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Add freenect-camtest example for headless testing - fixes #428
Signed-off-by: Benn Snyder <benn.snyder@gmail.com>
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| @@ -0,0 +1,137 @@ | ||
| /* | ||
| * This file is part of the OpenKinect Project. http://www.openkinect.org | ||
| * | ||
| * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file | ||
| * for details. | ||
| * | ||
| * This code is licensed to you under the terms of the Apache License, version | ||
| * 2.0, or, at your option, the terms of the GNU General Public License, | ||
| * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses, | ||
| * or the following URLs: | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * http://www.gnu.org/licenses/gpl-2.0.txt | ||
| * | ||
| * If you redistribute this file in source form, modified or unmodified, you | ||
| * may: | ||
| * 1) Leave this header intact and distribute it under the same terms, | ||
| * accompanying it with the APACHE20 and GPL20 files, or | ||
| * 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or | ||
| * 3) Delete the GPL v2 clause and accompany it with the APACHE20 file | ||
| * In all cases you must keep the copyright notice intact and include a copy | ||
| * of the CONTRIB file. | ||
| * | ||
| * Binary distributions must follow the binary distribution requirements of | ||
| * either License. | ||
| */ | ||
| #include <signal.h> | ||
| #include <stdbool.h> | ||
| #include <stdio.h> | ||
| #include <string.h> | ||
| #include "libfreenect.h" | ||
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| void depth_cb(freenect_device* dev, void* data, uint32_t timestamp) | ||
| { | ||
| printf("Received depth frame at %d\n", timestamp); | ||
| } | ||
|
|
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| void video_cb(freenect_device* dev, void* data, uint32_t timestamp) | ||
| { | ||
| printf("Received video frame at %d\n", timestamp); | ||
| } | ||
|
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| volatile bool running = true; | ||
| void signalHandler(int signal) | ||
| { | ||
| if (signal == SIGINT | ||
| || signal == SIGTERM | ||
| || signal == SIGQUIT) | ||
| { | ||
| printf(" %s; shutting down\n", sys_siglist[signal]); | ||
| running = false; | ||
| } | ||
| } | ||
|
|
||
| int main(int argc, char** argv) | ||
| { | ||
| // Handle signals gracefully. | ||
| signal(SIGINT, signalHandler); | ||
| signal(SIGTERM, signalHandler); | ||
| signal(SIGQUIT, signalHandler); | ||
|
|
||
| // Initialize libfreenect. | ||
| freenect_context* fn_ctx; | ||
| int ret = freenect_init(&fn_ctx, NULL); | ||
| if (ret < 0) | ||
| return ret; | ||
|
|
||
| // Show debug messages and use camera only. | ||
| freenect_set_log_level(fn_ctx, FREENECT_LOG_DEBUG); | ||
| freenect_select_subdevices(fn_ctx, FREENECT_DEVICE_CAMERA); | ||
|
|
||
| // Find out how many devices are connected. | ||
| int num_devices = ret = freenect_num_devices(fn_ctx); | ||
| if (ret < 0) | ||
| return ret; | ||
| if (num_devices == 0) | ||
| { | ||
| printf("No devices found!\n"); | ||
| freenect_shutdown(fn_ctx); | ||
| return 1; | ||
| } | ||
|
|
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| // Open the first device. | ||
| freenect_device* fn_dev; | ||
| ret = freenect_open_device(fn_ctx, &fn_dev, 0); | ||
| if (ret < 0) | ||
| { | ||
| freenect_shutdown(fn_ctx); | ||
| return ret; | ||
| } | ||
|
|
||
| // Set depth and video modes. | ||
| ret = freenect_set_depth_mode(fn_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM)); | ||
| if (ret < 0) | ||
| { | ||
| freenect_shutdown(fn_ctx); | ||
| return ret; | ||
| } | ||
| ret = freenect_set_video_mode(fn_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB)); | ||
| if (ret < 0) | ||
| { | ||
| freenect_shutdown(fn_ctx); | ||
| return ret; | ||
| } | ||
|
|
||
| // Set frame callbacks. | ||
| freenect_set_depth_callback(fn_dev, depth_cb); | ||
| freenect_set_video_callback(fn_dev, video_cb); | ||
|
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| // Start depth and video. | ||
| ret = freenect_start_depth(fn_dev); | ||
| if (ret < 0) | ||
| { | ||
| freenect_shutdown(fn_ctx); | ||
| return ret; | ||
| } | ||
| ret = freenect_start_video(fn_dev); | ||
| if (ret < 0) | ||
| { | ||
| freenect_shutdown(fn_ctx); | ||
| return ret; | ||
| } | ||
|
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| // Run until interruption or failure. | ||
| while (running && freenect_process_events(fn_ctx) >= 0) | ||
| { | ||
|
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||
| } | ||
|
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| // Stop everything and shutdown. | ||
| freenect_stop_depth(fn_dev); | ||
| freenect_stop_video(fn_dev); | ||
| freenect_close_device(fn_dev); | ||
| freenect_shutdown(fn_ctx); | ||
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| return 0; | ||
| } |