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annotate src/main.cc @ 26:61d593076c56

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foo
author Eleni Maria Stea <eleni@mutantstargoat.com>
date Sun, 17 Nov 2013 23:02:40 +0200
parents 96b022f1210e
children
rev   line source
eleni@2 1 #include <GL/glew.h>
eleni@2 2 #include <GL/glut.h>
eleni@12 3
eleni@23 4 #include <math.h>
eleni@0 5 #include <stdio.h>
eleni@0 6
eleni@0 7 #include "kinect.h"
eleni@2 8 #include "frame.h"
eleni@21 9 #include "sdr.h"
eleni@12 10 #include "tesquad.h"
eleni@14 11 #include "texture.h"
eleni@0 12
eleni@23 13 #define FOV 45.0
eleni@23 14 #define QUAD_DIST 20.0 /*depth*/
eleni@17 15
eleni@0 16 freenect_context *kin_ctx;
eleni@0 17 freenect_device *kin_dev;
eleni@0 18 KinectParams kin_params;
eleni@2 19 Frame *frame;
eleni@0 20
eleni@26 21 static const char *filename = "data/textures/wp2.jpg";
eleni@23 22 static const char *vsdr_path = "data/shaders/invisible.v.glsl";
eleni@23 23 static const char *fsdr_path = "data/shaders/invisible.f.glsl";
eleni@25 24 static unsigned char tex;
eleni@23 25 static unsigned int sprog;
eleni@17 26 static unsigned int drawing;
eleni@17 27 static unsigned int debugging;
eleni@23 28 static int tex_height;
eleni@23 29 static int tex_width;
eleni@23 30 static float aspect;
eleni@13 31 static bool show;
eleni@25 32 static bool wireframe;
eleni@26 33 static bool fullscreen;
eleni@26 34
eleni@26 35 static float phi = 0;
eleni@26 36 static float theta = 0;
eleni@26 37 static float distance = 10;
eleni@26 38 static int prev_x = -1, prev_y = -1;
eleni@26 39 static int bn;
eleni@13 40
eleni@2 41 static void cleanup();
eleni@23 42 static bool init();
eleni@23 43 static void init_tessquad();
eleni@2 44
eleni@2 45 static void display();
eleni@2 46 static void reshape(int w, int h);
eleni@2 47 static void keyb(unsigned char key, int x, int y);
eleni@26 48 static void mouse(int button, int status, int x, int y);
eleni@26 49 static void motion(int x, int y);
eleni@2 50 static void idle();
eleni@2 51
eleni@2 52 bool has_video;
eleni@2 53 bool has_depth;
eleni@2 54
eleni@2 55 int main(int argc, char **argv)
eleni@0 56 {
eleni@0 57 if(!init_kinect(&kin_ctx, &kin_dev, &kin_params))
eleni@0 58 return 1;
eleni@0 59
eleni@7 60 if(!init_kinect_frames(kin_ctx, kin_dev, &kin_params)) {
eleni@2 61 stop_kinect(kin_ctx, kin_dev);
eleni@2 62 return 1;
eleni@2 63 }
eleni@2 64
eleni@2 65 glutInitWindowSize(800, 600);
eleni@2 66 glutInit(&argc, argv);
eleni@2 67 glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB);
eleni@2 68 glutCreateWindow("Test Kinect");
eleni@2 69
eleni@2 70 glewInit();
eleni@2 71
eleni@2 72 glutDisplayFunc(display);
eleni@2 73 glutReshapeFunc(reshape);
eleni@2 74 glutKeyboardFunc(keyb);
eleni@26 75 glutMouseFunc(mouse);
eleni@26 76 glutMotionFunc(motion);
eleni@2 77 glutIdleFunc(idle);
eleni@2 78
eleni@14 79 atexit(cleanup);
eleni@23 80 if(!init()) {
eleni@23 81 return 1;
eleni@23 82 }
eleni@2 83
eleni@2 84 glutMainLoop();
eleni@2 85 }
eleni@2 86
eleni@26 87 static bool init()
eleni@26 88 {
eleni@26 89 glClearColor(1, 0, 0, 1);
eleni@26 90
eleni@26 91 frame = new Frame;
eleni@26 92 if(!(tex = load_texture(filename, &tex_width, &tex_height))) {
eleni@26 93 fprintf(stderr, "Failed to load texture: %s\n", filename);
eleni@26 94 return false;
eleni@26 95 }
eleni@26 96
eleni@26 97 /* shaders setup */
eleni@26 98 if(!(sprog = sdr_getprog(vsdr_path, fsdr_path))) {
eleni@26 99 fprintf(stderr, "Failed to create shader program!\n");
eleni@26 100 return false;
eleni@26 101 }
eleni@26 102
eleni@26 103 glUseProgram(sprog);
eleni@26 104 int dloc = glGetUniformLocation(sprog, "depth_tex");
eleni@26 105 if(dloc != -1)
eleni@26 106 glUniform1i(dloc, 1);
eleni@26 107 int tloc = glGetUniformLocation(sprog, "tex");
eleni@26 108 if(tloc != -1)
eleni@26 109 glUniform1i(tloc, 0);
eleni@26 110 glUseProgram(0);
eleni@26 111
eleni@26 112 /* debugging */
eleni@26 113 debugging = glGenLists(1);
eleni@26 114 glNewList(debugging, GL_COMPILE);
eleni@26 115 glEnable(GL_TEXTURE_2D);
eleni@26 116 glBindTexture(GL_TEXTURE_2D, frame->video_tex);
eleni@26 117 draw_tess_quad(-1, -1, 1, 2, 1, 1, true);
eleni@26 118 glBindTexture(GL_TEXTURE_2D, frame->depth_tex);
eleni@26 119 draw_tess_quad(0, -1, 1, 2, 1, 1, true);
eleni@26 120 glDisable(GL_TEXTURE_2D);
eleni@26 121 glEndList();
eleni@26 122
eleni@26 123 return true;
eleni@26 124 }
eleni@26 125
eleni@26 126 static void init_tessquad()
eleni@26 127 {
eleni@26 128 if(drawing)
eleni@26 129 glDeleteLists(drawing, 1);
eleni@26 130
eleni@26 131 drawing = glGenLists(1);
eleni@26 132 glNewList(drawing, GL_COMPILE);
eleni@26 133 float fov_rads = FOV / 180.0 * M_PI;
eleni@26 134 float ysz = QUAD_DIST * tan(fov_rads / 2.0);
eleni@26 135 float xsz = ysz * aspect;
eleni@26 136 draw_tess_quad(-xsz, -ysz, xsz * 2, ysz * 2, tex_width/8 - 1, tex_height/8 - 1);
eleni@26 137 glEndList();
eleni@26 138 }
eleni@26 139
eleni@2 140 static void display()
eleni@2 141 {
eleni@14 142 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
eleni@2 143
eleni@2 144 has_depth = false; has_video = false;
eleni@2 145 if(freenect_process_events(kin_ctx) != 0) {
eleni@2 146 fprintf(stderr, "Failed to process events.\n");
eleni@2 147 exit(0);
eleni@2 148 }
eleni@2 149 frame->process();
eleni@2 150
eleni@26 151 glMatrixMode(GL_MODELVIEW);
eleni@26 152 glLoadIdentity();
eleni@26 153
eleni@26 154 // camera
eleni@26 155 glRotatef(phi, 1, 0, 0);
eleni@26 156 glRotatef(theta, 0, 1, 0);
eleni@26 157 glTranslatef(0, 0, -distance);
eleni@26 158
eleni@23 159 glUseProgram(sprog);
eleni@23 160
eleni@23 161 // draw video frame
eleni@25 162
eleni@25 163 if(wireframe)
eleni@25 164 glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
eleni@25 165
eleni@23 166 glMatrixMode(GL_MODELVIEW);
eleni@23 167 glPushMatrix();
eleni@23 168 glTranslatef(0, 0, -QUAD_DIST);
eleni@23 169
eleni@23 170 glActiveTexture(GL_TEXTURE0);
eleni@23 171 glEnable(GL_TEXTURE_2D);
eleni@23 172 glBindTexture(GL_TEXTURE_2D, tex);
eleni@23 173 glActiveTexture(GL_TEXTURE1);
eleni@23 174 glEnable(GL_TEXTURE_2D);
eleni@23 175 glBindTexture(GL_TEXTURE_2D, frame->depth_tex);
eleni@23 176
eleni@17 177 glCallList(drawing);
eleni@23 178
eleni@23 179 glActiveTexture(GL_TEXTURE1);
eleni@23 180 glDisable(GL_TEXTURE_2D);
eleni@23 181 glActiveTexture(GL_TEXTURE0);
eleni@23 182 glDisable(GL_TEXTURE_2D);
eleni@23 183
eleni@23 184 glMatrixMode(GL_MODELVIEW);
eleni@23 185 glPopMatrix();
eleni@23 186
eleni@23 187 glUseProgram(0);
eleni@23 188
eleni@25 189 if(wireframe)
eleni@25 190 glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
eleni@25 191
eleni@17 192 if(show)
eleni@17 193 glCallList(debugging);
eleni@17 194 glFlush();
eleni@12 195
eleni@2 196 glutSwapBuffers();
eleni@2 197 }
eleni@2 198
eleni@2 199 static void reshape(int w, int h)
eleni@2 200 {
eleni@23 201 aspect = (float)w / (float)h;
eleni@2 202 glViewport(0, 0, (GLsizei) w, (GLsizei) h);
eleni@2 203 glMatrixMode(GL_PROJECTION);
eleni@2 204 glLoadIdentity();
eleni@23 205 gluPerspective(FOV, aspect, 1, 1000);
eleni@23 206 init_tessquad();
eleni@2 207 }
eleni@2 208
eleni@2 209 static void keyb(unsigned char key, int x, int y)
eleni@2 210 {
eleni@2 211 switch(key) {
eleni@13 212 case 's':
eleni@25 213 show = show ? false : true;
eleni@25 214 break;
eleni@25 215 case 'w':
eleni@25 216 wireframe = wireframe ? false : true;
eleni@13 217 break;
eleni@26 218 case 'r':
eleni@26 219 theta = 0;
eleni@26 220 phi = 0;
eleni@26 221 distance = 0;
eleni@26 222 break;
eleni@26 223 case 'f':
eleni@26 224 glutFullScreen();
eleni@26 225 break;
eleni@2 226 case 27:
eleni@2 227 exit(0);
eleni@2 228 default:
eleni@2 229 break;
eleni@2 230 }
eleni@2 231 }
eleni@2 232
eleni@26 233 static void mouse(int button, int state, int x, int y)
eleni@26 234 {
eleni@26 235 bn = button;
eleni@26 236 prev_x = x;
eleni@26 237 prev_y = y;
eleni@26 238 }
eleni@26 239
eleni@26 240 static void motion(int x, int y)
eleni@26 241 {
eleni@26 242 switch(bn) {
eleni@26 243 case GLUT_LEFT_BUTTON:
eleni@26 244 theta += x - prev_x;
eleni@26 245 phi += y - prev_y;
eleni@26 246
eleni@26 247 theta = theta < 0 ? 360 + theta : theta;
eleni@26 248 theta = theta > 360 ? theta - 360 : theta;
eleni@26 249
eleni@26 250 phi = phi < -90 ? 90 + phi : phi;
eleni@26 251 phi = phi > 90 ? phi - 90 : phi;
eleni@26 252 break;
eleni@26 253
eleni@26 254 case GLUT_RIGHT_BUTTON:
eleni@26 255 distance *= (y - prev_y) * 0.01 + 1;
eleni@26 256 if(distance < 0.0) {
eleni@26 257 distance = 0.0;
eleni@26 258 }
eleni@26 259 break;
eleni@26 260
eleni@26 261 default:
eleni@26 262 break;
eleni@26 263 }
eleni@26 264
eleni@26 265 prev_x = x;
eleni@26 266 prev_y = y;
eleni@26 267 }
eleni@26 268
eleni@2 269 static void idle()
eleni@2 270 {
eleni@2 271 glutPostRedisplay();
eleni@2 272 }
eleni@2 273
eleni@2 274 static void cleanup()
eleni@2 275 {
eleni@23 276 glDeleteLists(drawing, 1);
eleni@23 277 glDeleteLists(debugging, 1);
eleni@23 278
eleni@2 279 stop_kinect_frames(kin_dev);
eleni@0 280 stop_kinect(kin_ctx, kin_dev);
eleni@0 281 }