# HG changeset patch
# User Eleni Maria Stea <eleni@mutantstargoat.com>
# Date 1383509220 -7200
# Node ID bd1b0385a10b84c932f492300359354794f34a17
# Parent  4f1b8ddcd32ed0a94b2273f370b24e2e420955e3
fixed depth frame rendering

diff -r 4f1b8ddcd32e -r bd1b0385a10b src/frame.cc
--- a/src/frame.cc	Sun Nov 03 21:58:56 2013 +0200
+++ b/src/frame.cc	Sun Nov 03 22:07:00 2013 +0200
@@ -82,10 +82,21 @@
 	}
 
 	/* freenect depth data to cv mat: */
+	uint16_t* src = (uint16_t*)depth;
+	uint16_t* dest = (uint16_t*)frame->depth_buf.data;
 
-	memcpy(frame->depth_buf.data, depth, KINECT_DEPTH_WIDTH * KINECT_DEPTH_HEIGHT * 2);
+	for(int i=0; i<KINECT_DEPTH_HEIGHT * KINECT_DEPTH_WIDTH; i++) {
+		uint16_t val = *src;
+		if(val >= 2047) {
+			val = 0;
+		}
+		val = val << 5;
+		*dest = val;
+		src++;
+		dest++;
+	}
 
-	save_depth_ppm(depth, KINECT_DEPTH_WIDTH, KINECT_DEPTH_HEIGHT);
+
 	cv::imshow("foo", frame->depth_buf);
 	cv::waitKey(100);
 	has_depth = true;
@@ -107,22 +118,3 @@
 	fclose(fp);
 	return true;
 }
-
-bool save_depth_ppm(void *depth, int w, int h)
-{
-	FILE *fp;
-	if(!(fp = fopen("test_depth.ppm", "wb"))) {
-		fprintf(stderr, "Failed to open depth file for writing.\n");
-		return false;
-	}
-	fprintf(fp, "P6\n%d %d\n255\n", w, h);
-	uint16_t *ptr = (uint16_t*)depth;
-	for(int i=0; i<w * h; i++) {
-		unsigned char c = *ptr++ >> 8;
-		fputc(c, fp);
-		fputc(c, fp);
-		fputc(c, fp);
-	}
-	fclose(fp);
-	return true;
-}