Remove last remnants of Kinect support.

data/kinect.cal

-[rgb]
-principal_point\x=314.70228964
-principal_point\y=264.30478827
-focal_length\x=527.91246131
-focal_length\y=527.91246131
-distortion\k1=0.20496745
-distortion\k2=-0.36341243
-distortion\k3=0.00000000
-distortion\k4=0.00000000
-distortion\k5=0.00000000
-
-[depth]
-principal_point\x=311.88621344
-principal_point\y=247.63447078
-focal_length\x=593.89813561
-focal_length\y=593.89813561
-distortion\k1=0.00000000
-distortion\k2=0.00000000
-distortion\k3=0.00000000
-distortion\k4=0.00000000
-distortion\k5=0.00000000
-
-[transform]
-R11=0.999982
-R12=0.000556
-R13=0.005927
-R21=-0.000563
-R22=0.999999
-R23=0.001235
-R31=-0.005926
-R32=-0.001239
-R33=0.999982
-Tx=-0.024287
-Ty=0.001018
-Tz=-0.015195
-baseline=0.06061
-disparity_offset=1092.3403

src/input/Freenect.h

-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL 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 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
-======================================================================*/
-
-/**
- * @file
- *   @brief Definition of the class Freenect.
- *
- *   @author Lionel Heng <hengli@student.ethz.ch>
- *
- */
-
-#ifndef FREENECT_H
-#define FREENECT_H
-
-#include <libfreenect/libfreenect.h>
-#include <QMatrix4x4>
-#include <QMutex>
-#include <QScopedPointer>
-#include <QSharedPointer>
-#include <QThread>
-#include <QVector>
-#include <QVector2D>
-#include <QVector3D>
-
-class Freenect
-{
-public:
-    Freenect();
-    ~Freenect();
-
-    bool init(int userDeviceNumber = 0);
-    bool process(void);
-
-    QSharedPointer<QByteArray> getRgbData(void);
-    QSharedPointer<QByteArray> getRawDepthData(void);
-    QSharedPointer<QByteArray> getColoredDepthData(void);
-    QSharedPointer< QVector<QVector3D> > get3DPointCloudData(void);
-
-    typedef struct {
-        double x;
-        double y;
-        double z;
-        unsigned char r;
-        unsigned char g;
-        unsigned char b;
-    } Vector6D;
-    QSharedPointer< QVector<Vector6D> > get6DPointCloudData();
-
-    int getTiltAngle(void) const;
-    void setTiltAngle(int angle);
-
-private:
-    typedef struct {
-        // coordinates of principal point
-        double cx;
-        double cy;
-
-        // focal length in pixels
-        double fx;
-        double fy;
-
-        // distortion parameters
-        double k[5];
-
-    } IntrinsicCameraParameters;
-
-    void readConfigFile(void);
-
-    void rectifyPoint(const QVector2D& originalPoint,
-                      QVector2D& rectifiedPoint,
-                      const IntrinsicCameraParameters& params);
-    void unrectifyPoint(const QVector2D& rectifiedPoint,
-                        QVector2D& originalPoint,
-                        const IntrinsicCameraParameters& params);
-    void projectPixelTo3DRay(const QVector2D& pixel, QVector3D& ray,
-                             const IntrinsicCameraParameters& params);
-
-    static void videoCallback(freenect_device* device, void* video, uint32_t timestamp);
-    static void depthCallback(freenect_device* device, void* depth, uint32_t timestamp);
-
-    freenect_context* context;
-    freenect_device* device;
-
-    class FreenectThread : public QThread
-    {
-    public:
-        explicit FreenectThread(freenect_device* _device);
-
-    protected:
-        virtual void run(void);
-
-        freenect_device* device;
-    };
-    QScopedPointer<FreenectThread> thread;
-
-    IntrinsicCameraParameters rgbCameraParameters;
-    IntrinsicCameraParameters depthCameraParameters;
-
-    QMatrix4x4 transformMatrix;
-    double baseline;
-    double disparityOffset;
-
-    // tilt angle of Kinect camera
-    int tiltAngle;
-
-    // rgbd data
-    char rgb[FREENECT_VIDEO_RGB_SIZE];
-    QMutex rgbMutex;
-
-    char depth[FREENECT_DEPTH_11BIT_SIZE];
-    QMutex depthMutex;
-
-    char coloredDepth[FREENECT_VIDEO_RGB_SIZE];
-    QMutex coloredDepthMutex;
-
-    // accelerometer data
-    double ax, ay, az;
-    double dx, dy, dz;
-
-    // gamma map
-    unsigned short gammaTable[2048];
-
-    QVector3D depthProjectionMatrix[FREENECT_FRAME_PIX];
-    QVector2D rgbRectificationMap[FREENECT_FRAME_PIX];
-
-    // variables for use outside class
-    QSharedPointer<QByteArray> rgbData;
-    QSharedPointer<QByteArray> rawDepthData;
-    QSharedPointer<QByteArray> coloredDepthData;
-    QSharedPointer< QVector<QVector3D> > pointCloud3D;
-    QSharedPointer< QVector<Vector6D> > pointCloud6D;
-};
-
-#endif // FREENECT_H