invisible: 61d593076c56 src/main.cc

invisible

view src/main.cc @ 26:61d593076c56

foo

author	Eleni Maria Stea <eleni@mutantstargoat.com>
date	Sun, 17 Nov 2013 23:02:40 +0200
parents	96b022f1210e
children

line source

1 #include <GL/glew.h>

2 #include <GL/glut.h>

4 #include <math.h>

5 #include <stdio.h>

7 #include "kinect.h"

8 #include "frame.h"

9 #include "sdr.h"

10 #include "tesquad.h"

11 #include "texture.h"

13 #define FOV 45.0

14 #define QUAD_DIST 20.0 /*depth*/

16 freenect_context *kin_ctx;

17 freenect_device *kin_dev;

18 KinectParams kin_params;

19 Frame *frame;

21 static const char *filename = "data/textures/wp2.jpg";

22 static const char *vsdr_path = "data/shaders/invisible.v.glsl";

23 static const char *fsdr_path = "data/shaders/invisible.f.glsl";

24 static unsigned char tex;

25 static unsigned int sprog;

26 static unsigned int drawing;

27 static unsigned int debugging;

28 static int tex_height;

29 static int tex_width;

30 static float aspect;

31 static bool show;

32 static bool wireframe;

33 static bool fullscreen;

35 static float phi = 0;

36 static float theta = 0;

37 static float distance = 10;

38 static int prev_x = -1, prev_y = -1;

39 static int bn;

41 static void cleanup();

42 static bool init();

43 static void init_tessquad();

45 static void display();

46 static void reshape(int w, int h);

47 static void keyb(unsigned char key, int x, int y);

48 static void mouse(int button, int status, int x, int y);

49 static void motion(int x, int y);

50 static void idle();

52 bool has_video;

53 bool has_depth;

55 int main(int argc, char **argv)

56 {

57 if(!init_kinect(&kin_ctx, &kin_dev, &kin_params))

58 return 1;

60 if(!init_kinect_frames(kin_ctx, kin_dev, &kin_params)) {

61 stop_kinect(kin_ctx, kin_dev);

62 return 1;

63 }

65 glutInitWindowSize(800, 600);

66 glutInit(&argc, argv);

67 glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB);

68 glutCreateWindow("Test Kinect");

70 glewInit();

72 glutDisplayFunc(display);

73 glutReshapeFunc(reshape);

74 glutKeyboardFunc(keyb);

75 glutMouseFunc(mouse);

76 glutMotionFunc(motion);

77 glutIdleFunc(idle);

79 atexit(cleanup);

80 if(!init()) {

81 return 1;

82 }

84 glutMainLoop();

85 }

87 static bool init()

88 {

89 glClearColor(1, 0, 0, 1);

91 frame = new Frame;

92 if(!(tex = load_texture(filename, &tex_width, &tex_height))) {

93 fprintf(stderr, "Failed to load texture: %s\n", filename);

94 return false;

95 }

97 /* shaders setup */

98 if(!(sprog = sdr_getprog(vsdr_path, fsdr_path))) {

99 fprintf(stderr, "Failed to create shader program!\n");

100 return false;

101 }

102

103 glUseProgram(sprog);

104 int dloc = glGetUniformLocation(sprog, "depth_tex");

105 if(dloc != -1)

106 glUniform1i(dloc, 1);

107 int tloc = glGetUniformLocation(sprog, "tex");

108 if(tloc != -1)

109 glUniform1i(tloc, 0);

110 glUseProgram(0);

111

112 /* debugging */

113 debugging = glGenLists(1);

114 glNewList(debugging, GL_COMPILE);

115 glEnable(GL_TEXTURE_2D);

116 glBindTexture(GL_TEXTURE_2D, frame->video_tex);

117 draw_tess_quad(-1, -1, 1, 2, 1, 1, true);

118 glBindTexture(GL_TEXTURE_2D, frame->depth_tex);

119 draw_tess_quad(0, -1, 1, 2, 1, 1, true);

120 glDisable(GL_TEXTURE_2D);

121 glEndList();

122

123 return true;

124 }

125

126 static void init_tessquad()

127 {

128 if(drawing)

129 glDeleteLists(drawing, 1);

130

131 drawing = glGenLists(1);

132 glNewList(drawing, GL_COMPILE);

133 float fov_rads = FOV / 180.0 * M_PI;

134 float ysz = QUAD_DIST * tan(fov_rads / 2.0);

135 float xsz = ysz * aspect;

136 draw_tess_quad(-xsz, -ysz, xsz * 2, ysz * 2, tex_width/8 - 1, tex_height/8 - 1);

137 glEndList();

138 }

139

140 static void display()

141 {

142 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

143

144 has_depth = false; has_video = false;

145 if(freenect_process_events(kin_ctx) != 0) {

146 fprintf(stderr, "Failed to process events.\n");

147 exit(0);

148 }

149 frame->process();

150

151 glMatrixMode(GL_MODELVIEW);

152 glLoadIdentity();

153

154 // camera

155 glRotatef(phi, 1, 0, 0);

156 glRotatef(theta, 0, 1, 0);

157 glTranslatef(0, 0, -distance);

158

159 glUseProgram(sprog);

160

161 // draw video frame

162

163 if(wireframe)

164 glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);

165

166 glMatrixMode(GL_MODELVIEW);

167 glPushMatrix();

168 glTranslatef(0, 0, -QUAD_DIST);

169

170 glActiveTexture(GL_TEXTURE0);

171 glEnable(GL_TEXTURE_2D);

172 glBindTexture(GL_TEXTURE_2D, tex);

173 glActiveTexture(GL_TEXTURE1);

174 glEnable(GL_TEXTURE_2D);

175 glBindTexture(GL_TEXTURE_2D, frame->depth_tex);

176

177 glCallList(drawing);

178

179 glActiveTexture(GL_TEXTURE1);

180 glDisable(GL_TEXTURE_2D);

181 glActiveTexture(GL_TEXTURE0);

182 glDisable(GL_TEXTURE_2D);

183

184 glMatrixMode(GL_MODELVIEW);

185 glPopMatrix();

186

187 glUseProgram(0);

188

189 if(wireframe)

190 glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);

191

192 if(show)

193 glCallList(debugging);

194 glFlush();

195

196 glutSwapBuffers();

197 }

198

199 static void reshape(int w, int h)

200 {

201 aspect = (float)w / (float)h;

202 glViewport(0, 0, (GLsizei) w, (GLsizei) h);

203 glMatrixMode(GL_PROJECTION);

204 glLoadIdentity();

205 gluPerspective(FOV, aspect, 1, 1000);

206 init_tessquad();

207 }

208

209 static void keyb(unsigned char key, int x, int y)

210 {

211 switch(key) {

212 case 's':

213 show = show ? false : true;

214 break;

215 case 'w':

216 wireframe = wireframe ? false : true;

217 break;

218 case 'r':

219 theta = 0;

220 phi = 0;

221 distance = 0;

222 break;

223 case 'f':

224 glutFullScreen();

225 break;

226 case 27:

227 exit(0);

228 default:

229 break;

230 }

231 }

232

233 static void mouse(int button, int state, int x, int y)

234 {

235 bn = button;

236 prev_x = x;

237 prev_y = y;

238 }

239

240 static void motion(int x, int y)

241 {

242 switch(bn) {

243 case GLUT_LEFT_BUTTON:

244 theta += x - prev_x;

245 phi += y - prev_y;

246

247 theta = theta < 0 ? 360 + theta : theta;

248 theta = theta > 360 ? theta - 360 : theta;

249

250 phi = phi < -90 ? 90 + phi : phi;

251 phi = phi > 90 ? phi - 90 : phi;

252 break;

253

254 case GLUT_RIGHT_BUTTON:

255 distance *= (y - prev_y) * 0.01 + 1;

256 if(distance < 0.0) {

257 distance = 0.0;

258 }

259 break;

260

261 default:

262 break;

263 }

264

265 prev_x = x;

266 prev_y = y;

267 }

268

269 static void idle()

270 {

271 glutPostRedisplay();

272 }

273

274 static void cleanup()

275 {

276 glDeleteLists(drawing, 1);

277 glDeleteLists(debugging, 1);

278

279 stop_kinect_frames(kin_dev);

280 stop_kinect(kin_ctx, kin_dev);

281 }