Drew Fisher <drew.m.fisher at gmail.com>
+Date: Mon Jan 23 07:41:41 2012 -0800
+
+ cameras.c: memcpy structs into properly aligned buffers before toggling endianness.
+
+ The new registration structs are not aligned to 4-byte boundaries in the
+ buffers that we get back from the Kinect. This might have been causing
+ breakage on ARM, where nonaligned access is prohibited.
+
+ Signed-off-by: Drew Fisher <drew.m.fisher at gmail.com>
+
+diff --git a/src/cameras.c b/src/cameras.c
+index 9f0beb9..d391a7c 100644
+--- a/src/cameras.c
++++ b/src/cameras.c
+@@ -783,56 +783,55 @@ static int freenect_fetch_reg_info(freenect_device *dev)
+ FN_ERROR("freenect_fetch_reg_info: send_cmd read %d bytes (expected 118)\n", res);
+ return -1;
+ }
+- freenect_reg_info *reg_info_ptr = (freenect_reg_info*)(&reply[2]);
+- freenect_reg_info *dev_reg_info = &(dev->registration.reg_info);
+- dev_reg_info->ax = fn_le32s(reg_info_ptr->ax);
+- dev_reg_info->bx = fn_le32s(reg_info_ptr->bx);
+- dev_reg_info->cx = fn_le32s(reg_info_ptr->cx);
+- dev_reg_info->dx = fn_le32s(reg_info_ptr->dx);
+- dev_reg_info->ay = fn_le32s(reg_info_ptr->ay);
+- dev_reg_info->by = fn_le32s(reg_info_ptr->by);
+- dev_reg_info->cy = fn_le32s(reg_info_ptr->cy);
+- dev_reg_info->dy = fn_le32s(reg_info_ptr->dy);
+- dev_reg_info->dx_start = fn_le32s(reg_info_ptr->dx_start);
+- dev_reg_info->dy_start = fn_le32s(reg_info_ptr->dy_start);
+- dev_reg_info->dx_beta_start = fn_le32s(reg_info_ptr->dx_beta_start);
+- dev_reg_info->dy_beta_start = fn_le32s(reg_info_ptr->dy_beta_start);
+- dev_reg_info->dx_beta_inc = fn_le32s(reg_info_ptr->dx_beta_inc);
+- dev_reg_info->dy_beta_inc = fn_le32s(reg_info_ptr->dy_beta_inc);
+- dev_reg_info->dxdx_start = fn_le32s(reg_info_ptr->dxdx_start);
+- dev_reg_info->dxdy_start = fn_le32s(reg_info_ptr->dxdy_start);
+- dev_reg_info->dydx_start = fn_le32s(reg_info_ptr->dydx_start);
+- dev_reg_info->dydy_start = fn_le32s(reg_info_ptr->dydy_start);
+- dev_reg_info->dxdxdx_start = fn_le32s(reg_info_ptr->dxdxdx_start);
+- dev_reg_info->dydxdx_start = fn_le32s(reg_info_ptr->dydxdx_start);
+- dev_reg_info->dxdxdy_start = fn_le32s(reg_info_ptr->dxdxdy_start);
+- dev_reg_info->dydxdy_start = fn_le32s(reg_info_ptr->dydxdy_start);
+- dev_reg_info->dydydx_start = fn_le32s(reg_info_ptr->dydydx_start);
+- dev_reg_info->dydydy_start = fn_le32s(reg_info_ptr->dydydy_start);
+- FN_SPEW("ax: %d\n", dev_reg_info->ax);
+- FN_SPEW("bx: %d\n", dev_reg_info->bx);
+- FN_SPEW("cx: %d\n", dev_reg_info->cx);
+- FN_SPEW("dx: %d\n", dev_reg_info->dx);
+- FN_SPEW("ay: %d\n", dev_reg_info->ay);
+- FN_SPEW("by: %d\n", dev_reg_info->by);
+- FN_SPEW("cy: %d\n", dev_reg_info->cy);
+- FN_SPEW("dy: %d\n", dev_reg_info->dy);
+- FN_SPEW("dx_start: %d\n", dev_reg_info->dx_start);
+- FN_SPEW("dy_start: %d\n", dev_reg_info->dy_start);
+- FN_SPEW("dx_beta_start: %d\n", dev_reg_info->dx_beta_start);
+- FN_SPEW("dy_beta_start: %d\n", dev_reg_info->dy_beta_start);
+- FN_SPEW("dx_beta_inc: %d\n", dev_reg_info->dx_beta_inc);
+- FN_SPEW("dy_beta_inc: %d\n", dev_reg_info->dy_beta_inc);
+- FN_SPEW("dxdx_start: %d\n", dev_reg_info->dxdx_start);
+- FN_SPEW("dxdy_start: %d\n", dev_reg_info->dxdy_start);
+- FN_SPEW("dydx_start: %d\n", dev_reg_info->dydx_start);
+- FN_SPEW("dydy_start: %d\n", dev_reg_info->dydy_start);
+- FN_SPEW("dxdxdx_start: %d\n", dev_reg_info->dxdxdx_start);
+- FN_SPEW("dydxdx_start: %d\n", dev_reg_info->dydxdx_start);
+- FN_SPEW("dxdxdy_start: %d\n", dev_reg_info->dxdxdy_start);
+- FN_SPEW("dydxdy_start: %d\n", dev_reg_info->dydxdy_start);
+- FN_SPEW("dydydx_start: %d\n", dev_reg_info->dydydx_start);
+- FN_SPEW("dydydy_start: %d\n", dev_reg_info->dydydy_start);
++ memcpy(&dev->registration.reg_info, reply + 2, sizeof(dev->registration.reg_info));
++ dev->registration.reg_info.ax = fn_le32s(dev->registration.reg_info.ax);
++ dev->registration.reg_info.bx = fn_le32s(dev->registration.reg_info.bx);
++ dev->registration.reg_info.cx = fn_le32s(dev->registration.reg_info.cx);
++ dev->registration.reg_info.dx = fn_le32s(dev->registration.reg_info.dx);
++ dev->registration.reg_info.ay = fn_le32s(dev->registration.reg_info.ay);
++ dev->registration.reg_info.by = fn_le32s(dev->registration.reg_info.by);
++ dev->registration.reg_info.cy = fn_le32s(dev->registration.reg_info.cy);
++ dev->registration.reg_info.dy = fn_le32s(dev->registration.reg_info.dy);
++ dev->registration.reg_info.dx_start = fn_le32s(dev->registration.reg_info.dx_start);
++ dev->registration.reg_info.dy_start = fn_le32s(dev->registration.reg_info.dy_start);
++ dev->registration.reg_info.dx_beta_start = fn_le32s(dev->registration.reg_info.dx_beta_start);
++ dev->registration.reg_info.dy_beta_start = fn_le32s(dev->registration.reg_info.dy_beta_start);
++ dev->registration.reg_info.dx_beta_inc = fn_le32s(dev->registration.reg_info.dx_beta_inc);
++ dev->registration.reg_info.dy_beta_inc = fn_le32s(dev->registration.reg_info.dy_beta_inc);
++ dev->registration.reg_info.dxdx_start = fn_le32s(dev->registration.reg_info.dxdx_start);
++ dev->registration.reg_info.dxdy_start = fn_le32s(dev->registration.reg_info.dxdy_start);
++ dev->registration.reg_info.dydx_start = fn_le32s(dev->registration.reg_info.dydx_start);
++ dev->registration.reg_info.dydy_start = fn_le32s(dev->registration.reg_info.dydy_start);
++ dev->registration.reg_info.dxdxdx_start = fn_le32s(dev->registration.reg_info.dxdxdx_start);
++ dev->registration.reg_info.dydxdx_start = fn_le32s(dev->registration.reg_info.dydxdx_start);
++ dev->registration.reg_info.dxdxdy_start = fn_le32s(dev->registration.reg_info.dxdxdy_start);
++ dev->registration.reg_info.dydxdy_start = fn_le32s(dev->registration.reg_info.dydxdy_start);
++ dev->registration.reg_info.dydydx_start = fn_le32s(dev->registration.reg_info.dydydx_start);
++ dev->registration.reg_info.dydydy_start = fn_le32s(dev->registration.reg_info.dydydy_start);
++ FN_SPEW("ax: %d\n", dev->registration.reg_info.ax);
++ FN_SPEW("bx: %d\n", dev->registration.reg_info.bx);
++ FN_SPEW("cx: %d\n", dev->registration.reg_info.cx);
++ FN_SPEW("dx: %d\n", dev->registration.reg_info.dx);
++ FN_SPEW("ay: %d\n", dev->registration.reg_info.ay);
++ FN_SPEW("by: %d\n", dev->registration.reg_info.by);
++ FN_SPEW("cy: %d\n", dev->registration.reg_info.cy);
++ FN_SPEW("dy: %d\n", dev->registration.reg_info.dy);
++ FN_SPEW("dx_start: %d\n", dev->registration.reg_info.dx_start);
++ FN_SPEW("dy_start: %d\n", dev->registration.reg_info.dy_start);
++ FN_SPEW("dx_beta_start: %d\n", dev->registration.reg_info.dx_beta_start);
++ FN_SPEW("dy_beta_start: %d\n", dev->registration.reg_info.dy_beta_start);
++ FN_SPEW("dx_beta_inc: %d\n", dev->registration.reg_info.dx_beta_inc);
++ FN_SPEW("dy_beta_inc: %d\n", dev->registration.reg_info.dy_beta_inc);
++ FN_SPEW("dxdx_start: %d\n", dev->registration.reg_info.dxdx_start);
++ FN_SPEW("dxdy_start: %d\n", dev->registration.reg_info.dxdy_start);
++ FN_SPEW("dydx_start: %d\n", dev->registration.reg_info.dydx_start);
++ FN_SPEW("dydy_start: %d\n", dev->registration.reg_info.dydy_start);
++ FN_SPEW("dxdxdx_start: %d\n", dev->registration.reg_info.dxdxdx_start);
++ FN_SPEW("dydxdx_start: %d\n", dev->registration.reg_info.dydxdx_start);
++ FN_SPEW("dxdxdy_start: %d\n", dev->registration.reg_info.dxdxdy_start);
++ FN_SPEW("dydxdy_start: %d\n", dev->registration.reg_info.dydxdy_start);
++ FN_SPEW("dydydx_start: %d\n", dev->registration.reg_info.dydydx_start);
++ FN_SPEW("dydydy_start: %d\n", dev->registration.reg_info.dydydy_start);
+ /*
+ // NOTE: Not assigned above
+ FN_SPEW("dx_center: %d\n", dev_reg_info->dx_center);
+@@ -861,10 +860,10 @@ static int freenect_fetch_reg_pad_info(freenect_device *dev)
+ FN_ERROR("freenect_fetch_reg_pad_info: send_cmd read %d bytes (expected 8)\n", res);
+ return -1;
+ }
+- freenect_reg_pad_info *pad_info_ptr = (freenect_reg_pad_info*)(&reply[2]);
+- dev->registration.reg_pad_info.start_lines = fn_le16s(pad_info_ptr->start_lines);
+- dev->registration.reg_pad_info.end_lines = fn_le16s(pad_info_ptr->end_lines);
+- dev->registration.reg_pad_info.cropping_lines = fn_le16s(pad_info_ptr->cropping_lines);
++ memcpy(&dev->registration.reg_pad_info, reply+2, sizeof(dev->registration.reg_pad_info));
++ dev->registration.reg_pad_info.start_lines = fn_le16s(dev->registration.reg_pad_info.start_lines);
++ dev->registration.reg_pad_info.end_lines = fn_le16s(dev->registration.reg_pad_info.end_lines);
++ dev->registration.reg_pad_info.cropping_lines = fn_le16s(dev->registration.reg_pad_info.cropping_lines);
+ FN_SPEW("start_lines: %u\n",dev->registration.reg_pad_info.start_lines);
+ FN_SPEW("end_lines: %u\n",dev->registration.reg_pad_info.end_lines);
+ FN_SPEW("cropping_lines: %u\n",dev->registration.reg_pad_info.cropping_lines);
+@@ -888,7 +887,9 @@ static int freenect_fetch_reg_const_shift(freenect_device *dev)
+ FN_ERROR("freenect_fetch_reg_const_shift: send_cmd read %d bytes (expected 8)\n", res);
+ return -1;
+ }
+- uint16_t shift = fn_le16(*((uint16_t*)(reply+2)));
++ uint16_t shift;
++ memcpy(&shift, reply+2, sizeof(shift));
++ shift = fn_le16(shift);
+ dev->registration.const_shift = (double)shift;
+ FN_SPEW("const_shift: %f\n",dev->registration.const_shift);
+ return 0;
+@@ -907,17 +908,18 @@ static int freenect_fetch_zero_plane_info(freenect_device *dev)
+ FN_ERROR("freenect_fetch_zero_plane_info: send_cmd read %d bytes (expected 322)\n", res);
+ return -1;
+ }
++
++ memcpy(&(dev->registration.zero_plane_info), reply + 94, sizeof(dev->registration.zero_plane_info));
++ dev->registration.zero_plane_info.dcmos_emitter_dist = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.dcmos_emitter_dist)))));
++ dev->registration.zero_plane_info.dcmos_rcmos_dist = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.dcmos_rcmos_dist)))));
++ dev->registration.zero_plane_info.reference_distance = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.reference_distance)))));
++ dev->registration.zero_plane_info.reference_pixel_size = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.reference_pixel_size)))));
++
+ // WTF is all this data? it's way bigger than sizeof(XnFixedParams)...
+- FN_SPEW("dcmos_emitter_distance: %f\n", *((float*)(reply+94)));
+- FN_SPEW("dcmos_rcmos_distance: %f\n", *((float*)(reply+98)));
+- FN_SPEW("reference_distance: %f\n", *((float*)(reply+102)));
+- FN_SPEW("reference_pixel_size: %f\n", *((float*)(reply+106)));
+-
+- // The values are 32-bit floats in little-endian. So:
+- dev->registration.zero_plane_info.dcmos_emitter_dist = *((float*)(&fn_le32(*((uint32_t*)(reply+94)))));
+- dev->registration.zero_plane_info.dcmos_rcmos_dist = *((float*)(&fn_le32(*((uint32_t*)(reply+98)))));
+- dev->registration.zero_plane_info.reference_distance = *((float*)(&fn_le32(*((uint32_t*)(reply+102)))));
+- dev->registration.zero_plane_info.reference_pixel_size = *((float*)(&fn_le32(*((uint32_t*)(reply+106)))));
++ FN_SPEW("dcmos_emitter_distance: %f\n", dev->registration.zero_plane_info.dcmos_emitter_dist);
++ FN_SPEW("dcmos_rcmos_distance: %f\n", dev->registration.zero_plane_info.dcmos_rcmos_dist);
++ FN_SPEW("reference_distance: %f\n", dev->registration.zero_plane_info.reference_distance);
++ FN_SPEW("reference_pixel_size: %f\n", dev->registration.zero_plane_info.reference_pixel_size);
+
+ // FIXME: OpenNI seems to use a hardcoded value of 2.4 instead of 2.3 as reported by Kinect
+ dev->registration.zero_plane_info.dcmos_rcmos_dist = 2.4;
diff --git a/libfreenect-0.1.2-big-endian.patch b/libfreenect-0.1.2-big-endian.patch
new file mode 100644
index 0000000..a99d3d4
--- /dev/null
+++ b/libfreenect-0.1.2-big-endian.patch
@@ -0,0 +1,59 @@
+commit bbc109a589a1dd2c229f8bc98536dbc184dd73f9
+Author: Drew Fisher <drew.m.fisher at gmail.com>
+Date: Sun Jan 29 16:28:32 2012 -0800
+
+ Build on big-endian systems again.
+
+ On big endian, fn_le32() is actually a function, not an empty preprocessor
+ macro, so we can't take the address of its return value when doing the C
+ equivalent of reinterpret_cast.
+
+ Signed-off-by: Drew Fisher <drew.m.fisher at gmail.com>
+
+diff --git a/src/cameras.c b/src/cameras.c
+index d391a7c..a078e1d 100644
+--- a/src/cameras.c
++++ b/src/cameras.c
+@@ -910,10 +910,15 @@ static int freenect_fetch_zero_plane_info(freenect_device *dev)
+ }
+
+ memcpy(&(dev->registration.zero_plane_info), reply + 94, sizeof(dev->registration.zero_plane_info));
+- dev->registration.zero_plane_info.dcmos_emitter_dist = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.dcmos_emitter_dist)))));
+- dev->registration.zero_plane_info.dcmos_rcmos_dist = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.dcmos_rcmos_dist)))));
+- dev->registration.zero_plane_info.reference_distance = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.reference_distance)))));
+- dev->registration.zero_plane_info.reference_pixel_size = *((float*)(&fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.reference_pixel_size)))));
++ uint32_t temp;
++ temp = fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.dcmos_emitter_dist)));
++ dev->registration.zero_plane_info.dcmos_emitter_dist = *((float*)(&temp));
++ temp = fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.dcmos_rcmos_dist)));
++ dev->registration.zero_plane_info.dcmos_rcmos_dist = *((float*)(&temp));
++ temp = fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.reference_distance)));
++ dev->registration.zero_plane_info.reference_distance = *((float*)(&temp));
++ temp = fn_le32(*((uint32_t*)(&dev->registration.zero_plane_info.reference_pixel_size)));
++ dev->registration.zero_plane_info.reference_pixel_size = *((float*)(&temp));
+
+ // WTF is all this data? it's way bigger than sizeof(XnFixedParams)...
+ FN_SPEW("dcmos_emitter_distance: %f\n", dev->registration.zero_plane_info.dcmos_emitter_dist);
+diff --git a/src/freenect_internal.h b/src/freenect_internal.h
+index 4e7950e..d23208a 100644
+--- a/src/freenect_internal.h
++++ b/src/freenect_internal.h
+@@ -89,12 +89,16 @@ static inline uint32_t fn_le32(uint32_t d)
+ static inline int16_t fn_le16s(int16_t s)
+ {
+ // reinterpret cast to unsigned, use the normal fn_le16, and then reinterpret cast back
+- return *((int16_t*)(&fn_le16(*((uint16_t*)(&s)))));
++ uint16_t temp = (*(uint16_t*)(&s));
++ temp = fn_le16(temp);
++ return *((int16_t*)(&temp));
+ }
+ static inline int32_t fn_le32s(int32_t s)
+ {
+ // reinterpret cast to unsigned, use the normal fn_le32, and then reinterpret cast back
+- return *((int32_t*)(&fn_le32(*((uint32_t*)(&s)))));
++ uint32_t temp = (*(uint32_t*)(&s));
++ temp = fn_le32(temp);
++ return *((int32_t*)(&temp));
+ }
+ #else
+ #define fn_le16(x) (x)
diff --git a/libfreenect.spec b/libfreenect.spec
index cc99d8b..42f6d3b 100644
--- a/libfreenect.spec
+++ b/libfreenect.spec
@@ -5,7 +5,7 @@
Name: libfreenect
Version: 0.1.2
-Release: 3%{?dist}
+Release: 4%{?dist}
Summary: Device driver for the Kinect
License: GPLv2+ or ASL 2.0
URL: http://www.openkinect.org/
@@ -15,6 +15,11 @@ URL: http://www.openkinect.org/
Source0: libfreenect-v%{version}.tar.bz2
Source1: freenect_generate_tarball.sh
+# https://github.com/OpenKinect/libfreenect/commit/e1365de85617781e370abdc7ce1ef6d9875d55de
+Patch0: %{name}-0.1.2-align.patch
+# https://github.com/OpenKinect/libfreenect/commit/bbc109a589a1dd2c229f8bc98536dbc184dd73f9
+Patch1: %{name}-0.1.2-big-endian.patch
+
BuildRequires: cmake
BuildRequires: Cython
BuildRequires: doxygen
@@ -78,6 +83,8 @@ The %{name}-python package contains python bindings for %{name}
%prep
%setup -q -n %{name}
+%patch0 -p1 -b .align
+%patch1 -p1 -b .big-endian
# Get rid of osx and win specific stuff
sed -i 's|get_python_lib(prefix='\''${CMAKE_INSTALL_PREFIX}'\'')|get_python_lib(1)|' wrappers/python/CMakeLists.txt
sed -i 's|/usr/local|/usr|' wrappers/python/setup.py
@@ -156,6 +163,9 @@ sed -i "s|#!/usr/bin/env python||" %{buildroot}%{_datadir}/%{name}/fwfetcher.py
%{_bindir}/fakenect
%changelog
+* Wed Jan 09 2013 Dan Horák <dan[at]danny.cz> - 0.1.2-4
+- fixes for secondary arches
+
* Sat Nov 10 2012 Rich Mattes <richmattes at gmail.com> - 0.1.2-3
- Rebuild for new OpenCV
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