int main()
{
XnStatus nRetVal = XN_STATUS_OK;
XnContext* pContext;
XnEnumerationErrors* pErrors;
XnNodeHandle hDepth;
XnDepthMetaData* pDepthMD;
const XnDepthPixel* pDepthMap;
XnDepthPixel middlePoint;
nRetVal = xnEnumerationErrorsAllocate(&pErrors);
CHECK_RC(nRetVal, "Allocate errors object");
nRetVal = xnInitFromXmlFile(SAMPLE_XML_PATH, &pContext, pErrors);
CHECK_RC(nRetVal, "Init context");
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
xnEnumerationErrorsToString(pErrors, strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = xnFindExistingNodeByType(pContext, XN_NODE_TYPE_DEPTH, &hDepth);
CHECK_RC(nRetVal, "Find depth generator");
pDepthMD = xnAllocateDepthMetaData();
while (!xnOSWasKeyboardHit())
{
nRetVal = xnWaitOneUpdateAll(pContext, hDepth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnGetDepthMetaData(hDepth, pDepthMD);
pDepthMap = pDepthMD->pData;
middlePoint = pDepthMap[pDepthMD->pMap->Res.X * pDepthMD->pMap->Res.Y/2 + pDepthMD->pMap->Res.X/2];
printf("Frame %d Middle point is: %u\n", pDepthMD->pMap->pOutput->nFrameID, middlePoint);
}
xnShutdown(pContext);
return 0;
}
void knt_Stop(kinect_t *k){
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = xnStopGeneratingAll(k->pContext);
if(nRetVal != XN_STATUS_OK){
printf("Error parando nodo de IR: %s\n",xnGetStatusString(nRetVal));
}
xnShutdown(k->pContext);
}
