int main(int argc, char **argv)
{
int res;
depth_mid = (uint8_t*)malloc(640*480*3);
depth_front = (uint8_t*)malloc(640*480*3);
rgb_back = (uint8_t*)malloc(640*480*3);
rgb_mid = (uint8_t*)malloc(640*480*3);
rgb_front = (uint8_t*)malloc(640*480*3);
printf("Kinect camera test\n");
int i;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
freenect_select_subdevices(f_ctx, (freenect_device_flags)(FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA));
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1) {
freenect_shutdown(f_ctx);
return 1;
}
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
freenect_shutdown(f_ctx);
return 1;
}
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
freenect_shutdown(f_ctx);
return 1;
}
// OS X requires GLUT to run on the main thread
gl_threadfunc(NULL);
return 0;
}
int main( int argc, char **argv )
{
//depth_gl = (uint8_t*)malloc(640*480*3);
if( freenect_init( &f_context, NULL ) < 0 )
{
printf( "Freenect initialization failed.\n" );
return 1;
}
freenect_set_log_level( f_context, FREENECT_LOG_DEBUG );
freenect_select_subdevices( f_context, ( freenect_device_flags )( FREENECT_DEVICE_MOTOR | FREENECT_DEVICE_CAMERA ) );
if( freenect_num_devices ( f_context ) < 1 )
{
printf( "No devices found. Shutting down...\n" );
freenect_shutdown( f_context );
return 1;
}
if( freenect_open_device( f_context, &f_device, 0 ) <0 )
{
printf( "Couldn't open device. Shutting down...\n" );
freenect_shutdown( f_context );
return 1;
}
if( pthread_create( &f_thread, NULL, f_threadfunc, NULL ) )
{
printf( "Thread creation failed. Shutting down...\n" );
freenect_shutdown( f_context );
return 1;
}
glutInit( &argc, argv );
gl_threadfunc( NULL );
return 0;
}
int main(int argc, char **argv)
{
int res;
printf("Kinect camera test\n");
int i;
for (i=0; i<2048; i++) {
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_DEBUG);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1)
return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
// OS X requires GLUT to run on the main thread
gl_threadfunc(NULL);
return 0;
}
int main(int argc, char **argv)
{
int res;
//initGPIO();
bool pin = pollGPIO();
printf("GPIO pin = %d\n", pin);
int data_dir_number = 0;
sprintf(data_dir, "%s/%d", DATA_DIR, data_dir_number);
struct stat st;
while(stat(data_dir,&st) == 0){
data_dir_number++;
sprintf(data_dir, "%s/%d", DATA_DIR, data_dir_number);
}
mkdir(data_dir, S_IREAD | S_IWRITE | S_IEXEC);
printf("Data dir is: %s\n", data_dir);
depth_back = malloc(640*480*2);
depth_mid = malloc(640*480*2);
depth_front = malloc(640*480*2);
rgb_back = malloc(640*480*3);
rgb_mid = malloc(640*480*3);
rgb_front = malloc(640*480*3);
printf("Kinect camera test\n");
//int i;
//for (i=0; i<2048; i++) {
// float v = i/2048.0;
// v = powf(v, 3)* 6;
// t_gamma[i] = v*6*256;
//}
g_argc = argc;
g_argv = argv;
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
freenect_set_log_level(f_ctx, FREENECT_LOG_FATAL);
int nr_devices = freenect_num_devices (f_ctx);
printf ("Number of devices found: %d\n", nr_devices);
int user_device_number = 0;
if (argc > 1)
user_device_number = atoi(argv[1]);
if (nr_devices < 1)
return 1;
if (freenect_open_device(f_ctx, &f_dev, user_device_number) < 0) {
printf("Could not open device\n");
return 1;
}
res = pthread_create(&freenect_thread, NULL, freenect_threadfunc, NULL);
if (res) {
printf("pthread_create failed\n");
return 1;
}
// OS X requires GLUT to run on the main thread
gl_threadfunc(NULL);
//closeGPIO();
return 0;
}
