diff -up ./Data/GlobalDefaults.ini.willow ./Data/GlobalDefaults.ini

--- ./Data/GlobalDefaults.ini.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Data/GlobalDefaults.ini	2014-06-01 16:23:35.072680642 -0400

@@ -6,7 +6,7 @@ LogMasks=ALL

 ; 0 - No (default), 1 - Yes

 ;LogWriteToConsole=1

 ; 0 - No (default), 1 - Yes

-LogWriteToFile=1

+;LogWriteToFile=1

 ; 0 - No (default), 1 - Yes

 ;LogWriteLineInfo=0

 ; leave empty for nothing (default). ALL - all masks

diff -up ./Source/XnDeviceSensorV2/Registration.cpp.willow ./Source/XnDeviceSensorV2/Registration.cpp

--- ./Source/XnDeviceSensorV2/Registration.cpp.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Source/XnDeviceSensorV2/Registration.cpp	2014-06-01 16:23:35.064680329 -0400

@@ -466,13 +466,28 @@ void XnRegistration::Apply1000(XnDepthPi

 			nNewX = (XnInt32)(XnDouble(*pRegTable)/XN_REG_X_SCALE + XnInt32(pDepth2ShiftTable[nValue]/XN_REG_PARAB_COEFF - nConstShift) * dShiftFactor);

 			nNewY = *(pRegTable+1);

-			if ((XnUInt32)nNewX-1 < (XnUInt32)nDepthXRes-1)

+			if ((XnUInt32)nNewX-1 < (XnUInt32)nDepthXRes-1 && (XnUInt32)nNewY <(XnUInt32) nDepthYRes)

 			{

 				nArrPos = nNewY * nDepthXRes + nNewX;

 				nOutValue = pOutput[nArrPos];

 				if (nOutValue == 0 || nOutValue > nValue)

 				{

+				  if ( nNewX > 0 && nNewY > 0 )

+					{

+						pOutput[nArrPos-nDepthXRes] = nValue;

+						pOutput[nArrPos-nDepthXRes-1] = nValue;

+						pOutput[nArrPos-1] = nValue;

+					}

+					else if( nNewY > 0 )

+					{

+						pOutput[nArrPos-nDepthXRes] = nValue;

+					}

+					else if( nNewX > 0 )

+					{

+						pOutput[nArrPos-1] = nValue;

+					}

+    

 					pOutput[nArrPos] = nValue;

 					pOutput[nArrPos-1] = nValue;

 					pOutput[nArrPos-nDepthXRes] = nValue;

diff -up ./Source/XnDeviceSensorV2/XnDataProcessor.h.willow ./Source/XnDeviceSensorV2/XnDataProcessor.h

--- ./Source/XnDeviceSensorV2/XnDataProcessor.h.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Source/XnDeviceSensorV2/XnDataProcessor.h	2014-06-01 16:23:35.065680368 -0400

@@ -89,7 +89,9 @@ protected:

 	/* The number of bytes received so far (since last time this member was reset). */

 	XnUInt32 m_nBytesReceived;

 	/* Stores last packet ID */

-	XnUInt16 m_nLastPacketID;

+	//XnUInt16 m_nLastPacketID;

+	// --avin mod--

+  XnUInt8  m_nLastPacketID;

 	/* The name of the stream. */

 	const XnChar* m_csName;

diff -up ./Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp.willow ./Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp

diff -up ./Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h.willow ./Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h

--- ./Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h	2014-06-01 16:23:35.066680407 -0400

@@ -85,7 +85,10 @@ typedef struct XnSensorProtocolResponseH

 {

 	XnUInt16 nMagic;

 	XnUInt16 nType;

-	XnUInt16 nPacketID;

+	//XnUInt16 nPacketID;

+  // --avin mod--

+  XnUInt8  nPacketID;

+  XnUInt8  nUnknown;

 	XnUInt16 nBufSize;

 	XnUInt32 nTimeStamp;

 } XnSensorProtocolResponseHeader;

diff -up ./Source/XnDeviceSensorV2/XnFirmwareStreams.cpp.willow ./Source/XnDeviceSensorV2/XnFirmwareStreams.cpp

--- ./Source/XnDeviceSensorV2/XnFirmwareStreams.cpp.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Source/XnDeviceSensorV2/XnFirmwareStreams.cpp	2014-06-01 16:23:35.067680446 -0400

@@ -110,11 +110,12 @@ XnStatus XnFirmwareStreams::CheckClaimSt

 				XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot set depth stream to resolution %d when IR is set to resolution %d!", nRes, pIRStreamData->nRes);

 			}

+      // highres enable from avin

 			// check FPS

-			if (pIRStreamData->nFPS != nFPS)

-			{

-				XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");

-			}

+			//if (pIRStreamData->nFPS != nFPS)

+			//{

+			//	XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");

+			//}

 		}

 	}

 	else if (strcmp(strType, XN_STREAM_TYPE_IR) == 0)

@@ -146,10 +147,10 @@ XnStatus XnFirmwareStreams::CheckClaimSt

 			}

 			// check FPS

-			if (pDepthStreamData->nFPS != nFPS)

-			{

-				XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");

-			}

+			//if (pDepthStreamData->nFPS != nFPS)

+			//{

+			//	XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");

+			//}

 		}

 	}

 	else if (strcmp(strType, XN_STREAM_TYPE_IMAGE) == 0)

diff -up ./Source/XnDeviceSensorV2/XnHostProtocol.h.willow ./Source/XnDeviceSensorV2/XnHostProtocol.h

--- ./Source/XnDeviceSensorV2/XnHostProtocol.h.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Source/XnDeviceSensorV2/XnHostProtocol.h	2014-06-01 16:23:35.067680446 -0400

@@ -107,8 +107,8 @@ enum EPsProtocolOpCodes_V017

 typedef enum

 {

 	XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO	= 0x00,

-	XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION	= 0x02,

-	XN_HOST_PROTOCOL_ALGORITHM_PADDING		= 0x03,

+	XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION	= 0x40,

+	XN_HOST_PROTOCOL_ALGORITHM_PADDING		= 0x41,

 	XN_HOST_PROTOCOL_ALGORITHM_BLANKING		= 0x06,

 	XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO	= 0x07,

 	XN_HOST_PROTOCOL_ALGORITHM_FREQUENCY	= 0x80

diff -up ./Source/XnDeviceSensorV2/XnSensorDepthStream.cpp.willow ./Source/XnDeviceSensorV2/XnSensorDepthStream.cpp

--- ./Source/XnDeviceSensorV2/XnSensorDepthStream.cpp.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Source/XnDeviceSensorV2/XnSensorDepthStream.cpp	2014-06-01 16:23:35.068680486 -0400

@@ -319,6 +319,8 @@ XnStatus XnSensorDepthStream::ConfigureS

 	nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());

 	XN_IS_STATUS_OK(nRetVal);

+  // Thanks to avin again! :-)

+  XnHostProtocolSetParam(GetHelper()->GetPrivateData(), 0x105, 0);

 	return XN_STATUS_OK;

 }

diff -up ./Source/XnDeviceSensorV2/XnSensorDepthStream.h.willow ./Source/XnDeviceSensorV2/XnSensorDepthStream.h

--- ./Source/XnDeviceSensorV2/XnSensorDepthStream.h.willow	2014-06-01 16:23:35.068680486 -0400

+++ ./Source/XnDeviceSensorV2/XnSensorDepthStream.h	2014-06-01 16:31:59.481440578 -0400

@@ -38,13 +38,13 @@

 	#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION					XN_RESOLUTION_QQVGA

 #else

 	#define XN_DEPTH_STREAM_DEFAULT_INPUT_FORMAT				XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT

-	#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION					XN_RESOLUTION_QVGA

+	#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION					XN_RESOLUTION_VGA

 #endif

 #define XN_DEPTH_STREAM_DEFAULT_FPS							30

 #define XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT				XN_OUTPUT_FORMAT_DEPTH_VALUES

 #define XN_DEPTH_STREAM_DEFAULT_REGISTRATION				FALSE

-#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE			XN_PROCESSING_DONT_CARE

+#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE			XN_PROCESSING_SOFTWARE

 #define XN_DEPTH_STREAM_DEFAULT_HOLE_FILLER					TRUE

 #define XN_DEPTH_STREAM_DEFAULT_WHITE_BALANCE				TRUE

 #define XN_DEPTH_STREAM_DEFAULT_GAIN_OLD					50

diff -up ./Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp.willow ./Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp

diff -up ./Source/XnDeviceSensorV2/XnSensorImageStream.cpp.willow ./Source/XnDeviceSensorV2/XnSensorImageStream.cpp

diff -up ./Source/XnDeviceSensorV2/XnSensorImageStream.h.willow ./Source/XnDeviceSensorV2/XnSensorImageStream.h

--- ./Source/XnDeviceSensorV2/XnSensorImageStream.h.willow	2013-11-12 08:00:50.000000000 -0500

+++ ./Source/XnDeviceSensorV2/XnSensorImageStream.h	2014-06-01 16:23:35.071680603 -0400

@@ -31,8 +31,8 @@

 // Defines

 //---------------------------------------------------------------------------

 #define XN_IMAGE_STREAM_DEFAULT_FPS				30

-#define XN_IMAGE_STREAM_DEFAULT_RESOLUTION		XN_RESOLUTION_QVGA

-#define XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT	XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422

+#define XN_IMAGE_STREAM_DEFAULT_RESOLUTION		XN_RESOLUTION_VGA

+#define XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT	XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER

 #define XN_IMAGE_STREAM_DEFAULT_OUTPUT_FORMAT	XN_OUTPUT_FORMAT_RGB24

 #define XN_IMAGE_STREAM_DEFAULT_FLICKER			0

 #define XN_IMAGE_STREAM_DEFAULT_QUALITY			3

@@ -169,4 +169,4 @@ private:

 	XnActualIntProperty m_ActualRead;

 };

-#endif //__XN_SENSOR_IMAGE_STREAM_H__

\ No newline at end of file

+#endif //__XN_SENSOR_IMAGE_STREAM_H__

diff -up ./Source/XnDeviceSensorV2/XnSensorIRStream.cpp.willow ./Source/XnDeviceSensorV2/XnSensorIRStream.cpp