int main(int argc, char **argv) {
init_cv_buffers();
context = init_kinect();
if (context == NULL) {
return 1;
}
if (freenect_open_device(context, &device, 0) < 0) {
printf("could not open device\n");
freenect_shutdown(context);
return 1;
}
int capture_loop_failed = pthread_create(&kinect_thread, NULL, capture_loop, NULL);
if (capture_loop_failed) {
printf("pthread_create failed\n");
freenect_shutdown(context);
return 1;
}
handle_sigint();
graphics_loop(argc, argv);
pthread_join(kinect_thread, NULL);
printf("thanks for shooting down quads!\n");
}
// ThisApp构造函数
ThisApp::ThisApp(){
if (SUCCEEDED(init_kinect()) && SUCCEEDED(init_speech_recognizer())){
m_threadAudio.std::thread::~thread();
m_threadAudio.std::thread::thread(AudioThread, this);
}
else{
m_threadAudio.std::thread::~thread();
m_threadAudio.std::thread::thread(AudioThread, this);
}
}
void testApp::setup()
{
ofSetLogLevel(OF_LOG_VERBOSE);
ofSetWindowPosition(0,0);
init_kinect();
init_keys();
debug_depth_texture = true;
tex_width = 1024;
tex_height = 768;
mesh = new cml::Mesh_openni(&depth_generator);
camluc.init(ofToDataPath("camara_lucida/openni_calibration.yml"),
ofToDataPath("camara_lucida/openni_projector_calibration.yml"),
ofToDataPath("camara_lucida/camara_lucida_config.xml"),
mesh, tex_width, tex_height, 1);
ofAddListener(camluc.render_texture, this, &testApp::render_texture);
ofAddListener(camluc.render_hud, this, &testApp::render_hud);
}
int main ( int argc, char **argv )
{
ros::init ( argc, argv, "kinect_save_image" );
init_kinect();
return 0;
}
