OpenNI · kkusumam · Apr 23, 2014 · Apr 23, 2014 · Apr 23, 2014 · Apr 24, 2014
diff --git a/Makefile b/Makefile
@@ -12,6 +12,7 @@
 #   make FORCE_BUILD_CLR=1
 #
 #############################################################################
+export ALLOW_WARNINGS = 1
 
 include ThirdParty/PSCommon/BuildSystem/CommonDefs.mak
 

diff --git a/README b/README
diff --git a/README.md b/README.md
@@ -0,0 +1,170 @@
+# OpenNI
+
+**Structure Core customers:** OpenNI does not currently support Structure Core. To start developing with Structure Core download *Structure SDK (Cross-Platform)* on the [Developer Portal](https://developer.structure.io/sdk).
+
+
+OpenNI2 homepage: http://structure.io/openni
+
+## Develop branch ##
+
+The latest ongoing development is currently being done in the develop branch.  Refer to README and ReleasesNotes in the develop branch for up to date build instructions.
+
+## Contributing ##
+
+Pull requests that do not apply cleanly on top of the [`develop` branch head](http://github.com/occipital/OpenNI2/tree/develop) will be rejected.
+
+Other than that, sensible and meaningful contributions are very welcome!
+
+## Building Prerequisites
+
+### Windows
+
+- Microsoft Visual Studio 2010
+
+    - Download and install from: http://msdn.microsoft.com/en-us/vstudio/bb984878.aspx
+
+- Microsoft Kinect SDK v1.6
+
+    - Download and install from: http://go.microsoft.com/fwlink/?LinkID=262831
+
+- Python 2.6+/3.x
+
+    - Download and install from: http://www.python.org/download/
+
+- PyWin32
+
+    - Download and install from: http://sourceforge.net/projects/pywin32/files/pywin32/
+
+    Please make sure you download the version that matches your exact python version.
+
+- JDK 6.0
+
+    - Download and install from: http://www.oracle.com/technetwork/java/javase/downloads/jdk-6u32-downloads-1594644.html
+
+    You must also define an environment variable called `JAVA_HOME` that points to the JDK installation directory. For example:
+
+    	set JAVA_HOME=c:\Program Files (x86)\Java\jdk1.6.0_32
+
+- WIX 3.5
+
+    - Download and install from: http://wix.codeplex.com/releases/view/60102
+
+- Doxygen
+
+    - Download and install from: http://www.stack.nl/~dimitri/doxygen/download.html#latestsrc
+
+- GraphViz
+
+    - Download and install from: http://www.graphviz.org/Download_windows.php
+
+### Linux
+
+- GCC 4.x
+
+	- Download and install from: http://gcc.gnu.org/releases.html
+
+    - Or use `apt`:
+
+	    	sudo apt-get install g++
+
+- Python 2.6+/3.x
+
+    - Download and install from: http://www.python.org/download/
+
+    - Or use `apt`:
+
+	    	sudo apt-get install python
+
+- LibUSB 1.0.x
+
+    - Download and install from: http://sourceforge.net/projects/libusb/files/libusb-1.0/
+
+    - Or use `apt`:
+
+	    	sudo apt-get install libusb-1.0-0-dev
+
+- LibUDEV
+
+		sudo apt-get install libudev-dev
+
+- JDK 6.0
+
+    - Download and install from: http://www.oracle.com/technetwork/java/javase/downloads/jdk-6u32-downloads-1594644.html
+
+    - Or use `apt`:
+
+    	- On Ubuntu 10.x:
+
+				sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner"
+				sudo apt-get update
+				sudo apt-get install sun-java6-jdk
+
+    	- On Ubuntu 12.x:
+
+				sudo apt-get install openjdk-6-jdk
+
+- FreeGLUT3
+
+    - Download and install from: http://freeglut.sourceforge.net/index.php#download
+
+    - Or use `apt`:
+
+	    	sudo apt-get install freeglut3-dev
+
+- Doxygen
+
+    - Download and install from: http://www.stack.nl/~dimitri/doxygen/download.html#latestsrc
+
+    - Or use `apt`:
+
+    		sudo apt-get install doxygen
+
+- GraphViz
+
+    - Download and install from: http://www.graphviz.org/Download_linux_ubuntu.php
+
+    - Or use `apt`:
+
+    		sudo apt-get install graphviz
+
+### Android
+
+- Download and install the Android NDK version **r8d**. Newer versions will **NOT** work.
+
+- For Mac OS X: http://dl.google.com/android/ndk/android-ndk-r8d-darwin-x86.tar.bz2
+- For Windows:  http://dl.google.com/android/ndk/android-ndk-r8d-windows.zip
+- For Linux:    http://dl.google.com/android/ndk/android-ndk-r8d-linux-x86.tar.bz2
+
+    Building Android packages requires the NDK_ROOT environment variable to be defined, and its value must be pointing to the NDK installation dir: `NDK_ROOT=/path/to/android-ndk-r8d`
+
+## Building
+
+### Building on Windows:
+
+  Open the solution `OpenNI.sln`
+
+### Building on Linux:
+
+  Run:
+
+	make
+
+### Cross-Compiling for ARM on Linux
+
+  The following environment variables should be defined:
+
+- `ARM_CXX=path-to-cross-compilation-g++`
+- `ARM_STAGING=path-to-cross-compilation-staging-dir`
+
+Then, run:
+
+	PLATFORM=Arm make
+
+### Creating OpenNI2 packages
+
+  - Go into the directory `Packaging`
+  - Run:
+
+		ReleaseVersion.py [x86|x64|arm|android]
+
+  - The installer will be placed in the `Final` directory
diff --git a/Source/Core/OniStream.cpp b/Source/Core/OniStream.cpp
@@ -399,9 +399,15 @@ OniStatus VideoStream::convertDepthToWorldCoordinates(float depthX, float depthY
 	float normalizedX = depthX / m_worldConvertCache.resolutionX - .5f;
 	float normalizedY = .5f - depthY / m_worldConvertCache.resolutionY;
 
-	*pWorldX = normalizedX * depthZ * m_worldConvertCache.xzFactor;
-	*pWorldY = normalizedY * depthZ * m_worldConvertCache.yzFactor;
-	*pWorldZ = depthZ;
+	OniVideoMode videoMode;
+	int size = sizeof(videoMode);
+	getProperty(ONI_STREAM_PROPERTY_VIDEO_MODE, &videoMode, &size);
+
+	float const convertToMillimeters = (videoMode.pixelFormat == ONI_PIXEL_FORMAT_DEPTH_100_UM) ? 10.f : 1.f;
+	*pWorldX = (normalizedX * depthZ * m_worldConvertCache.xzFactor) / convertToMillimeters;
+	*pWorldY = (normalizedY * depthZ * m_worldConvertCache.yzFactor) / convertToMillimeters;
+	*pWorldZ = depthZ / convertToMillimeters;
+
 	return ONI_STATUS_OK;
 }
 

diff --git a/Source/Drivers/Kinect/Kinect.vcxproj b/Source/Drivers/Kinect/Kinect.vcxproj
@@ -68,15 +68,11 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <OutDir>$(SolutionDir)Bin\$(Platform)-$(Configuration)\OpenNI2\Drivers\</OutDir>
     <IntDir>$(SolutionDir)Bin\Intermediate\$(Platform)-$(Configuration)\$(ProjectName)\</IntDir>
-    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include</IncludePath>
-    <LibraryPath>$(VCInstallDir)lib;$(VCInstallDir)atlmfc\lib;$(WindowsSdkDir)lib;$(FrameworkSDKDir)\lib;</LibraryPath>
     <LinkIncremental>true</LinkIncremental>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <OutDir>$(SolutionDir)Bin\$(Platform)-$(Configuration)\OpenNI2\Drivers\</OutDir>
     <IntDir>$(SolutionDir)Bin\Intermediate\$(Platform)-$(Configuration)\$(ProjectName)\</IntDir>
-    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;</IncludePath>
-    <LibraryPath>$(VCInstallDir)lib\amd64;$(VCInstallDir)atlmfc\lib\amd64;$(WindowsSdkDir)lib\x64;</LibraryPath>
     <LinkIncremental>true</LinkIncremental>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">

diff --git a/Source/Tools/NiViewer/Makefile b/Source/Tools/NiViewer/Makefile
@@ -26,7 +26,7 @@ else
 endif
 
 LIB_DIRS  += ../../../ThirdParty/PSCommon/XnLib/Bin/$(PLATFORM)-$(CFG)
-USED_LIBS += OpenNI2 XnLib
+USED_LIBS += OpenNI2 XnLib pthread
 
 EXE_NAME = NiViewer
 

diff --git a/ThirdParty/GL/glh/glh_convenience.h b/ThirdParty/GL/glh/glh_convenience.h
@@ -47,12 +47,6 @@
 // with opengl...
 
 
-
-// debugging hack...
-#include <iostream>
-
-using namespace std;
-
 #ifdef MACOS
 #include <OpenGL/gl.h>
 #else

diff --git a/ThirdParty/PSCommon/XnLib/Source/Win32/XnWin32Network.cpp b/ThirdParty/PSCommon/XnLib/Source/Win32/XnWin32Network.cpp
@@ -21,6 +21,9 @@
 //---------------------------------------------------------------------------
 // Includes
 //---------------------------------------------------------------------------
+
+#define _WINSOCK_DEPRECATED_NO_WARNINGS 1
+
 #include <XnOS.h>
 #include <winsock2.h>
 #include <xnLog.h>

diff --git a/ThirdParty/PSCommon/XnLib/Source/Win32/XnWin32OS.cpp b/ThirdParty/PSCommon/XnLib/Source/Win32/XnWin32OS.cpp
@@ -197,8 +197,12 @@ XN_C_API XnStatus xnOSGetInfo(xnOSInfo* pOSInfo)
 	// Get OS Info
 	OSVERSIONINFOEX osVersionInfo;
 	osVersionInfo.dwOSVersionInfoSize = sizeof(OSVERSIONINFOEX);
-	if (0 == GetVersionEx((LPOSVERSIONINFO)&osVersionInfo))
-	{
+
+#pragma warning(push)
+#pragma warning(disable:4996)
+    if (0 == GetVersionEx((LPOSVERSIONINFO)&osVersionInfo))
+#pragma warning(pop)
+    {
 		DWORD nErr = GetLastError();
 		xnLogWarning(XN_MASK_OS, "Failed getting OS version information. Error code: %d", nErr);
 		return XN_STATUS_ERROR;

diff --git a/ThirdParty/PSCommon/XnLib/ThirdParty/GL/glh/glh_convenience.h b/ThirdParty/PSCommon/XnLib/ThirdParty/GL/glh/glh_convenience.h
@@ -46,13 +46,6 @@
 // Convenience methods for using glh_linear objects
 // with opengl...
 
-
-
-// debugging hack...
-#include <iostream>
-
-using namespace std;
-
 #ifdef MACOS
 #include <OpenGL/gl.h>
 #else