void drawSelectionChanged(SelectionState state, IntRect selection)
{
g_DrawUserInput.State = state;
g_DrawUserInput.Rect = selection;
if (state == SELECTION_DONE)
{
// Crop depth
if (getDepthStream().isValid() && isDepthOn() && g_DrawConfig.Streams.Depth.Coloring != DEPTH_OFF)
{
drawCropStream(getDepthStream(), g_DrawConfig.DepthLocation, selection, 2);
}
// Crop image
if (getColorStream().isValid() && isColorOn() && g_DrawConfig.Streams.Color.Coloring != COLOR_OFF)
{
drawCropStream(getColorStream(), g_DrawConfig.ColorLocation, selection, 4);
}
// Crop IR
if (getIRStream().isValid() && isIROn() && g_DrawConfig.Streams.Color.Coloring != COLOR_OFF)
{
drawCropStream(getIRStream(), g_DrawConfig.ColorLocation, selection, 4);
}
}
}
bool captureOpenWriteDevice()
{
XnStatus nRetVal = XN_STATUS_OK;
NodeInfoList recordersList;
nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_RECORDER, NULL, recordersList);
START_CAPTURE_CHECK_RC(nRetVal, "Enumerate recorders");
// take first
NodeInfo chosen = *recordersList.Begin();
nRetVal = g_Context.CreateProductionTree(chosen);
START_CAPTURE_CHECK_RC(nRetVal, "Create recorder");
g_Capture.pRecorder = new Recorder;
nRetVal = chosen.GetInstance(*g_Capture.pRecorder);
START_CAPTURE_CHECK_RC(nRetVal, "Get recorder instance");
nRetVal = g_Capture.pRecorder->SetDestination(XN_RECORD_MEDIUM_FILE, g_Capture.csFileName);
START_CAPTURE_CHECK_RC(nRetVal, "Set output file");
if (getDevice() != NULL)
{
nRetVal = g_Capture.pRecorder->AddNodeToRecording(*getDevice(), XN_CODEC_UNCOMPRESSED);
START_CAPTURE_CHECK_RC(nRetVal, "add device node");
}
if (isDepthOn() && (g_Capture.DepthFormat != CODEC_DONT_CAPTURE))
{
nRetVal = g_Capture.pRecorder->AddNodeToRecording(*getDepthGenerator(), g_Capture.DepthFormat);
START_CAPTURE_CHECK_RC(nRetVal, "add depth node");
}
if (isImageOn() && (g_Capture.ImageFormat != CODEC_DONT_CAPTURE))
{
nRetVal = g_Capture.pRecorder->AddNodeToRecording(*getImageGenerator(), g_Capture.ImageFormat);
START_CAPTURE_CHECK_RC(nRetVal, "add image node");
}
if (isIROn() && (g_Capture.IRFormat != CODEC_DONT_CAPTURE))
{
nRetVal = g_Capture.pRecorder->AddNodeToRecording(*getIRGenerator(), g_Capture.IRFormat);
START_CAPTURE_CHECK_RC(nRetVal, "add IR stream");
}
if (isAudioOn() && (g_Capture.AudioFormat != CODEC_DONT_CAPTURE))
{
nRetVal = g_Capture.pRecorder->AddNodeToRecording(*getAudioGenerator(), g_Capture.AudioFormat);
START_CAPTURE_CHECK_RC(nRetVal, "add Audio stream");
}
return true;
}
void drawColor(IntRect* pLocation, IntPair* pPointer, int pointerRed, int pointerGreen, int pointerBlue)
{
if (g_DrawConfig.Streams.Color.Coloring == COLOR_OFF)
return;
if (!isColorOn() && !isIROn())
{
drawClosedStream(pLocation, "Color");
return;
}
openni::VideoFrameRef colorMD;
int depthWidth = 0, depthHeight = 0, depthFullWidth = 0, depthFullHeight = 0;
int depthOriginX = 0, depthOriginY = 0;
if (isColorOn())
{
colorMD = getColorFrame();
if (!colorMD.isValid())
return;
}
else if (isIROn())
{
colorMD = getIRFrame();
}
else
return;
if (!colorMD.isValid())
return;
if (colorMD.getFrameIndex() == 0)
{
return;
}
openni::VideoFrameRef depthMetaData = getDepthFrame();
int width = colorMD.getWidth();
int height = colorMD.getHeight();
int fullWidth = colorMD.getVideoMode().getResolutionX();
int fullHeight = colorMD.getVideoMode().getResolutionY();
int originX = colorMD.getCropOriginX();
int originY = colorMD.getCropOriginY();
XnUInt8* pColor = (XnUInt8*)colorMD.getData();
bool useDepth = false;
openni::PixelFormat format = colorMD.getVideoMode().getPixelFormat();
openni::DepthPixel* pDepth = NULL;
if (depthMetaData.isValid())
{
useDepth = true;
depthWidth = depthMetaData.getWidth();
depthHeight = depthMetaData.getHeight();
depthFullWidth = depthMetaData.getVideoMode().getResolutionX();
depthFullHeight = depthMetaData.getVideoMode().getResolutionY();
depthOriginX = depthMetaData.getCropOriginX();
depthOriginY = depthMetaData.getCropOriginY();
pDepth = (openni::DepthPixel*)depthMetaData.getData();
}
for (XnUInt16 nY = 0; nY < height; nY++)
{
XnUInt8* pTexture = TextureMapGetLine(&g_texColor, nY + originY) + originX*4;
if (format == openni::PIXEL_FORMAT_YUV422)
{
YUV422ToRGB888(pColor, pTexture, width*2, g_texColor.Size.X*g_texColor.nBytesPerPixel);
pColor += width*2;
}
else if (format == openni::PIXEL_FORMAT_YUYV)
{
YUYVToRGB888(pColor, pTexture, width*2, g_texColor.Size.X*g_texColor.nBytesPerPixel);
pColor += width*2;
}
else
{
XnDouble dRealY = (nY + originY) / (XnDouble)fullHeight;
XnInt32 nDepthY = dRealY * depthFullHeight - depthOriginY;
for (XnUInt16 nX = 0; nX < width; nX++, pTexture+=4)
{
XnInt32 nDepthIndex = 0;
if (useDepth)
{
XnDouble dRealX = (nX + originX) / (XnDouble)fullWidth;
XnInt32 nDepthX = dRealX * depthFullWidth - depthOriginX;
if (nDepthX >= depthWidth || nDepthY >= depthHeight || nDepthX < 0 || nDepthY < 0)
{
nDepthIndex = -1;
}
else
{
nDepthIndex = nDepthY*depthWidth + nDepthX;
}
}
switch (format)
{
case openni::PIXEL_FORMAT_RGB888:
pTexture[0] = pColor[0];
pTexture[1] = pColor[1];
pTexture[2] = pColor[2];
pColor+=3;
break;
case openni::PIXEL_FORMAT_GRAY8:
pTexture[0] = pTexture[1] = pTexture[2] = *pColor;
pColor+=1;
break;
case openni::PIXEL_FORMAT_GRAY16:
pTexture[0] = pTexture[1] = pTexture[2] = *((XnUInt16*)pColor) >> 2;
pColor+=2;
break;
default:
assert(0);
return;
}
// decide if pixel should be lit or not
if (g_DrawConfig.Streams.Color.Coloring == DEPTH_MASKED_COLOR &&
(!depthMetaData.isValid() || nDepthIndex == -1 || pDepth[nDepthIndex] == 0))
{
pTexture[3] = 0;
}
else
{
pTexture[3] = 255;
}
}
}
}
if (pPointer != NULL)
{
TextureMapDrawCursor(&g_texColor, *pPointer, pointerRed, pointerGreen, pointerBlue);
}
TextureMapUpdate(&g_texColor);
TextureMapDraw(&g_texColor, pLocation);
}
void drawFrame()
{
// calculate locations
g_DrawConfig.DepthLocation.uBottom = 0;
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.DepthLocation.uLeft = 0;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X - 1;
g_DrawConfig.ColorLocation.uBottom = 0;
g_DrawConfig.ColorLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.ColorLocation.uLeft = 0;
g_DrawConfig.ColorLocation.uRight = WIN_SIZE_X - 1;
if (g_DrawConfig.Streams.ScreenArrangement == SIDE_BY_SIDE)
{
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X / 2 - 1;
g_DrawConfig.ColorLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.ColorLocation.uLeft = WIN_SIZE_X / 2;
}
// Texture map init
openni::VideoFrameRef* pDepthMD = &getDepthFrame();
if (isDepthOn() && pDepthMD->isValid())
{
int maxDepth = 0;
maxDepth = getDepthStream().getMaxPixelValue();
g_fMaxDepth = maxDepth;
TextureMapInit(&g_texDepth, pDepthMD->getVideoMode().getResolutionX(), pDepthMD->getVideoMode().getResolutionY(), 4, pDepthMD->getWidth(), pDepthMD->getHeight());
fixLocation(&g_DrawConfig.DepthLocation, pDepthMD->getVideoMode().getResolutionX(), pDepthMD->getVideoMode().getResolutionY());
}
openni::VideoFrameRef* pImageMD = NULL;
if (isColorOn())
{
pImageMD = &getColorFrame();
}
else if (isIROn())
{
pImageMD = &getIRFrame();
}
if (pImageMD != NULL && pImageMD->isValid())
{
TextureMapInit(&g_texColor, pImageMD->getVideoMode().getResolutionX(), pImageMD->getVideoMode().getResolutionY(), 4, pImageMD->getWidth(), pImageMD->getHeight());
fixLocation(&g_DrawConfig.ColorLocation, pImageMD->getVideoMode().getResolutionX(), pImageMD->getVideoMode().getResolutionY());
}
// check if pointer is over a map
bool bOverDepth = (pDepthMD != NULL && pDepthMD->isValid()) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.DepthLocation);
bool bOverImage = (pImageMD != NULL && pImageMD->isValid()) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.ColorLocation);
bool bDrawDepthPointer = false;
bool bDrawImagePointer = false;
int imagePointerRed = 255;
int imagePointerGreen = 0;
int imagePointerBlue = 0;
IntPair pointerInDepth = {0,0};
IntPair pointerInColor = {0,0};
if (bOverImage)
{
pointerInColor.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.ColorLocation.uLeft) / (g_DrawConfig.ColorLocation.uRight - g_DrawConfig.ColorLocation.uLeft + 1) * pImageMD->getVideoMode().getResolutionX();
pointerInColor.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.ColorLocation.uBottom) / (g_DrawConfig.ColorLocation.uTop - g_DrawConfig.ColorLocation.uBottom + 1) * pImageMD->getVideoMode().getResolutionY();
bDrawImagePointer = true;
}
if (bOverDepth)
{
pointerInDepth.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.DepthLocation.uLeft) / (g_DrawConfig.DepthLocation.uRight - g_DrawConfig.DepthLocation.uLeft + 1) * pDepthMD->getVideoMode().getResolutionX();
pointerInDepth.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.DepthLocation.uBottom) / (g_DrawConfig.DepthLocation.uTop - g_DrawConfig.DepthLocation.uBottom + 1) * pDepthMD->getVideoMode().getResolutionY();
bDrawDepthPointer = true;
if (!bOverImage && g_DrawConfig.bShowPointer &&
pointerInDepth.X >= pDepthMD->getCropOriginX() && pointerInDepth.X < (pDepthMD->getCropOriginX() + pDepthMD->getWidth()) &&
pointerInDepth.Y >= pDepthMD->getCropOriginY() && pointerInDepth.Y < (pDepthMD->getCropOriginY() + pDepthMD->getHeight()))
{
// try to translate depth pixel to image
openni::DepthPixel* pDepthPixels = (openni::DepthPixel*)pDepthMD->getData();
openni::DepthPixel pointerDepth = pDepthPixels[(pointerInDepth.Y - pDepthMD->getCropOriginY()) * pDepthMD->getWidth() + (pointerInDepth.X - pDepthMD->getCropOriginX())];
if (convertDepthPointToColor(pointerInDepth.X, pointerInDepth.Y, pointerDepth, &pointerInColor.X, &pointerInColor.Y))
{
bDrawImagePointer = true;
imagePointerRed = 0;
imagePointerGreen = 0;
imagePointerBlue = 255;
}
}
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
// Setup the opengl env for fixed location view
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0,WIN_SIZE_X,WIN_SIZE_Y,0,-1.0,1.0);
glDisable(GL_DEPTH_TEST);
if (g_DrawConfig.Streams.Depth.Coloring == CYCLIC_RAINBOW_HISTOGRAM || g_DrawConfig.Streams.Depth.Coloring == LINEAR_HISTOGRAM || g_DrawConfig.bShowPointer)
calculateHistogram();
drawColor(&g_DrawConfig.ColorLocation, bDrawImagePointer ? &pointerInColor : NULL, imagePointerRed, imagePointerGreen, imagePointerBlue);
drawDepth(&g_DrawConfig.DepthLocation, bDrawDepthPointer ? &pointerInDepth : NULL);
printRecordingInfo();
if (g_DrawConfig.bShowPointer)
drawPointerMode(bOverDepth ? &pointerInDepth : NULL);
drawUserInput(!bOverDepth && !bOverImage);
drawUserMessage();
drawPlaybackSpeed();
if (g_DrawConfig.strErrorState[0] != '\0')
drawErrorState();
if (g_DrawConfig.bHelp)
drawHelpScreen();
glutSwapBuffers();
}
void drawColorImage(IntRect* pLocation, IntPair* pPointer, int pointerRed, int pointerGreen, int pointerBlue)
{
if (g_DrawConfig.Streams.bBackground)
TextureMapDraw(&g_texBackground, pLocation);
if (g_DrawConfig.Streams.Image.Coloring == IMAGE_OFF)
return;
if (!isImageOn() && !isIROn())
{
drawClosedStream(pLocation, "Image");
return;
}
const MapMetaData* pImageMD;
const XnUInt8* pImage = NULL;
if (isImageOn())
{
pImageMD = getImageMetaData();
pImage = getImageMetaData()->Data();
}
else if (isIROn())
{
pImageMD = getIRMetaData();
pImage = (const XnUInt8*)getIRMetaData()->Data();
}
else
return;
if (pImageMD->FrameID() == 0)
{
return;
}
const DepthMetaData* pDepthMetaData = getDepthMetaData();
double grayscale16Factor = 1.0;
if (pImageMD->PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT)
{
int nPixelsCount = pImageMD->XRes()*pImageMD->YRes();
XnUInt16* pPixel = (XnUInt16*)pImage;
for (int i = 0; i < nPixelsCount; ++i,++pPixel)
{
if (*pPixel > g_nMaxGrayscale16Value)
g_nMaxGrayscale16Value = *pPixel;
}
if (g_nMaxGrayscale16Value > 0)
{
grayscale16Factor = 255.0 / g_nMaxGrayscale16Value;
}
}
for (XnUInt16 nY = pImageMD->YOffset(); nY < pImageMD->YRes() + pImageMD->YOffset(); nY++)
{
XnUInt8* pTexture = TextureMapGetLine(&g_texImage, nY) + pImageMD->XOffset()*4;
if (pImageMD->PixelFormat() == XN_PIXEL_FORMAT_YUV422)
{
YUV422ToRGB888(pImage, pTexture, pImageMD->XRes()*2, g_texImage.Size.X*g_texImage.nBytesPerPixel);
pImage += pImageMD->XRes()*2;
}
else
{
for (XnUInt16 nX = 0; nX < pImageMD->XRes(); nX++, pTexture+=4)
{
XnInt32 nDepthIndex = 0;
if (pDepthMetaData != NULL)
{
XnDouble dRealX = (nX + pImageMD->XOffset()) / (XnDouble)pImageMD->FullXRes();
XnDouble dRealY = nY / (XnDouble)pImageMD->FullYRes();
XnUInt32 nDepthX = dRealX * pDepthMetaData->FullXRes() - pDepthMetaData->XOffset();
XnUInt32 nDepthY = dRealY * pDepthMetaData->FullYRes() - pDepthMetaData->YOffset();
if (nDepthX >= pDepthMetaData->XRes() || nDepthY >= pDepthMetaData->YRes())
{
nDepthIndex = -1;
}
else
{
nDepthIndex = nDepthY*pDepthMetaData->XRes() + nDepthX;
}
}
switch (pImageMD->PixelFormat())
{
case XN_PIXEL_FORMAT_RGB24:
pTexture[0] = pImage[0];
pTexture[1] = pImage[1];
pTexture[2] = pImage[2];
pImage+=3;
break;
case XN_PIXEL_FORMAT_GRAYSCALE_8_BIT:
pTexture[0] = pTexture[1] = pTexture[2] = *pImage;
pImage+=1;
break;
case XN_PIXEL_FORMAT_GRAYSCALE_16_BIT:
XnUInt16* p16 = (XnUInt16*)pImage;
XnUInt8 textureValue = 0;
textureValue = (XnUInt8)((*p16) * grayscale16Factor);
pTexture[0] = pTexture[1] = pTexture[2] = textureValue;
pImage+=2;
break;
}
// decide if pixel should be lit or not
if (g_DrawConfig.Streams.Image.Coloring == DEPTH_MASKED_IMAGE &&
(pDepthMetaData == NULL || nDepthIndex == -1 || pDepthMetaData->Data()[nDepthIndex] == 0))
{
pTexture[3] = 0;
}
else
{
pTexture[3] = 255;
}
}
}
}
if (pPointer != NULL)
{
TextureMapDrawCursor(&g_texImage, *pPointer, pointerRed, pointerGreen, pointerBlue);
}
TextureMapUpdate(&g_texImage);
TextureMapDraw(&g_texImage, pLocation);
}
void drawFrame()
{
// calculate locations
g_DrawConfig.DepthLocation.uBottom = 0;
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.DepthLocation.uLeft = 0;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X - 1;
g_DrawConfig.ImageLocation.uBottom = 0;
g_DrawConfig.ImageLocation.uTop = WIN_SIZE_Y - 1;
g_DrawConfig.ImageLocation.uLeft = 0;
g_DrawConfig.ImageLocation.uRight = WIN_SIZE_X - 1;
if (g_DrawConfig.Streams.ScreenArrangement == SIDE_BY_SIDE)
{
g_DrawConfig.DepthLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.DepthLocation.uRight = WIN_SIZE_X / 2 - 1;
g_DrawConfig.ImageLocation.uTop = WIN_SIZE_Y / 2 - 1;
g_DrawConfig.ImageLocation.uLeft = WIN_SIZE_X / 2;
}
// Texture map init
const DepthMetaData* pDepthMD = getDepthMetaData();
if (isDepthOn())
{
g_nMaxDepth = getDepthGenerator()->GetDeviceMaxDepth();
TextureMapInit(&g_texDepth, pDepthMD->FullXRes(), pDepthMD->FullYRes(), 4, pDepthMD->XRes(), pDepthMD->YRes());
fixLocation(&g_DrawConfig.DepthLocation, pDepthMD->FullXRes(), pDepthMD->FullYRes());
}
const MapMetaData* pImageMD = NULL;
if (isImageOn())
{
pImageMD = getImageMetaData();
}
else if (isIROn())
{
pImageMD = getIRMetaData();
}
if (pImageMD != NULL)
{
TextureMapInit(&g_texImage, pImageMD->FullXRes(), pImageMD->FullYRes(), 4, pImageMD->XRes(), pImageMD->YRes());
fixLocation(&g_DrawConfig.ImageLocation, pImageMD->FullXRes(), pImageMD->FullYRes());
}
// check if pointer is over a map
bool bOverDepth = (pDepthMD != NULL) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.DepthLocation);
bool bOverImage = (pImageMD != NULL) && isPointInRect(g_DrawUserInput.Cursor, &g_DrawConfig.ImageLocation);
bool bDrawDepthPointer = false;
bool bDrawImagePointer = false;
int imagePointerRed = 255;
int imagePointerGreen = 0;
int imagePointerBlue = 0;
IntPair pointerInDepth;
IntPair pointerInImage;
if (bOverImage)
{
pointerInImage.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.ImageLocation.uLeft) / (g_DrawConfig.ImageLocation.uRight - g_DrawConfig.ImageLocation.uLeft + 1) * pImageMD->FullXRes();
pointerInImage.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.ImageLocation.uBottom) / (g_DrawConfig.ImageLocation.uTop - g_DrawConfig.ImageLocation.uBottom + 1) * pImageMD->FullYRes();
bDrawImagePointer = true;
}
if (bOverDepth)
{
pointerInDepth.X = (double)(g_DrawUserInput.Cursor.X - g_DrawConfig.DepthLocation.uLeft) / (g_DrawConfig.DepthLocation.uRight - g_DrawConfig.DepthLocation.uLeft + 1) * pDepthMD->FullXRes();
pointerInDepth.Y = (double)(g_DrawUserInput.Cursor.Y - g_DrawConfig.DepthLocation.uBottom) / (g_DrawConfig.DepthLocation.uTop - g_DrawConfig.DepthLocation.uBottom + 1) * pDepthMD->FullYRes();
// make sure we're in cropped area
if (pointerInDepth.X >= pDepthMD->XOffset() && pointerInDepth.X < (pDepthMD->XOffset() + pDepthMD->XRes()) &&
pointerInDepth.Y >= pDepthMD->YOffset() && pointerInDepth.Y < (pDepthMD->YOffset() + pDepthMD->YRes()))
{
bDrawDepthPointer = true;
if (!bOverImage && g_DrawConfig.bShowPointer)
{
// try to translate depth pixel to image
if (getImageCoordinatesForDepthPixel(pointerInDepth.X, pointerInDepth.Y, pointerInImage.X, pointerInImage.Y))
{
bDrawImagePointer = true;
imagePointerRed = 0;
imagePointerGreen = 0;
imagePointerBlue = 255;
}
}
}
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
// Setup the opengl env for fixed location view
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0,WIN_SIZE_X,WIN_SIZE_Y,0,-1.0,1.0);
glDisable(GL_DEPTH_TEST);
if (g_DrawConfig.Streams.Depth.Coloring == CYCLIC_RAINBOW_HISTOGRAM || g_DrawConfig.Streams.Depth.Coloring == LINEAR_HISTOGRAM || g_DrawConfig.bShowPointer)
calculateHistogram();
drawColorImage(&g_DrawConfig.ImageLocation, bDrawImagePointer ? &pointerInImage : NULL, imagePointerRed, imagePointerGreen, imagePointerBlue);
drawDepth(&g_DrawConfig.DepthLocation, bDrawDepthPointer ? &pointerInDepth : NULL);
printStatisticsInfo();
printRecordingInfo();
if (g_DrawConfig.bShowPointer)
drawPointerMode(bDrawDepthPointer ? &pointerInDepth : NULL);
drawUserInput(!bOverDepth && !bOverImage);
drawUserMessage();
drawPlaybackSpeed();
if (g_DrawConfig.strErrorState != NULL)
drawErrorState();
if (g_DrawConfig.bHelp)
drawHelpScreen();
glutSwapBuffers();
}
