int main(int argc, char** argv)
{
ros::init(argc, argv, "skeleton_tracker");
ros::NodeHandle np("~");
string filepath;
bool is_a_recording;
np.getParam("load_filepath", filepath);
np.param<bool>("load_recording", is_a_recording, false);
g_skeleton_tracker.init();
g_kinect_controller.init(filepath.c_str(), is_a_recording);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
glutCreateWindow ("NITE Skeleton Tracker");
glutKeyboardFunc(glutKeyboard);
glutDisplayFunc(glutDisplay);
glutIdleFunc(glutIdle);
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glutMainLoop();
g_kinect_controller.shutdown();
return 0;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "skeleton_tracker");
//SkeletonTracker skd;
ros::NodeHandle n;
ros::NodeHandle np("~");
string filepath;
bool is_a_recording;
np.getParam("load_filepath", filepath);
np.param<bool>("load_recording", is_a_recording, false);
g_skeleton_tracker.init();
g_kinect_controller.init(filepath.c_str(), is_a_recording);
// TODO... read these values from ini file
const int fps = 30;
const int width = 640;
const int height = 480;
g_attention_map.init(fps, width, height);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
depth_window = glutCreateWindow ("Skeleton Depth");
glutDisplayFunc(glutDepthDisplay);
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glutKeyboardFunc(glutKeyboard);
rgb_window = glutCreateWindow ("Skeleton RGB");
glutDisplayFunc(glutRgbDisplay);
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glutIdleFunc(glutIdle);
glutMainLoop();
g_kinect_controller.shutdown();
ros::spin();
return 0;
}