bgra.patch

diff --git a/examples/Protonect.cpp b/home/ubuntu/installLibfreenect2/Protonect.cpp
index b4e2e61..ab7907d 100644
--- a/examples/Protonect.cpp
+++ b/home/ubuntu/installLibfreenect2/Protonect.cpp
@@ -29,6 +29,7 @@
 #include <iostream>
 #include <cstdlib>
 #include <signal.h>
+#include <string.h> // memcpy
 
 /// [headers]
 #include <libfreenect2/libfreenect2.hpp>
@@ -336,6 +337,24 @@ int main(int argc, char *argv[])
       return -1;
     }
     libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
+    // On the Jetson, the hardware decoder produces RGBA
+    // The viewer uses BGRA, this is the brain dead approach to conversion
+    unsigned char *convertedData = (unsigned char*) malloc(rgb->height*rgb->width*rgb->bytes_per_pixel) ;
+    int offset = 0;
+    for (unsigned int y = 0 ; y < rgb->height; y++) {
+        for (unsigned int x=0 ; x < rgb->width; x++) {
+            convertedData[offset] = rgb->data[offset+2] ;
+            convertedData[offset+1] = rgb->data[offset+1];
+            convertedData[offset+2] = rgb->data[offset+0];
+            convertedData[offset+3] = rgb->data[offset+3];
+            offset += 4;
+        }
+    }
+    memcpy(rgb->data,convertedData,rgb->height*rgb->width*rgb->bytes_per_pixel);
+   // Free the data somewhere
+    free(convertedData) ;
+
+
     libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
     libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
 /// [loop start]