void OniTrackApp::setup()
{
bRemoting = FALSE;
XnStatus rc = context.InitFromXmlFile(SAMPLE_XML_FILE);
if (rc != XN_STATUS_OK)
{
printf("Couldn't initialize: %s\n", xnGetStatusString(rc));
shutdown();
}
pSessionGenerator = new XnVSessionManager();
rc = ((XnVSessionManager*)pSessionGenerator)->Initialize(&context, "Click", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf("Session Manager couldn't initialize: %s\n", xnGetStatusString(rc));
delete pSessionGenerator;
shutdown();
}
context.StartGeneratingAll();
pSessionGenerator->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
wc.RegisterWave(NULL, OnWaveCB);
wc.RegisterPointUpdate(NULL, OnPointUpdate);
pSessionGenerator->AddListener(&wc);
printf("Please perform focus gesture to start session\n");
printf("Hit any key to exit\n");
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1]);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_RC(nRetVal, "InitFromXml");
}
g_tunnel = new Tunnel();
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
glInit(&argc, argv);
glutMainLoop();
}
void AllocateAllGlobals()
{
// Configure
XnStatus rc = g_Context.InitFromXmlFile(SAMPLE_XML_FILE, g_ScriptNode);
if (rc != XN_STATUS_OK)
{
printf("Error initializing: %s\n", xnGetStatusString(rc));
CleanupExit();
}
if(NULL == g_pSessionManager)
{
g_pSessionManager = new XnVSessionManager();
}
if(NULL == g_pSessionManager)
{
printf("Couldn't create PointTracker!! (out of memory)\n");
CleanupExit();
}
if(NULL == g_pTrackPad)
{
g_pTrackPad = new XnVSelectableSlider2D(g_TP_XDim, g_TP_YDim);
}
if(NULL == g_pTrackPad)
{
printf("Couldn't create TrackPad!! (out of memory)\n");
CleanupExit();
}
g_Context.StartGeneratingAll();
}
// OpenNIの初期化
void initOpenNI( const std::string& recordFileName )
{
// コンテキストの初期化
XnStatus nRetVal = context.Init();
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// 記録したファイルを開く
nRetVal = context.OpenFileRecording( recordFileName.c_str() );
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// プレーヤーを作成する
nRetVal = context.FindExistingNode(XN_NODE_TYPE_PLAYER, player);
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// デバイスを作成する
nRetVal = audio.Create(context);
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// WAVEデータを取得する
nRetVal = audio.GetWaveOutputMode(waveMode);
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// データの取得を開始する
context.StartGeneratingAll();
}
void initialize()
{
std::cout << endl << "Initializing Kinect... " << endl << endl;
g_RetVal = g_Context.Init();
g_RetVal = g_DepthGenerator.Create(g_Context);
if (g_RetVal != XN_STATUS_OK)
printf("Failed creating DEPTH generator %s\n", xnGetStatusString(g_RetVal));
XnMapOutputMode outputMode;
outputMode.nXRes = g_im_w;
outputMode.nYRes = g_im_h;
outputMode.nFPS = g_fps;
g_RetVal = g_DepthGenerator.SetMapOutputMode(outputMode);
if (g_RetVal != XN_STATUS_OK)
printf("Failed setting the DEPTH output mode %s\n", xnGetStatusString(g_RetVal));
g_RetVal = g_Context.StartGeneratingAll();
if (g_RetVal != XN_STATUS_OK)
printf("Failed starting generating all %s\n", xnGetStatusString(g_RetVal));
g_DepthGenerator.GetIntProperty ("ZPD", g_focal_length);
g_DepthGenerator.GetRealProperty ("ZPPS", g_pixel_size);
g_pixel_size *= 2.f;
g_im3D.create(g_im_h,g_im_w,CV_32FC3);
}
// this sample can run either as a regular sample, or as a client for multi-process (remote mode)
int main(int argc, char** argv)
{
xn::Context context;
xn::ScriptNode scriptNode;
XnVSessionGenerator* pSessionGenerator;
XnBool bRemoting = FALSE;
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_FILE, g_ScripeNode, &errors);
//CHECK_ERRORS(rc, errors, "InitFromXmlFile");
//CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
//CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_SCENE, g_SceneAnalyzer);
//CHECK_RC(rc, "Find scene analyzer");
rc = g_Context.StartGeneratingAll();
//CHECK_RC(rc, "StartGenerating");
// Main loop
while (!xnOSWasKeyboardHit())
{
}
return 0;
}
bool SetupPrimesense(void)
{
XnStatus nRetVal = XN_STATUS_OK;
xn::ScriptNode scriptNode;
xn::EnumerationErrors errors;
nRetVal = g_context.Init();
//nRetVal = g_context.InitFromXmlFile("./config.xml", scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
SetupDepth(g_context);
//SetupImage(g_context);
//SetupIR(g_context);
if ((nRetVal = g_context.StartGeneratingAll()) != XN_STATUS_OK)
{
fprintf(stderr,"Could not start: %s\n", xnGetStatusString(nRetVal));
return FALSE;
}
return TRUE;
}
int main(int argc, char ** argv)
{
XnStatus rc = XN_STATUS_OK;
// Initialize OpenNI
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_RC(rc, "InitFromXmlFile");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_HANDS, g_HandsGenerator);
CHECK_RC(rc, "Find hands generator");
// Create NITE objects
g_pSessionManager = new XnVSessionManager;
rc = g_pSessionManager->Initialize(&g_Context, "Click,Wave", "RaiseHand");
CHECK_RC(rc, "SessionManager::Initialize");
g_pSessionManager->RegisterSession(NULL, SessionStarting, SessionEnding, NULL);
g_pDrawer = new XnVPointDrawer(20, g_DepthGenerator);
g_pFlowRouter = new XnVFlowRouter;
g_pFlowRouter->SetActive(g_pDrawer);
g_pSessionManager->AddListener(g_pFlowRouter);
g_pDrawer->RegisterNoPoints(NULL, NoHands);
g_pDrawer->SetDepthMap(g_bDrawDepthMap);
// init & register circle control
XnVCircleDetector circle;
circle.RegisterCircle(NULL, OnCircleCB);
circle.RegisterNoCircle(NULL, OnNoCircleCB);
g_pSessionManager->AddListener(&circle);
// init & register swipe control
XnVSwipeDetector swipe;
swipe.RegisterSwipeUp(NULL, OnSwipeUpCB);
swipe.RegisterSwipeDown(NULL, OnSwipeDownCB);
swipe.RegisterSwipeLeft(NULL, OnSwipeLeftCB);
swipe.RegisterSwipeRight(NULL, OnSwipeRightCB);
g_pSessionManager->AddListener(&swipe);
// init & register wave control
XnVWaveDetector wave;
wave.RegisterWave(NULL, OnWaveCB);
g_pSessionManager->AddListener(&wave);
// Initialization done. Start generating
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
// Mainloop
glInit(&argc, argv);
glutMainLoop();
}
bool DataCapture::startDataCapture()
{
XnStatus rc = context_.StartGeneratingAll();
if( rc != XN_STATUS_OK )
{
std::cout << "StartGeneratingAll: " << xnGetStatusString(rc) << std::endl;
return false;
}
return true;
}
information()
{
RC(context.Init(), "Context Intialized");
XnMapOutputMode mode;
mode.nXRes = XN_VGA_X_RES;
mode.nYRes = XN_VGA_Y_RES;
mode.nFPS = 30;
RC(image.Create(context), "Create image buffer");
RC(image.SetMapOutputMode(mode), "Set image mode");
RC(depth.Create(context), "Create depth buffer");
RC(depth.SetMapOutputMode(mode), "Set depth mode");
xn::Query q;
RC(q.AddSupportedCapability(XN_CAPABILITY_SKELETON), "Request skeleton");
try {
RC(context.FindExistingNode(XN_NODE_TYPE_USER, user), "User generator");
} catch (...) {
RC(user.Create(context), "Get skeleton!!!");
}
// RC(user.Create(context, &q), "Get skeleton!!!");
//
// xn::NodeInfoList il;
// RC(context.EnumerateProductionTrees(XN_NODE_TYPE_USER, &q, il, NULL),
// "Enumerate nodes");
//
// xn::NodeInfo i = *il.Begin();
// RC(context.CreateProductionTree(i), "Create skeleton node");
// RC(i.GetInstance(user), "Get skeleton");
user.RegisterUserCallbacks(User_NewUser, NULL, NULL, hUserCallbacks);
user.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, &user, hCalibrationCallbacks);
if (user.GetSkeletonCap().NeedPoseForCalibration())
{
if (!user.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
post("Pose required, but not supported\n");
}
else
{
user.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, &user, hPoseCallbacks);
user.GetSkeletonCap().GetCalibrationPose(g_strPose);
user.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
}
}
RC(context.StartGeneratingAll(), "Start generating data");
post("Kinect initialized!\n");
}
int main(int argc, char *argv[])
{
if(argc==2){
gl_init(&argc, argv);
xn_init(argv[1]);
gContext.StartGeneratingAll();
glutMainLoop();
}
return 0;
}
/**
* @fn initKinect
* Start Kinect
* This is where you start the kinect and s are checked for connection of the same
* If you activate the state variables and unicia session for Kinect
* Starts motion capture
* The flow of movements
* It is finished start the kinect once you register a movement with the same
*/
int initKinect()
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_FILE, g_ScriptNode, &errors);
CHECK_ERRORS(rc, errors, KNT_Msgs[KNT_INIT_FROM_XML_FILE]);
CHECK_RC(rc, KNT_Msgs[KNT_INIT_FROM_XML]);
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, KNT_Msgs[KNT_FIND_DEPTH_GEN]);
// Create and initialize point tracker
g_pSessionManager = new XnVSessionManager;
rc = g_pSessionManager->Initialize(&g_Context, "Wave", "RaiseHand");
if (rc != XN_STATUS_OK)
{
printf(KNT_Msgs[KNT_COULD_NOT_INIT_SESSION], xnGetStatusString(rc));
delete g_pSessionManager;
return rc;
}
g_pSessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd);
// Start catching signals for quit indications
CatchSignals(&g_bQuit);
// Create and initialize the main slider
g_pMainSlider = new XnVSelectableSlider1D(3);
g_pMainSlider->RegisterItemSelect(NULL, &MainSlider_OnSelect);
g_pMainSlider->RegisterActivate(NULL, &MainSlider_OnActivate);
g_pMainSlider->RegisterDeactivate(NULL, &MainSlider_OnDeactivate);
g_pMainSlider->RegisterPrimaryPointCreate(NULL, &MainSlider_OnPrimaryCreate);
g_pMainSlider->RegisterPrimaryPointDestroy(NULL, &MainSlider_OnPrimaryDestroy);
g_pMainSlider->RegisterValueChange(NULL, &MainSlider_OnValueChange);
g_pMainSlider->SetValueChangeOnOffAxis(true);
// Creat the flow manager
g_pMainFlowRouter = new XnVFlowRouter;
// Connect flow manager to the point tracker
g_pSessionManager->AddListener(g_pMainFlowRouter);
g_Context.StartGeneratingAll();
g_init_kinect = true;
printf(KNT_Msgs[KNT_WAVE_GESTURE]);
printf(KNT_Msgs[KNT_HIT_ANY_2_EXIT]);
return 0;
}
// OpenNIの初期化
void initOpenNI()
{
// コンテキストの初期化
XnStatus nRetVal = context.Init();
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// デバイスを作成する(XMLからの生成だと、デバイスがないといわれる)
nRetVal = audio.Create(context);
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// 取得するWAVEデータの設定
waveMode.nSampleRate = 44100;
waveMode.nChannels = 2;
waveMode.nBitsPerSample = 16;
nRetVal = audio.SetWaveOutputMode(waveMode);
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// レコーダーの作成
nRetVal = recorder.Create( context );
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// 出力先の設定
nRetVal = recorder.SetDestination( XN_RECORD_MEDIUM_FILE, RECORDE_PATH );
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// 記録するノードの追加
nRetVal = recorder.AddNodeToRecording(audio, XN_CODEC_UNCOMPRESSED);
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// 記録の開始
nRetVal = recorder.Record();
if (nRetVal != XN_STATUS_OK) {
throw std::runtime_error(xnGetStatusString(nRetVal));
}
// データの取得を開始する
context.StartGeneratingAll();
}
bool OpenNIVideo::start()
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = context.StartGeneratingAll();
CHECK_RC(nRetVal, "start generators");
nRetVal = xnFPSInit(&xnFPS, 180);
CHECK_RC(nRetVal, "FPS Init");
_videoStreamList[0]->play();
return true;
}
int main(int argc, char **argv)
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_ERRORS(rc, errors, "InitFromXmlFile");
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_SCENE, g_SceneAnalyzer);
CHECK_RC(rc, "Find scene analyzer");
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#elif defined(USE_GLES)
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
bool kinect_reader2::init() {
nRetVal = XN_STATUS_OK;
nRetVal = g_Context.Init();
if (nRetVal != XN_STATUS_OK) {
printf("Creating context failed: %s\n", xnGetStatusString(nRetVal));
return false;
}
nRetVal = g_DepthGenerator.Create(g_Context);
if(nRetVal != XN_STATUS_OK) {
printf("Creating depth generator failed: %s\n", xnGetStatusString(nRetVal));
return false;
}
g_DepthGenerator.GetMirrorCap().SetMirror(true);
nRetVal = g_UserGenerator.Create(g_Context);
if(nRetVal != XN_STATUS_OK) {
printf("Creating user generator failed: %s\n", xnGetStatusString(nRetVal));
return false;
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return false;
}
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return false;
}
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
g_Context.StartGeneratingAll();
return true;
}
int configKinect(){
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
// Initialize OpenNI
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_ScriptNode, &errors);
CHECK_ERRORS(rc, errors, "InitFromXmlFile");
CHECK_RC(rc, "InitFromXmlFile");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_GESTURE, g_GestureGenerator);
CHECK_RC(rc, "Find gesture generator");
XnCallbackHandle hGestureIntermediateStageCompleted, hGestureProgress, hGestureReadyForNextIntermediateStage;
g_GestureGenerator.RegisterToGestureIntermediateStageCompleted(GestureIntermediateStageCompletedHandler, NULL, hGestureIntermediateStageCompleted);
g_GestureGenerator.RegisterToGestureReadyForNextIntermediateStage(GestureReadyForNextIntermediateStageHandler, NULL, hGestureReadyForNextIntermediateStage);
g_GestureGenerator.RegisterGestureCallbacks(NULL, GestureProgressHandler, NULL, hGestureProgress);
// Create NITE objects
g_pSessionManager = new XnVSessionManager;
rc = g_pSessionManager->Initialize(&g_Context, "Click,Wave", "RaiseHand");
CHECK_RC(rc, "SessionManager::Initialize");
g_pSessionManager->RegisterSession(NULL, SessionStarting, SessionEnding, FocusProgress);
pointHandler = new PointHandler(20, g_DepthGenerator);
g_pFlowRouter = new XnVFlowRouter;
g_pFlowRouter->SetActive(pointHandler);
g_pSessionManager->AddListener(g_pFlowRouter);
pointHandler->RegisterNoPoints(NULL, NoHands);
// Initialization done. Start generating
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
return rc;
}
/** First cl argument is the bus id of the device, second is the device id.
Both are optional
*/
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
base64_init();
parseUsbDevice(argc, argv);
initEnvironment(g_deviceSerial);
SceneDrawerInit();
initFromContextFile();
registerUserCallbacks();
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
#if USE_MEMCACHE
initializeKestrelConnection();
#endif
openglMainLoop(argc, argv);
return 0;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "scene_tracker");
ros::NodeHandle nh;
string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
TotalFrames = 0;
static struct rusage ru;
long double t;
double w;
struct timeval timStart;
struct timeval timEnd;
struct timeval Wall;
bool Sample = true;
XnFPSData xnFPS;
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation torsoJoint;
if (argc > 1)
{
//parse the cmd line
if (strcasecmp(argv[1],"--help") == 0)
{
PrintHelpHeader(argv[0]);
return 1;
}
numOfUser = atoi(argv[1]);
if(numOfUser == 0)
{
PrintHelpHeader(argv[0]);
return 1;
}
else if(numOfUser > 2)
{
printf("Maximal Users allowed is 2\n");
return 1;
}
}
else
{
numOfUser = 4;
}
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal,"No depth");
#if (XN_PLATFORM != XN_PLATFORM_MACOSX)
//we want out benchmark application will be running only on one CPU core
cpu_set_t mask;
CPU_ZERO(&mask);
CPU_SET(1,&mask);
sched_setaffinity(0,sizeof(mask),&mask);
#endif
//initialize the FPS calculator
nRetVal = xnFPSInit(&xnFPS, 90);
CHECK_RC(nRetVal, "FPS Init");
//ensure the User generator exists
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
//register to generators callbacks
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
//ensure calibration
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
//set skeleton profile (all joints)
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
//start to generate
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
printf("%c[%d;%d;%dmPrimeSense Skeleton Benchmark Application\n ", 0x1B, BRIGHT,BLUE,BG_BLACK);
printf("%c[%d;%d;%dmSet Maximal users to %d ", 0x1B, BRIGHT,BLUE,BG_BLACK,numOfUser);
printf("%c[%dm\n", 0x1B, 0);
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
//each 30 frames (1 second) we start the CPU resources usages
while (!xnOSWasKeyboardHit())
{
if (Sample)
{ //get the beginning sample of CPU resources
getrusage(RUSAGE_SELF, &ru);
timStart=ru.ru_utime;
t=(double)timStart.tv_sec * 1000000.0 + (double)timStart.tv_usec \
+ (double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec;
//get the wall clock time
gettimeofday(&Wall,NULL);
w=(double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec;
Sample = false;
}
g_Context.WaitOneUpdateAll(g_UserGenerator);
xnFPSMarkFrame(&xnFPS);
// print the torso information for the first user already tracking every 1 second to prevent CPU of printf
if(TotalFrames % 30 == 0)
{
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
int numTracked=0;
int userToPrint=-1;
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
printf("User %d Located At distance of %6.2f mm from the sensor\n",aUsers[i],torsoJoint.position.position.Z);
}
//get the finish sample of the CPU resources
getrusage(RUSAGE_SELF, &ru);
timEnd=ru.ru_utime;
t = (double)timEnd.tv_sec * 1000000.0 + (double)timEnd.tv_usec \
+ (double)ru.ru_stime.tv_sec*1000000.0+(double)ru.ru_stime.tv_usec - t;
//get the wall clock
gettimeofday(&Wall,NULL);
w = (double)Wall.tv_sec * 1000000.0 + (double)Wall.tv_usec - w;
XnDouble fps=xnFPSCalc(&xnFPS);
//print stuff.
printf("%c[%d;%d;%dmCPU Utilization=%3.2f%%\t", 0x1B, BRIGHT,RED,BG_BLACK,(double)100*t/w);
printf("%c[%d;%d;%dmFPS=%3.2f ", 0x1B, BRIGHT,RED,BG_BLACK,(double)fps);
printf("%c[%dm\n", 0x1B, 0);
Sample= true;
}
TotalFrames++;
}
g_scriptNode.Release();
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main(int argc, char **argv) {
ros::init(argc, argv, "tracker_2");
ros::NodeHandle nh;
string configFilename = ros::package::getPath("openni_tracker_multi") + "/openni_tracker.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
// XnStatus nRetVal = XN_STATUS_OK;
//xnLogInitFromXmlFile(csXmlFile);
nRetVal = g_Context.Init();
XN_IS_STATUS_OK(nRetVal);
// SELECTION OF THE DEVICE
xn::EnumerationErrors errors;
xn::Device g_Device;
// find devices
xn::NodeInfoList list;
xn::NodeInfoList list_depth;
nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, list, &errors);
XN_IS_STATUS_OK(nRetVal);
printf("The following devices were found:\n");
int i = 1;
for (xn::NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it, ++i)
{
xn::NodeInfo deviceNodeInfo = *it;
xn::Device deviceNode;
deviceNodeInfo.GetInstance(deviceNode);
XnBool bExists = deviceNode.IsValid();
if (!bExists)
{
g_Context.CreateProductionTree(deviceNodeInfo, deviceNode);
// this might fail.
}
if (deviceNode.IsValid() && deviceNode.IsCapabilitySupported(XN_CAPABILITY_DEVICE_IDENTIFICATION))
{
const XnUInt32 nStringBufferSize = 200;
XnChar strDeviceName[nStringBufferSize];
XnChar strSerialNumber[nStringBufferSize];
XnUInt32 nLength = nStringBufferSize;
deviceNode.GetIdentificationCap().GetDeviceName(strDeviceName, nLength);
nLength = nStringBufferSize;
deviceNode.GetIdentificationCap().GetSerialNumber(strSerialNumber, nLength);
printf("[%d] %s (%s)\n", i, strDeviceName, strSerialNumber);
}
else
{
printf("[%d] %s\n", i, deviceNodeInfo.GetCreationInfo());
}
// release the device if we created it
if (!bExists && deviceNode.IsValid())
{
deviceNode.Release();
}
}
printf("\n");
printf("Choose device to open (1): ");
int chosen=0;
if (argc != 2)
{
printf("Choose device to open (1): ");
int nRetval = scanf("%d", &chosen);
}
else
{
chosen = atoi(argv[1]);
}
// create it
xn::NodeInfoList::Iterator it = list.Begin();
for (i = 1; i < chosen; ++i)
{
it++;
}
xn::NodeInfo deviceNode = *it;
nRetVal = g_Context.CreateProductionTree(deviceNode, g_Device);
printf("Production tree of the device created.\n");
// SELECTION OF THE DEPTH GENERATOR
nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL, list_depth, &errors);
XN_IS_STATUS_OK(nRetVal);
printf("The following devices were found:\n");
int i_depth = 1;
for (xn::NodeInfoList::Iterator it_depth = list_depth.Begin(); it_depth != list_depth.End(); ++it_depth, ++i_depth)
{
xn::NodeInfo depthNodeInfo = *it_depth;
xn::Device depthNode;
depthNodeInfo.GetInstance(depthNode);
XnBool bExists_depth = depthNode.IsValid();
if (!bExists_depth)
{
g_Context.CreateProductionTree(depthNodeInfo, depthNode);
// this might fail.
}
if (depthNode.IsValid() && depthNode.IsCapabilitySupported(XN_CAPABILITY_DEVICE_IDENTIFICATION))
{
const XnUInt32 nStringBufferSize = 200;
XnChar strDeviceName[nStringBufferSize];
XnChar strSerialNumber[nStringBufferSize];
XnUInt32 nLength = nStringBufferSize;
depthNode.GetIdentificationCap().GetDeviceName(strDeviceName, nLength);
nLength = nStringBufferSize;
depthNode.GetIdentificationCap().GetSerialNumber(strSerialNumber, nLength);
printf("[%d] %s (%s)\n", i, strDeviceName, strSerialNumber);
}
else
{
printf("[%d] %s\n", i, depthNodeInfo.GetCreationInfo());
}
// release the device if we created it
if (!bExists_depth && depthNode.IsValid())
{
depthNode.Release();
}
}
printf("\n");
printf("Choose device to open (1): ");
int chosen_depth = 1;
/*if (argc != 2)
{
printf("Choose device to open (1): ");
int nRetval_depth = scanf("%d", &chosen_depth);
}
else
{
chosen_depth = atoi(argv[1]);
}*/
// create it
xn::NodeInfoList::Iterator it_depth = list_depth.Begin();
for (i = 1; i < chosen_depth; ++i)
{
it_depth++;
}
xn::NodeInfo depthNode = *it_depth;
nRetVal = g_Context.CreateProductionTree(depthNode, g_DepthGenerator);
printf("Production tree of the DepthGenerator created.\n");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
printf("Production tree of the depth generator created.\n");
XN_IS_STATUS_OK(nRetVal);
printf("XN_IS_STATUS_OK(nRetVal).\n");
CHECK_RC(nRetVal, "Find depth generator");
printf("CHECK_RC(nRetVal, Find depth generator);\n");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
printf("User generator found.\n");
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
printf("User generator created.\n");
CHECK_RC(nRetVal, "Find user generator");
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
printf("Supplied user generator doesn't support skeleton.\n");
ROS_INFO("Supplied user generator doesn't support skeleton");
return 1;
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
ROS_INFO("Pose required, but not supported");
return 1;
}
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("/kinect2_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
publishTransforms(frame_id);
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
if( USE_RECORED_DATA ){
g_Context.Init();
g_Context.OpenFileRecording(RECORD_FILE_PATH);
xn::Player player;
// Player nodeの取得
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_PLAYER, player);
CHECK_RC(nRetVal, "Find player");
LOG_D("PlaybackSpeed: %d", player.GetPlaybackSpeed());
xn:NodeInfoList nodeList;
player.EnumerateNodes(nodeList);
for( xn::NodeInfoList::Iterator it = nodeList.Begin();
it != nodeList.End(); ++it){
if( (*it).GetDescription().Type == XN_NODE_TYPE_IMAGE ){
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
CHECK_RC(nRetVal, "Find image node");
LOG_D("%s", "ImageGenerator created.");
}
else if( (*it).GetDescription().Type == XN_NODE_TYPE_DEPTH ){
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth node");
LOG_D("%s", "DepthGenerator created.");
}
else{
LOG_D("%s %s %s", ::xnProductionNodeTypeToString((*it).GetDescription().Type ),
(*it).GetInstanceName(),
(*it).GetDescription().strName);
}
}
}
else{
LOG_I("Reading config from: '%s'", CONFIG_XML_PATH);
nRetVal = g_Context.InitFromXmlFile(CONFIG_XML_PATH, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT){
XnChar strError[1024];
errors.ToString(strError, 1024);
LOG_E("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK){
LOG_E("Open failed: %s", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal,"No depth");
// ImageGeneratorの作成
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
CHECK_RC(nRetVal, "Find image generator");
}
// UserGeneratorの取得
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if(nRetVal!=XN_STATUS_OK){
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Create user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)){
LOG_E("%s", "Supplied user generator doesn't support skeleton");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
g_SkeletonCap = g_UserGenerator.GetSkeletonCap();
nRetVal = g_SkeletonCap.RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_SkeletonCap.RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_SkeletonCap.NeedPoseForCalibration()){
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)){
LOG_E("%s", "Pose required, but not supported");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_SkeletonCap.GetCalibrationPose(g_strPose);
}
g_SkeletonCap.SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
// 表示用の画像データの作成
XnMapOutputMode mapMode;
g_ImageGenerator.GetMapOutputMode(mapMode);
g_rgbImage = cvCreateImage(cvSize(mapMode.nXRes, mapMode.nYRes), IPL_DEPTH_8U, 3);
LOG_I("%s", "Starting to run");
if(g_bNeedPose){
LOG_I("%s", "Assume calibration pose");
}
xn::Recorder recorder;
if( DO_RECORED && !USE_RECORED_DATA ){
// レコーダーの作成
LOG_I("%s", "Setup Recorder");
nRetVal = recorder.Create(g_Context);
CHECK_RC(nRetVal, "Create recorder");
// 保存設定
nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, RECORD_FILE_PATH);
CHECK_RC(nRetVal, "Set recorder destination file");
// 深度、ビデオカメラ入力を保存対象として記録開始
nRetVal = recorder.AddNodeToRecording(g_DepthGenerator, XN_CODEC_NULL);
CHECK_RC(nRetVal, "Add depth node to recording");
nRetVal = recorder.AddNodeToRecording(g_ImageGenerator, XN_CODEC_NULL);
CHECK_RC(nRetVal, "Add image node to recording");
LOG_I("%s", "Recorder setup done.");
}
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
if( DO_RECORED && !USE_RECORED_DATA ){
nRetVal = recorder.Record();
CHECK_RC(nRetVal, "Record");
}
// ビデオカメラ画像の生データを取得
xn::ImageMetaData imageMetaData;
g_ImageGenerator.GetMetaData(imageMetaData);
// メモリコピー
xnOSMemCopy(g_rgbImage->imageData, imageMetaData.RGB24Data(), g_rgbImage->imageSize);
// BGRからRGBに変換して表示
cvCvtColor(g_rgbImage, g_rgbImage, CV_RGB2BGR);
// UserGeneratorからユーザー識別ピクセルを取得
xn::SceneMetaData sceneMetaData;
g_UserGenerator.GetUserPixels(0, sceneMetaData);
XnUserID allUsers[MAX_NUM_USERS];
XnUInt16 nUsers = MAX_NUM_USERS;
g_UserGenerator.GetUsers(allUsers, nUsers);
for (int i = 0; i < nUsers; i++) {
// キャリブレーションに成功しているかどうか
if (g_SkeletonCap.IsTracking(allUsers[i])) {
// スケルトンを描画
DrawSkelton(allUsers[i], i);
}
}
// 表示
cvShowImage("User View", g_rgbImage);
// ESCもしくはqが押されたら終了させる
if (cvWaitKey(10) == 27) {
break;
}
}
if( !USE_RECORED_DATA ){
g_scriptNode.Release();
}
g_DepthGenerator.Release();
g_UserGenerator.Release();
g_Context.Release();
if (g_rgbImage != NULL) {
cvReleaseImage(&g_rgbImage);
}
g_Context.Shutdown();
}
int main(int argc, char **argv)
{
XnStatus rc = XN_STATUS_OK;
xn::EnumerationErrors errors;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_ERRORS(rc, errors, "InitFromXmlFile");
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
CHECK_RC(rc, "Find user generator");
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON) ||
!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("User generator doesn't support either skeleton or pose detection.\n");
return XN_STATUS_ERROR;
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
XnCallbackHandle hUserCBs, hCalibrationCBs, hPoseCBs;
g_UserGenerator.RegisterUserCallbacks(NewUser, LostUser, NULL, hUserCBs);
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(CalibrationStarted, CalibrationEnded, NULL, hCalibrationCBs);
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(PoseDetected, NULL, NULL, hPoseCBs);
#ifdef USE_GLUT
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation torsoJoint;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
for(XnUInt16 i=0; i<nUsers; i++)
{
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,torsoJoint);
printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
torsoJoint.position.position.X,
torsoJoint.position.position.Y,
torsoJoint.position.position.Z);
}
}
g_scriptNode.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main(int argc, char **argv)
{
sender.setup(HOST, PORT);
XnStatus rc = XN_STATUS_OK;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
CHECK_RC(rc, "Find user generator");
XnCallbackHandle h;
g_UserGenerator.RegisterUserCallbacks(NewUser, LostUser, NULL, h);
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
XnCallbackHandle hCalib;
XnCallbackHandle hPose;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(&CalibrationStart, &CalibrationEnd, NULL, hCalib);
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(&PoseDetected, NULL, NULL, hPose);
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
xn::DepthMetaData depthMD;
g_DepthGenerator.GetMetaData(depthMD);
fXRes = depthMD.XRes();
fYRes = depthMD.YRes();
fMaxDepth = depthMD.ZRes();
nCutOffMin = 0;
nCutOffMax = fMaxDepth;
nPointerX = fXRes / 2;
nPointerY = fXRes / 2;
nPointerDiffX = (WIN_SIZE_X / fXRes / 2) + 1;
nPointerDiffY = (WIN_SIZE_Y / fXRes / 2) + 1;
if (argc == 2)
{
nCutOffMax = atol(argv[1]);
}
srand(XnUInt32(time(NULL)));
glutInit(&argc, argv);
glutInitDisplayString("stencil depth>16 double rgb samples=0");
glutInitWindowSize(WIN_SIZE_X, WIN_SIZE_Y);
glutCreateWindow("Prime Sense Stick Figure Sample");
glutSetCursor(GLUT_CURSOR_NONE);
init_opengl();
glut_helpers_initialize();
cb.passive_motion_function = MotionCallback;
cb.keyboard_function = key;
camera.configure_buttons(0);
camera.set_camera_mode(true);
camera.set_parent_rotation( & camera.trackball.r);
camera.enable();
object.configure_buttons(1);
object.translator.t[2] = -1;
object.translator.scale *= .1f;
object.trackball.r = rotationf(vec3f(2.0,0.01,0.01), to_radians(180));
object.set_parent_rotation( & camera.trackball.r);
object.disable();
light.configure_buttons(0);
light.translator.t = vec3f(.5, .5, -1);
light.set_parent_rotation( & camera.trackball.r);
light.disable();
reshaper.zNear = 1;
reshaper.zFar = 100;
// make sure all interactors get glut events
glut_add_interactor(&cb);
glut_add_interactor(&camera);
glut_add_interactor(&reshaper);
glut_add_interactor(&light);
glut_add_interactor(&object);
camera.translator.t = vec3f(0, 0, 0);
camera.trackball.r = rotationf(vec3f(0, 0, 0), to_radians(0));
light.translator.t = vec3f (0, 1.13, -2.41);
light.trackball.r = rotationf(vec3f(0.6038, -0.1955, -0.4391), to_radians(102));
glutIdleFunc(idle);
glutDisplayFunc(display);
// Per frame code is in display
glutMainLoop();
return (0);
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1], g_Player);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected, hCalibrationInProgress, hPoseInProgress;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, NULL, hCalibrationInProgress);
CHECK_RC(nRetVal, "Register to calibration in progress");
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseInProgress(MyPoseInProgress, NULL, hPoseInProgress);
CHECK_RC(nRetVal, "Register to pose in progress");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
#ifndef USE_GLES
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while (!g_bQuit)
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
void KinectDataPub::spin(bool async)
{
static bool onceThrough = false;
if (!onceThrough){
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
onceThrough = true;
printf("Starting to run\n");
if (needPose){
printf("Assume calibration pose\n");
}
}
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
SkeletonInfo skels[MAX_NUM_USERS];
SensorMsg msg;
xn::DepthMetaData depthMD;
xn::SceneMetaData sceneMD;
while(!xnOSWasKeyboardHit()){
context.WaitOneUpdateAll(userGen);
/**
* nUsers is used both as input and output parameters.
* When it's used as input parameter, it indicates the size of the user ID
* array, while, when it's used as output parameter, it means the number
* of users recognized. Therefore, it needs to be re-initialized in a loop.
*/
nUsers = MAX_NUM_USERS;
userGen.GetUsers(aUsers, nUsers);
memset(&msg, 0, sizeof(SensorMsg));
for (XnUInt16 i = 0; i < nUsers; ++i){
if (userGen.GetSkeletonCap().IsTracking(aUsers[i])){
// get the user's skeleton
skels[i].user = aUsers[i];
getSkeleton(skels[i]);
}
else
skels[i].user = 0; // user is not tracked
}
depthGen.GetMetaData(depthMD); // depth map
userGen.GetUserPixels(0, sceneMD); // labels
msg.nUsers = nUsers; // num of users detected, either tracked or not
msg.pSkels = skels;
msg.pDepthMD = &depthMD;
msg.pSceneMD = &sceneMD;
for (int i = 0; i < subscribers.size(); ++i)
subscribers[i]->notify(RAD_SENSOR_MSG, &msg);
if (async)
return;
}
}
int main(int argc, char **argv)
{
XnStatus nRetVal = XN_STATUS_OK;
memset(COM_tracker,0,15*100*sizeof(float));
if (argc > 1)
{
nRetVal = g_Context.Init();
CHECK_RC(nRetVal, "Init");
nRetVal = g_Context.OpenFileRecording(argv[1], g_Player);
if (nRetVal != XN_STATUS_OK)
{
printf("Can't open recording %s: %s\n", argv[1], xnGetStatusString(nRetVal));
return 1;
}
}
else
{
xn::EnumerationErrors errors;
nRetVal = g_Context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
if (nRetVal != XN_STATUS_OK)
{
printf("No depth generator found. Using a default one...");
xn::MockDepthGenerator mockDepth;
nRetVal = mockDepth.Create(g_Context);
CHECK_RC(nRetVal, "Create mock depth");
// set some defaults
XnMapOutputMode defaultMode;
defaultMode.nXRes = 320;
defaultMode.nYRes = 240;
defaultMode.nFPS = 30;
nRetVal = mockDepth.SetMapOutputMode(defaultMode);
CHECK_RC(nRetVal, "set default mode");
// set FOV
XnFieldOfView fov;
fov.fHFOV = 1.0225999419141749;
fov.fVFOV = 0.79661567681716894;
nRetVal = mockDepth.SetGeneralProperty(XN_PROP_FIELD_OF_VIEW, sizeof(fov), &fov);
CHECK_RC(nRetVal, "set FOV");
XnUInt32 nDataSize = defaultMode.nXRes * defaultMode.nYRes * sizeof(XnDepthPixel);
XnDepthPixel* pData = (XnDepthPixel*)xnOSCallocAligned(nDataSize, 1, XN_DEFAULT_MEM_ALIGN);
nRetVal = mockDepth.SetData(1, 0, nDataSize, pData);
CHECK_RC(nRetVal, "set empty depth map");
g_DepthGenerator = mockDepth;
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
if (nRetVal != XN_STATUS_OK)
{
printf("No image node exists! check your XML.");
return 1;
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
#ifndef USE_GLES
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initializing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while (!g_bQuit)
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
int main(int argc, char **argv) {
ros::init(argc, argv, "openni_hand_tracker");
ros::NodeHandle nh;
string configFilename = ros::package::getPath("openni_tracker") + "/openni_tracker.xml";
XnStatus nRetVal = g_Context.InitFromXmlFile(configFilename.c_str());
CHECK_RC(nRetVal, "InitFromXml");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(nRetVal, "Find depth generator");
// Create generators
nRetVal = g_GestureGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Unable to create GestureGenerator.");
nRetVal = g_HandsGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Unable to create HandsGenerator.");
ROS_INFO("Create Generator Success");
/*
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK) {
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
ROS_INFO("Supplied user generator doesn't support skeleton");
return 1;
}
XnCallbackHandle hUserCallbacks;
g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
XnCallbackHandle hCalibrationCallbacks;
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration()) {
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) {
ROS_INFO("Pose required, but not supported");
return 1;
}
XnCallbackHandle hPoseCallbacks;
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
*/
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
ros::Rate r(30);
ros::NodeHandle pnh("~");
string frame_id("openni_depth_frame");
pnh.getParam("camera_frame_id", frame_id);
while (ros::ok()) {
g_Context.WaitAndUpdateAll();
r.sleep();
}
g_Context.Shutdown();
return 0;
}
int main(int argc, char **argv) {
nRetVal = XN_STATUS_OK;
/* Context initialisieren (Kameradaten) */
nRetVal = context.Init();
checkError("Fehler beim Initialisieren des Context", nRetVal)?0:exit(-1);
/* Tiefengenerator erstellen */
nRetVal = depth.Create(context);
checkError("Fehler beim Erstellen des Tiefengenerators", nRetVal)?0:exit(-1);
/* Tiefengenerator einstellen */
XnMapOutputMode outputModeDepth;
outputModeDepth.nXRes = 640;
outputModeDepth.nYRes = 480;
outputModeDepth.nFPS = 30;
nRetVal = depth.SetMapOutputMode(outputModeDepth);
checkError("Fehler beim Konfigurieren des Tiefengenerators", nRetVal)?0:exit(-1);
/* Imagegenerator erstellen */
nRetVal = image.Create(context);
checkError("Fehler beim Erstellen des Bildgenerators", nRetVal)?0:exit(-1);
/* Imagegenerator einstellen */
XnMapOutputMode outputModeImage;
outputModeImage.nXRes = 640;
outputModeImage.nYRes = 480;
outputModeImage.nFPS = 30;
nRetVal = image.SetMapOutputMode(outputModeImage);
checkError("Fehler beim Konfigurieren des Bildgenerators", nRetVal)?0:exit(-1);
/* Starten der Generatoren - volle Kraft vorraus! */
nRetVal = context.StartGeneratingAll();
checkError("Fehler beim Starten der Generatoren", nRetVal)?0:exit(-1);
/* Glut initialisieren */
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE);
glutInitWindowSize(WINDOW_SIZE_X, WINDOW_SIZE_Y);
glutInitWindowPosition(300,150);
win = glutCreateWindow("kinect-head-tracking");
glClearColor(0, 0, 0, 0.0); //Hintergrundfarbe: Hier ein leichtes Blau
glEnable(GL_DEPTH_TEST); //Tiefentest aktivieren
glDepthFunc(GL_LEQUAL);
// glEnable(GL_CULL_FACE); //Backface Culling aktivieren
// glEnable(GL_ALPHA_TEST);
// glAlphaFunc(GL_GEQUAL, 1);
/* Texturen */
glGenTextures(1, &texture_rgb);
glBindTexture(GL_TEXTURE_2D, texture_rgb);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
glGenTextures(1, &texture_depth);
glBindTexture(GL_TEXTURE_2D, texture_depth);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
glutDisplayFunc(glut_display);
glutIdleFunc(glut_idle);
glutMouseFunc(glut_mouse);
glutMotionFunc(glut_mouse_motion);
glutKeyboardFunc(glut_keyboard);
glutMainLoop();
return 0;
}