eleni@2: #include <GL/glew.h>
eleni@2: #include <GL/glut.h>
eleni@12: 
eleni@23: #include <math.h>
eleni@0: #include <stdio.h>
eleni@0: 
eleni@0: #include "kinect.h"
eleni@2: #include "frame.h"
eleni@21: #include "sdr.h"
eleni@12: #include "tesquad.h"
eleni@14: #include "texture.h"
eleni@0: 
eleni@23: #define FOV 45.0
eleni@23: #define QUAD_DIST 20.0 /*depth*/
eleni@17: 
eleni@0: freenect_context *kin_ctx;
eleni@0: freenect_device *kin_dev;
eleni@0: KinectParams kin_params;
eleni@2: Frame *frame;
eleni@0: 
eleni@14: static const char *filename = "data/textures/wallpaper.jpg";
eleni@23: static const char *vsdr_path = "data/shaders/invisible.v.glsl";
eleni@23: static const char *fsdr_path = "data/shaders/invisible.f.glsl";
eleni@23: static unsigned int sprog;
eleni@17: static unsigned int drawing;
eleni@17: static unsigned int debugging;
eleni@14: static unsigned char tex;
eleni@23: static int tex_height;
eleni@23: static int tex_width;
eleni@23: static float aspect;
eleni@13: static bool show;
eleni@13: 
eleni@2: static void cleanup();
eleni@23: static bool init();
eleni@23: static void init_tessquad();
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@7: 	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@14: 	atexit(cleanup);
eleni@23: 	if(!init()) {
eleni@23: 		return 1;
eleni@23: 	}
eleni@2: 
eleni@2: 	glutMainLoop();
eleni@2: }
eleni@2: 
eleni@2: static void display()
eleni@2: {
eleni@14: 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
eleni@2: 
eleni@2: 	glMatrixMode(GL_MODELVIEW);
eleni@2: 	glLoadIdentity();
eleni@2: 
eleni@2: 	has_depth = false; has_video = false;
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@23: 	glUseProgram(sprog);
eleni@23: 
eleni@23: 	// draw video frame
eleni@23: 	glMatrixMode(GL_MODELVIEW);
eleni@23: 	glPushMatrix();
eleni@23: 	glTranslatef(0, 0, -QUAD_DIST);
eleni@23: 
eleni@23: 	glActiveTexture(GL_TEXTURE0);
eleni@23: 	glEnable(GL_TEXTURE_2D);
eleni@23: 	glBindTexture(GL_TEXTURE_2D, tex);
eleni@23: 	glActiveTexture(GL_TEXTURE1);
eleni@23: 	glEnable(GL_TEXTURE_2D);
eleni@23: 	glBindTexture(GL_TEXTURE_2D, frame->depth_tex);
eleni@23: 
eleni@17: 	glCallList(drawing);
eleni@23: 
eleni@23: 	glActiveTexture(GL_TEXTURE1);
eleni@23: 	glDisable(GL_TEXTURE_2D);
eleni@23: 	glActiveTexture(GL_TEXTURE0);
eleni@23: 	glDisable(GL_TEXTURE_2D);
eleni@23: 
eleni@23: 	glMatrixMode(GL_MODELVIEW);
eleni@23: 	glPopMatrix();
eleni@23: 
eleni@23: 	glUseProgram(0);
eleni@23: 
eleni@17: 	if(show)
eleni@17: 		glCallList(debugging);
eleni@17: 	glFlush();
eleni@12: 
eleni@2: 	glutSwapBuffers();
eleni@2: }
eleni@2: 
eleni@2: static void reshape(int w, int h)
eleni@2: {
eleni@23: 	aspect = (float)w / (float)h;
eleni@2: 	glViewport(0, 0, (GLsizei) w, (GLsizei) h);
eleni@2: 	glMatrixMode(GL_PROJECTION);
eleni@2: 	glLoadIdentity();
eleni@23: 	gluPerspective(FOV, aspect, 1, 1000);
eleni@23: 	init_tessquad();
eleni@2: }
eleni@2: 
eleni@2: static void keyb(unsigned char key, int x, int y)
eleni@2: {
eleni@2: 	switch(key) {
eleni@13: 	case 's':
eleni@13: 		if(show)
eleni@13: 			show = false;
eleni@13: 		else
eleni@13: 			show = true;
eleni@13: 		break;
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@23: 	glDeleteLists(drawing, 1);
eleni@23: 	glDeleteLists(debugging, 1);
eleni@23: 
eleni@2: 	stop_kinect_frames(kin_dev);
eleni@0: 	stop_kinect(kin_ctx, kin_dev);
eleni@0: }
eleni@17: 
eleni@23: static bool init()
eleni@17: {
eleni@23: 	glClearColor(1, 0, 0, 1);
eleni@17: 
eleni@17:     frame = new Frame;
eleni@23: 	if(!(tex = load_texture(filename, &tex_width, &tex_height))) {
eleni@17: 		fprintf(stderr, "Failed to load texture: %s\n", filename);
eleni@23: 		return false;
eleni@17: 	}
eleni@17: 
eleni@21: 	/* shaders setup */
eleni@23: 	if(!(sprog = sdr_getprog(vsdr_path, fsdr_path))) {
eleni@23: 		fprintf(stderr, "Failed to create shader program!\n");
eleni@23: 		return false;
eleni@23: 	}
eleni@21: 
eleni@23: 	glUseProgram(sprog);
eleni@23: 	int dloc = glGetUniformLocation(sprog, "depth_tex");
eleni@23: 	if(dloc != -1)
eleni@23: 		glUniform1i(dloc, 1);
eleni@23: 	int tloc = glGetUniformLocation(sprog, "tex");
eleni@23: 	if(tloc != -1)
eleni@23: 		glUniform1i(tloc, 0);
eleni@23: 	glUseProgram(0);
eleni@17: 
eleni@18: 	/* debugging */
eleni@17: 	debugging = glGenLists(1);
eleni@17: 	glNewList(debugging, GL_COMPILE);
eleni@17: 	glEnable(GL_TEXTURE_2D);
eleni@17: 	glBindTexture(GL_TEXTURE_2D, frame->video_tex);
eleni@17: 	draw_tess_quad(-1, -1, 1, 2, 1, 1, true);
eleni@17: 	glBindTexture(GL_TEXTURE_2D, frame->depth_tex);
eleni@17: 	draw_tess_quad(0, -1, 1, 2, 1, 1, true);
eleni@17: 	glDisable(GL_TEXTURE_2D);
eleni@17: 	glEndList();
eleni@23: 
eleni@23: 	return true;
eleni@17: }
eleni@23: 
eleni@23: static void init_tessquad()
eleni@23: {
eleni@23: 	if(drawing)
eleni@23: 		glDeleteLists(drawing, 1);
eleni@23: 
eleni@23: 	drawing = glGenLists(1);
eleni@23: 	glNewList(drawing, GL_COMPILE);
eleni@23: 	float fov_rads = FOV / 180.0 * M_PI;
eleni@23: 	float ysz = QUAD_DIST * tan(fov_rads / 2.0);
eleni@23: 	float xsz = ysz * aspect;
eleni@23: 	draw_tess_quad(-xsz, -ysz, xsz * 2, ysz * 2, tex_width/8 - 1, tex_height/8 - 1);
eleni@23: 	glEndList();
eleni@23: }