void freeScene(Scene * scene)
{
freeCamera(scene->camera);
freeWorld(scene->world);
freeWater(scene->water);
free(scene->context);
free(scene);
glfwTerminate();
}
///functions
int main(int argc, char* argv[])
{
//input parameters
if(argc != 3){
printf("usage: %s <first ip> <second ip>\n", argv[0]);
return EXIT_FAILURE;
}
//set Kinect angles to 0° & set LED colour
if(freenect_sync_set_tilt_degs(0, 0)){
printf("Could not tilt device 0.\n");
return EXIT_FAILURE;
}
if(freenect_sync_set_led(LED_GREEN, 0)){
printf("Could not change LED of device 0.\n");
return EXIT_FAILURE;
}
//set UDP socket
struct sockaddr_in si_other, si_other2;
int s, i, slen=sizeof(si_other);
char buf[BUFLEN];
if ((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))==-1){
fprintf(stderr, "socket() failed\n");
return 1;
}
//first IP
memset((char *) &si_other, 0, sizeof(si_other));
si_other.sin_family = AF_INET;
si_other.sin_port = htons(PORT);
if (inet_aton(argv[1], &si_other.sin_addr)==0) {
fprintf(stderr, "inet_aton() failed\n");
return 1;
}
//second IP
memset((char *) &si_other2, 0, sizeof(si_other2));
si_other2.sin_family = AF_INET;
si_other2.sin_port = htons(PORT);
if (inet_aton(argv[2], &si_other2.sin_addr)==0) {
fprintf(stderr, "inet_aton() failed\n");
return 1;
}
//set cameras
TDepthCamera mainCam;
createPrimaryCamera(&mainCam, 0);
//get calibration values acquired by calibration program.
FILE* pFile = NULL;
pFile = fopen("calibrationValuesOne.cal", "r");
if(pFile == NULL){
puts("Could not get calibration data.");
}else{
fread(&minZ, sizeof(int), 1, pFile);
fread(&maxZ, sizeof(int), 1, pFile);
}
fclose(pFile);
TVecList mainList;
unsigned int timestamp;
contLoop = 1;
//show current calibration values.
printf("Current calibration values:\nCeiling: %d, Floor: %d\n", maxZ, minZ);
puts("\n\nAre those values correct? [Y/N]");
char tmpChar = getchar();
if(tmpChar == 'N' || tmpChar == 'n'){
contLoop = 0;
puts("\nUse calibration program to correct the values.");
}
fflush(stdin);
//start thread
pthread_t thread;
int rc;
long t = 0;
rc = pthread_create(&thread, NULL, readAsync, (void *)t);
if (rc){
printf("ERROR; return code from pthread_create() is %d\n", rc);
exit(-1);
}
//main loop
while(contLoop){
//acquire data for main Kinect & process data
if(updateCamera(&mainCam, ×tamp)){
printf("Could not update feed for device 0.");
return EXIT_FAILURE;
}
if(detectDrone(mainCam.data, &mainList, &vec3DDistance)){
printf("Could not process data for for device 0.");
return EXIT_FAILURE;
}
//display list
system("clear");
puts("Press Enter to exit.\n\n---------------\nLIST:");
displayVecList(&mainList);
//send position to the given IP address
TVec4D* maxVect = maxPointList(&mainList);
if(maxVect != NULL){
writePacket(buf, 'k', maxVect->x, maxVect->y, maxVect->z);
if (sendto(s, buf, BUFLEN, 0, &si_other, slen)==-1){
fprintf(stderr, "sendto() failed\n");
return 1;
}
if (sendto(s, buf, BUFLEN, 0, &si_other2, slen)==-1){
fprintf(stderr, "sendto() failed\n");
return 1;
}
}
}
//close socket
close(s);
//free all data
freeCamera(&mainCam);
//stop kinects
freenect_sync_stop();
//stop pthread
pthread_exit(NULL);
return EXIT_SUCCESS;
}
