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* dfsg: Return int from freenect_get_ir_brightness() - fixes OpenKinect#433 Add ability to control IR projector brightness - fixes OpenKinect#433 Update CMakeLists.txt for v0.5.2 Let CMake find OpenGL/GLUT automatically python: Fix version detection python: Use list comprehension so setup.py runs on python3 - fixes OpenKinect#429 examples: Do not require all dependencies; skip building examples with missing dependencies win32: Compiles as pure C win32: Fix c_sync build win32: Fix compiler errors Add freenect-camtest example for headless testing - fixes OpenKinect#428 Update README.md Fix compiler warning by anonymizing enum; touch up indentation Negotiate maximum USB packet length fixed environment variable for Darwin OpenNI2-FreenectDriver: Expose USB VID/PID to OpenNI - fixes OpenKinect#422 Add support for near mode (K4W only) Adds zbuffer to the mapping of rgb to depth clear rgb pixels without depth data for map_rgb_to_depth add freenect_map_rgb_to_depth helper function (untested)
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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| /* | ||
| * 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" | ||
|
|
||
| #ifndef SIGQUIT // win32 compat | ||
| #define SIGQUIT SIGTERM | ||
| #endif | ||
|
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||
|
|
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| void depth_cb(freenect_device* dev, void* data, uint32_t timestamp) | ||
| { | ||
| printf("Received depth frame at %d\n", timestamp); | ||
| } | ||
|
|
||
| void video_cb(freenect_device* dev, void* data, uint32_t timestamp) | ||
| { | ||
| printf("Received video frame at %d\n", timestamp); | ||
| } | ||
|
|
||
| volatile bool running = true; | ||
| void signalHandler(int signal) | ||
| { | ||
| if (signal == SIGINT | ||
| || signal == SIGTERM | ||
| || signal == SIGQUIT) | ||
| { | ||
| 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 device found!\n"); | ||
| freenect_shutdown(fn_ctx); | ||
| return 1; | ||
| } | ||
|
|
||
| // 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); | ||
|
|
||
| // 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; | ||
| } | ||
|
|
||
| // Run until interruption or failure. | ||
| while (running && freenect_process_events(fn_ctx) >= 0) | ||
| { | ||
|
|
||
| } | ||
|
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| printf("Shutting down\n"); | ||
|
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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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| printf("Done!\n"); | ||
|
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||
| return 0; | ||
| } |
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