eleni@2: #include <GL/glew.h>
eleni@2: #include <GL/glut.h>
eleni@0: #include <stdio.h>
eleni@0: 
eleni@2: #include <pthread.h>
eleni@2: 
eleni@0: #include "kinect.h"
eleni@2: #include "frame.h"
eleni@0: 
eleni@0: freenect_context *kin_ctx;
eleni@0: freenect_device *kin_dev;
eleni@0: KinectParams kin_params;
eleni@2: Frame *frame;
eleni@0: 
eleni@2: static void cleanup();
eleni@2: 
eleni@2: static void display();
eleni@2: static void reshape(int w, int h);
eleni@2: static void keyb(unsigned char key, int x, int y);
eleni@2: static void idle();
eleni@2: 
eleni@2: bool has_video;
eleni@2: bool has_depth;
eleni@2: 
eleni@2: int main(int argc, char **argv)
eleni@0: {
eleni@0: 	if(!init_kinect(&kin_ctx, &kin_dev, &kin_params))
eleni@0: 		return 1;
eleni@0: 
eleni@2: 	if(!init_kinect_frames(&kin_ctx, &kin_dev, &kin_params)) {
eleni@2: 		stop_kinect(kin_ctx, kin_dev);
eleni@2: 		return 1;
eleni@2: 	}
eleni@2: 
eleni@2: 	glutInitWindowSize(800, 600);
eleni@2: 	glutInit(&argc, argv);
eleni@2: 	glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB);
eleni@2: 	glutCreateWindow("Test Kinect");
eleni@2: 
eleni@2: 	glewInit();
eleni@2: 
eleni@2: 	glutDisplayFunc(display);
eleni@2: 	glutReshapeFunc(reshape);
eleni@2: 	glutKeyboardFunc(keyb);
eleni@2: 	glutIdleFunc(idle);
eleni@2: 
eleni@2: 	glClearColor(1, 1, 1, 1);
eleni@4:     frame = new Frame();
eleni@2: 
eleni@2: 	atexit(cleanup);
eleni@2: 	glutMainLoop();
eleni@2: }
eleni@2: 
eleni@2: static void display()
eleni@2: {
eleni@2: 	glClear(GL_COLOR_BUFFER_BIT);
eleni@2: 
eleni@2: 	glMatrixMode(GL_MODELVIEW);
eleni@2: 	glLoadIdentity();
eleni@2: 
eleni@2: 	glClearColor(1, 0, 0, 1);
eleni@2: 
eleni@2: 	has_depth = false; has_video = false;
eleni@2: 
eleni@2: 	if(freenect_process_events(kin_ctx) != 0) {
eleni@2: 		fprintf(stderr, "Failed to process events.\n");
eleni@2: 		exit(0);
eleni@2: 	}
eleni@2: 	frame->process();
eleni@2: 
eleni@2: 	glutSwapBuffers();
eleni@2: }
eleni@2: 
eleni@2: static void reshape(int w, int h)
eleni@2: {
eleni@2: 	glViewport(0, 0, (GLsizei) w, (GLsizei) h);
eleni@2: 	glMatrixMode(GL_PROJECTION);
eleni@2: 	glLoadIdentity();
eleni@2: 	gluPerspective(45, (float)w / (float)h, 1, 1000);
eleni@2: }
eleni@2: 
eleni@2: static void keyb(unsigned char key, int x, int y)
eleni@2: {
eleni@2: 	switch(key) {
eleni@2: 	case 27:
eleni@2: 		exit(0);
eleni@2: 	default:
eleni@2: 		break;
eleni@2: 	}
eleni@2: }
eleni@2: 
eleni@2: static void idle()
eleni@2: {
eleni@2: 	glutPostRedisplay();
eleni@2: }
eleni@2: 
eleni@2: static void cleanup()
eleni@2: {
eleni@2: 	stop_kinect_frames(kin_dev);
eleni@0: 	stop_kinect(kin_ctx, kin_dev);
eleni@0: }