# HG changeset patch
# User Eleni Maria Stea <eleni@mutantstargoat.com>
# Date 1382562553 -10800
# Node ID 700127288dc567e815c75e3890ab2180adc6e670
# Parent  1ff5a1a50b41fae201f8dd704e6793bf8b711cfb
quick backup
todo: fix save_ppm
subimage2d

diff -r 1ff5a1a50b41 -r 700127288dc5 Makefile
--- a/Makefile	Wed Oct 16 15:41:08 2013 +0300
+++ b/Makefile	Thu Oct 24 00:09:13 2013 +0300
@@ -14,6 +14,8 @@
 $(bin): $(obj)
 	$(CXX) -o $@ $(obj) $(LDFLAGS)
 
+-include $(dep)
+
 %.d: %.cc
 	@$(CPP) $(CXXFLAGS) $< -MM -MT $(@:.d=.o) >$@
 
diff -r 1ff5a1a50b41 -r 700127288dc5 src/frame.cc
--- a/src/frame.cc	Wed Oct 16 15:41:08 2013 +0300
+++ b/src/frame.cc	Thu Oct 24 00:09:13 2013 +0300
@@ -1,3 +1,4 @@
+#include <GL/gl.h>
 #include <cxcore.h>
 #include <highgui.h> //TODO remove
 
@@ -16,8 +17,33 @@
 
 Frame::Frame()
 {
-    video_buf = cv::Mat(FREENECT_VIDEO_WIDTH, FREENECT_VIDEO_HEIGHT, CV_8UC1, 0);
-    depth_buf = cv::Mat(FREENECT_DEPTH_WIDTH, FREENECT_DEPTH_HEIGHT, CV_16UC1, 0);
+    video_buf = cv::Mat::zeros(KINECT_VIDEO_HEIGHT, KINECT_VIDEO_WIDTH, CV_8UC3);
+    depth_buf = cv::Mat::zeros(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_8UC1);
+
+	tex_setup();
+}
+
+void Frame::tex_setup()
+{
+	glGenTextures(1, &video_tex);
+	glGenTextures(1, &depth_tex);
+
+	glBindTexture(GL_TEXTURE_2D, video_tex);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_BGRA, video_buf.size().width, video_buf.size().height,
+			0, GL_BGRA, GL_UNSIGNED_BYTE, &video_buf);
+
+	glBindTexture(GL_TEXTURE_2D, depth_tex);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_BGRA, depth_buf.size().width, depth_buf.size().height,
+			0, GL_BGRA, GL_UNSIGNED_BYTE, &depth_buf);
+
 }
 
 void Frame::process()
@@ -33,22 +59,77 @@
 		return;
 	}
 
-    uint8_t* video_data = static_cast<uint8_t*>(video);
-    frame->video_buf.data = (uchar*)video_data;
-    //frame->video_buf.convertTo(frame->video_buf, CV_8UC1);
-    cv::imshow("wx", frame->video_buf);
-    cv::waitKey(100);
+	/* freenect video data to cv mat: */
+	unsigned char* src = (unsigned char*)video;
+	unsigned char* dest = frame->video_buf.data;
+
+	for(int i=0; i<KINECT_VIDEO_HEIGHT * KINECT_VIDEO_WIDTH; i++) {
+		dest[0] = src[2];
+		dest[1] = src[1];
+		dest[2] = src[0];
+		dest += 3;
+		src += 3;
+	}
 	has_video = true;
 }
 
 void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)
 {
-	if(!depth) {
+	if(!depth || !frame) {
 		has_depth = false;
 		return;
 	}
 
-    uint16_t* depth_data = static_cast<uint16_t*>(depth);
-    frame->depth_buf.data = (uchar*)depth_data;
+	/* freenect depth data to cv mat: */
+	unsigned char* src = (unsigned char*)depth;
+	unsigned char* dest = frame->depth_buf.data;
+
+	for(int i=0; i<KINECT_DEPTH_HEIGHT * KINECT_DEPTH_WIDTH; i++) {
+		*dest = *src;
+		dest++;
+		src++;
+	}
+
+	save_depth_ppm(depth, 640, 480);
 	has_depth = true;
 }
+
+bool save_video_ppm(void *video, int w, int h)
+{
+	FILE *fp;
+	if(!(fp = fopen("test_video.ppm", "wb"))) {
+		fprintf(stderr, "Failed to open video file for writing.\n");
+		return false;
+	}
+	fprintf(fp, "P6\n640 480\n255\n");
+/*	unsigned char *ptr = (unsigned char*)video;
+	for(int i=0; i<w * h * 3; i++) {
+		fputc(*ptr, fp);
+		ptr++;
+	}
+	fclose(fp);
+	return true;
+	*/
+	return false;
+}
+
+bool save_depth_ppm(void *depth, int w, int h)
+{
+	FILE *fp;
+	if(!(fp = fopen("test_depth.ppm", "wb"))) {
+		fprintf(stderr, "Failed to open depth file for writing.\n");
+		return false;
+	}
+	fprintf(fp, "P6\n640 480\n255\n");
+	unsigned char *ptr = (unsigned char*)depth;
+	unsigned char *foo = (unsigned char*)depth;
+	for(int i=0; i<h; i++) {
+		for(int j=0; j<w; j++) {
+			*foo = *ptr;
+			fputc(foo[i * w + j], fp);
+			ptr++;
+		}
+	}
+	fclose(fp);
+	return true;
+}
diff -r 1ff5a1a50b41 -r 700127288dc5 src/frame.h
--- a/src/frame.h	Wed Oct 16 15:41:08 2013 +0300
+++ b/src/frame.h	Thu Oct 24 00:09:13 2013 +0300
@@ -8,13 +8,23 @@
 	cv::Mat depth_buf;
 	cv::Mat video_buf;
 
+	unsigned int depth_tex;
+	unsigned int video_tex;
+
 	Frame();
     ~Frame(); //TODO delete Mat
 
+	void tex_setup();
 	void process();
+
+	void draw();
+	void draw_video();
+	void draw_depth();
 };
 
 void video_cb(freenect_device *kin_dev, void *video, uint32_t time);
 void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time);
 
+bool save_video_ppm(void *video, int w, int h);
+bool save_depth_ppm(void *depth, int w, int h);
 #endif // FRAME_H_
diff -r 1ff5a1a50b41 -r 700127288dc5 src/kinect.cc
--- a/src/kinect.cc	Wed Oct 16 15:41:08 2013 +0300
+++ b/src/kinect.cc	Thu Oct 24 00:09:13 2013 +0300
@@ -5,6 +5,22 @@
 #include "kinect.h"
 #include "frame.h"
 
+KinectParams::KinectParams()
+{
+		angle = 10;
+
+		video_width = KINECT_VIDEO_WIDTH;
+		video_height = KINECT_VIDEO_HEIGHT;
+		depth_width = KINECT_DEPTH_WIDTH;
+		depth_height = KINECT_DEPTH_HEIGHT;
+
+		led_color = LED_RED;
+		video_format = FREENECT_VIDEO_RGB;
+		depth_format = FREENECT_DEPTH_11BIT;
+		video_res = FREENECT_RESOLUTION_MEDIUM;
+		depth_res = FREENECT_RESOLUTION_MEDIUM;
+}
+
 bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params)
 {
 	if(freenect_init(kin_ctx, NULL) < 0) {
diff -r 1ff5a1a50b41 -r 700127288dc5 src/kinect.h
--- a/src/kinect.h	Wed Oct 16 15:41:08 2013 +0300
+++ b/src/kinect.h	Thu Oct 24 00:09:13 2013 +0300
@@ -4,10 +4,10 @@
 #include <libfreenect.h>
 
 /* from specs */
-#define FREENECT_VIDEO_WIDTH 640
-#define FREENECT_VIDEO_HEIGHT 480
-#define FREENECT_DEPTH_WIDTH 640
-#define FREENECT_DEPTH_HEIGHT 480
+#define KINECT_VIDEO_WIDTH 640
+#define KINECT_VIDEO_HEIGHT 480
+#define KINECT_DEPTH_WIDTH 640
+#define KINECT_DEPTH_HEIGHT 480
 
 struct KinectParams {
 	double angle;
@@ -23,21 +23,7 @@
 	freenect_resolution video_res;
 	freenect_resolution depth_res;
 
-	KinectParams()
-	{
-		angle = 10;
-
-		video_width = FREENECT_VIDEO_WIDTH;
-		video_height = FREENECT_DEPTH_HEIGHT;
-		depth_width = FREENECT_VIDEO_WIDTH;
-		depth_height = FREENECT_DEPTH_HEIGHT;
-
-		led_color = LED_RED;
-		video_format = FREENECT_VIDEO_RGB;
-		depth_format = FREENECT_DEPTH_11BIT;
-		video_res = FREENECT_RESOLUTION_MEDIUM;
-		depth_res = FREENECT_RESOLUTION_MEDIUM;
-	}
+	KinectParams();
 };
 
 bool init_kinect(freenect_context **kin_ctx, freenect_device **kin_dev, KinectParams *kin_params);