int
main(int argc, char *argv[]) {
if (!sdl_init(SCREEN_HEIGHT, SCREEN_WIDTH)) {
return 1;
}
if (!kinect_init()) {
return 1;
}
while (!sdl_pollevent()) {
kinect_poll();
draw_depths();
}
/* Shut down */
kinect_shutdown();
sdl_shutdown();
return 0;
}
int main(int argc, char **argv){
int error = kinect_init(&G_kt);
if ( error ){
printf("Error\n");
return 1;
}
//signal(SIGQUIT, intHandler);
signal(SIGINT, intHandler);
//signal(SIGHUP, intHandler);
while ( !feof(stdin) ){
kinect_read(&G_kt);
printf("#end\n");
fflush(stdout);
usleep(20000);
}
kinect_finish(&G_kt);
return 0;
}
int main(int argc, char *argv[]) {
SDL_Surface *screen;
static struct option long_options[] = {
{"no-kinect", no_argument, 0, 'k'},
{"fullscreen", optional_argument, 0, 'f'},
{"help", no_argument, 0, 'h'},
{0, 0, 0, 0}
};
int option_index = 0, opt;
bool init_kinect = true;
bool fullscreen_mode = false;
char *fullscreen_resolution = NULL;
while ((opt = getopt_long(argc, argv, "khf:", long_options, &option_index)) != -1) {
switch (opt) {
case 'k':
init_kinect = false;
printf("Not initializing kinect (-k passed)\n");
break;
case 'f':
printf("Starting in fullscreen mode\n");
fullscreen_mode = true;
if (optarg)
fullscreen_resolution = strdup(optarg);
break;
case 'h':
printf("Syntax: %s [-k] [-h]\n", argv[0]);
printf("\t--no-kinect\tDisables initializing kinect\n");
printf("\t--fullscreen\tEnable fullscreen mode (default is windowed)\n");
printf("\t\t\t(--fullscreen=1024x768 to overwrite the resolution)\n");
exit(0);
break;
}
}
median_filter_init();
glow_filter_init();
if (init_kinect)
kinect_init();
mask_rgb_init();
loadimg_init();
/* Initialize SDL */
SDL_Init(SDL_INIT_VIDEO);
TTF_Init();
SDL_GL_SetAttribute(SDL_GL_RED_SIZE, 8);
SDL_GL_SetAttribute(SDL_GL_GREEN_SIZE, 8);
SDL_GL_SetAttribute(SDL_GL_BLUE_SIZE, 8);
SDL_GL_SetAttribute(SDL_GL_DEPTH_SIZE, 16);
SDL_GL_SetAttribute(SDL_GL_BUFFER_SIZE, 32);
SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
SDL_GL_SetAttribute(SDL_GL_SWAP_CONTROL, 1);
/* Initialize the screen / window */
if (fullscreen_mode && fullscreen_resolution != NULL) {
if (sscanf(fullscreen_resolution, "%dx", &SCREEN_WIDTH) != 1) {
fprintf(stderr, "Invalid resolution specified: %s (needs to be WxH, e.g. 1024x768)\n", fullscreen_resolution);
exit(1);
}
printf("Setting width to %d\n", SCREEN_WIDTH);
}
int flags = SDL_OPENGL | SDL_HWSURFACE | SDL_NOFRAME | SDL_DOUBLEBUF;
if (fullscreen_mode)
flags |= SDL_FULLSCREEN;
screen = SDL_SetVideoMode(SCREEN_WIDTH, SCREEN_HEIGHT, SCREEN_DEPTH, flags);
if (screen == 0) {
printf("set failed: %s\n", SDL_GetError());
return 1;
}
SDL_WM_SetCaption("kinectboard", "");
glewInit();
/* Setup viewport */
glEnable(GL_TEXTURE_2D);
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glViewport(0, 0, SCREEN_WIDTH, SCREEN_HEIGHT);
glClear(GL_COLOR_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, SCREEN_WIDTH, 0, SCREEN_HEIGHT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
kb_ui_init();
// Register callbacks
kb_ui_register_void_callback("Exit",exit_callback);
kb_ui_register_void_callback("Calibrate",run_calibration_callback);
kb_ui_register_void_callback("StartCalibration",start_calibration_callback);
kb_ui_register_void_callback("EndCalibration",end_calibration_callback);
kb_ui_register_void_callback("ImageRight",kb_images_scroll_right);
kb_ui_register_void_callback("ImageLeft",kb_images_scroll_left);
kb_ui_register_value_callback("SetDistanceThreshold", set_distance_threshold_callback);
kb_ui_register_value_callback("SetDepthMultiplier", set_depth_multiplier_callback);
kb_ui_register_value_callback("SetDepthDifferenceThreshold", set_depth_difference_threshold_callback);
kb_ui_register_value_callback("SetGlowAreaStart", set_glow_area_start_callback);
kb_ui_register_value_callback("SetGlowAreaEnd", set_glow_area_end_callback);
kb_ui_call_javascript("SetRGB", "142,51,19");
// The CUDA Device Info requires a valid UI since the info is displayed there
print_cuda_device_info();
/* Allocate textures and buffers to draw into (from the GPU) */
allocateGLTexture(&rawDepthBufferID, &rawDepthTextureID);
allocateGLTexture(&medianBufferID, &medianTextureID);
allocateGLTexture(&maskedMedianBufferID, &maskedMedianTextureID);
allocateGLTexture(&glowBufferID, &glowTextureID);
allocateGLTexture(&rawRgbBufferID, &rawRgbTextureID);
allocateGLTexture(&maskRgbBufferID, &maskRgbTextureID);
allocateGLTexture(&contRgbBufferID, &contRgbTextureID);
kb_image_create("Raw depth image", rawDepthBufferID, rawDepthTextureID);
kb_image_create("Median-filtered depth image", medianBufferID, medianTextureID);
kb_image_create("Masked depth image", maskedMedianBufferID, maskedMedianTextureID);
kb_image_create("Glowing depth", glowBufferID, glowTextureID);
kb_image_create("Raw RGB image", rawRgbBufferID, rawRgbTextureID);
kb_image_create("Masked kinect RGB image", maskRgbBufferID, maskRgbTextureID);
kb_image_create("Cont RGB image", contRgbBufferID, contRgbTextureID);
// Load a Texture
//loadTextureFromFile("../data/calibration.bmp", &calibrationBufferID, &calibrationTextureID);
//kb_image_create("Calibration", calibrationBufferID, calibrationTextureID);
SDL_Surface* surface = SDL_LoadBMP("../data/calibration.bmp");
cudaMalloc((void**)&(backgrounds[1]), 640 * 480 * 3 * sizeof(uint8_t));
loadimg_convert((uint8_t*)surface->pixels, backgrounds[1]);
surface = SDL_LoadBMP("../data/malen_haus.bmp");
cudaMalloc((void**)&(backgrounds[2]), 640 * 480 * 3 * sizeof(uint8_t));
loadimg_convert((uint8_t*)surface->pixels, backgrounds[2]);
surface = SDL_LoadBMP("../data/malen_stern.bmp");
cudaMalloc((void**)&(backgrounds[3]), 640 * 480 * 3 * sizeof(uint8_t));
loadimg_convert((uint8_t*)surface->pixels, backgrounds[3]);
surface = SDL_LoadBMP("../data/empty.bmp");
cudaMalloc((void**)&(backgrounds[4]), 640 * 480 * 3 * sizeof(uint8_t));
loadimg_convert((uint8_t*)surface->pixels, backgrounds[4]);
printf("gl set up.\n");
uchar4 *gpu_median_output,
*gpu_masked_median_output,
*gpu_glow_output,
*gpu_mask_rgb_output,
*gpu_raw_depth_output,
*gpu_raw_rgb_output,
*gpu_cont_rgb_output;
int fps = 0;
int last_time = 0;
int current_time;
while (1) {
/* FPS counter */
current_time = SDL_GetTicks();
if ((current_time - last_time) >= 1000) {
static char buffer[20] = {0};
sprintf(buffer, "%d FPS", fps);
SDL_WM_SetCaption(buffer, 0);
kb_ui_call_javascript("SetFPS",buffer);
fps = 0;
last_time = current_time;
}
//kb_poll_events(list);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
/* Reset viewport for rendering our images, it was modified by
* kb_ui_render(). */
glViewport(0, 0, SCREEN_WIDTH, SCREEN_HEIGHT);
glClear(GL_COLOR_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, SCREEN_WIDTH, 0, SCREEN_HEIGHT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
kb_poll_events();
gpu_median_output = NULL;
gpu_masked_median_output = NULL;
gpu_glow_output = NULL;
gpu_mask_rgb_output = NULL;
gpu_raw_depth_output = NULL;
gpu_raw_rgb_output = NULL;
gpu_cont_rgb_output = NULL;
cutilSafeCall(cudaGLMapBufferObject((void**)&gpu_raw_depth_output, rawDepthBufferID));
cutilSafeCall(cudaGLMapBufferObject((void**)&gpu_median_output, medianBufferID));
cutilSafeCall(cudaGLMapBufferObject((void**)&gpu_masked_median_output, maskedMedianBufferID));
cutilSafeCall(cudaGLMapBufferObject((void**)&gpu_glow_output, glowBufferID));
cutilSafeCall(cudaGLMapBufferObject((void**)&gpu_mask_rgb_output, maskRgbBufferID));
cutilSafeCall(cudaGLMapBufferObject((void**)&gpu_raw_rgb_output, rawRgbBufferID));
cutilSafeCall(cudaGLMapBufferObject((void**)&gpu_cont_rgb_output, contRgbBufferID));
// XXX: Potential for optimization: We currently call functions like
// median_filter(), median_mask() and mask_rgb() which are all
// blocking. However, we could launch the kernel and perform more work
// on the CPU while waiting for the kernel to complete (or maybe even
// launch some in parallel and/or use async events).
median_filter(take_depth_image(), gpu_median_output, gpu_raw_depth_output);
done_depth_image();
median_mask(calibration, gpu_median_output, gpu_masked_median_output);
glow_filter(gpu_masked_median_output, gpu_glow_output, glow_start, glow_end);
mask_rgb(gpu_glow_output, take_rgb_image(), gpu_mask_rgb_output, gpu_raw_rgb_output, gpu_cont_rgb_output, reference_color, FILTER_DISTANCE, backgrounds[current_background], calibrated_offset);
done_rgb_image();
cutilSafeCall(cudaGLUnmapBufferObject(maskedMedianBufferID));
cutilSafeCall(cudaGLUnmapBufferObject(medianBufferID));
cutilSafeCall(cudaGLUnmapBufferObject(glowBufferID));
cutilSafeCall(cudaGLUnmapBufferObject(maskRgbBufferID));
cutilSafeCall(cudaGLUnmapBufferObject(rawDepthBufferID));
cutilSafeCall(cudaGLUnmapBufferObject(rawRgbBufferID));
cutilSafeCall(cudaGLUnmapBufferObject(contRgbBufferID));
if(fullscreen_canvas) {
kb_images_render_canvas_only();
} else {
kb_images_render();
kb_ui_update();
kb_ui_render();
}
SDL_GL_SwapBuffers();
fps++;
}
}
