SimpleViewer

最新推荐文章于 2024-11-16 19:03:50 发布

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main:

1. const char* deviceURI = openni::ANY_DEVICE;

2. rc = openni::OpenNI::initialize();

3.   rc = device.open(deviceURI);
4.   rc = depth.create(device, openni::SENSOR_DEPTH);
5.   rc = color.create(device, openni::SENSOR_COLOR);
6.   rc = sampleViewer.init(argc, argv);
7.       sampleViewer.run();

####################### 第 6 部分 ################################

openni::Status SampleViewer::init(int argc, char **argv)
{
   openni::VideoMode depthVideoMode;
   openni::VideoMode colorVideoMode;

   if (m_depthStream.isValid() && m_colorStream.isValid())
   {
       depthVideoMode = m_depthStream.getVideoMode();
       colorVideoMode = m_colorStream.getVideoMode();

       int depthWidth = depthVideoMode.getResolutionX();
       int depthHeight = depthVideoMode.getResolutionY();
       int colorWidth = colorVideoMode.getResolutionX();
       int colorHeight = colorVideoMode.getResolutionY();

       if (depthWidth == colorWidth &&
           depthHeight == colorHeight)
       {
           m_width = depthWidth;
           m_height = depthHeight;
       }
       else
       {
           printf("Error - expect color and depth to be in same resolution: D: %dx%d, C: %dx%d\n",
               depthWidth, depthHeight,
               colorWidth, colorHeight);
           return openni::STATUS_ERROR;
       }
   }
   else if (m_depthStream.isValid())
   {
       depthVideoMode = m_depthStream.getVideoMode();
       m_width = depthVideoMode.getResolutionX();
       m_height = depthVideoMode.getResolutionY();
   }
   else if (m_colorStream.isValid())
   {
       colorVideoMode = m_colorStream.getVideoMode();
       m_width = colorVideoMode.getResolutionX();
       m_height = colorVideoMode.getResolutionY();
   }
   else
   {
       printf("Error - expects at least one of the streams to be valid...\n");
       return openni::STATUS_ERROR;
   }

   m_streams = new openni::VideoStream*[2];
   m_streams[0] = &m_depthStream;
   m_streams[1] = &m_colorStream;

   // Texture map init
   m_nTexMapX = MIN_CHUNKS_SIZE(m_width, TEXTURE_SIZE);
   m_nTexMapY = MIN_CHUNKS_SIZE(m_height, TEXTURE_SIZE);
   m_pTexMap = new openni::RGB888Pixel[m_nTexMapX * m_nTexMapY];

   return initOpenGL(argc, argv);

}

openni::Status SampleViewer::initOpenGL(int argc, char **argv)
{
   glutInit(&argc, argv);
   glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
   glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
   glutCreateWindow (m_strSampleName);
   //    glutFullScreen();
   glutSetCursor(GLUT_CURSOR_NONE);

   initOpenGLHooks();

   glDisable(GL_DEPTH_TEST);
   glEnable(GL_TEXTURE_2D);

   return openni::STATUS_OK;

}

######################### 第7部分 ##############################
/*
* Enters the freeglut processing loop.
* Stays until the "ExecState" changes to "GLUT_EXEC_STATE_STOP".
*/
void FGAPIENTRY glutMainLoop( void )
{
    int action;

    FREEGLUT_EXIT_IF_NOT_INITIALISED ( "glutMainLoop" );

    if (!fgStructure.Windows.First)
        fgError(" ERROR: glutMainLoop called with no windows created.");

   fgPlatformMainLoopPreliminaryWork ();

    fgState.ExecState = GLUT_EXEC_STATE_RUNNING ;
    while( fgState.ExecState == GLUT_EXEC_STATE_RUNNING )
    {
        SFG_Window *window;

        glutMainLoopEvent( );
        /*
         * Step through the list of windows, seeing if there are any
         * that are not menus
         */
        for( window = ( SFG_Window * )fgStructure.Windows.First;
             window;
             window = ( SFG_Window * )window->Node.Next )
            if ( ! ( window->IsMenu ) )
                break;

        if( ! window )
            fgState.ExecState = GLUT_EXEC_STATE_STOP;
        else
        {
            if( fgState.IdleCallback )
            {
                if( fgStructure.CurrentWindow &&
                    fgStructure.CurrentWindow->IsMenu )
                    /* fail safe */
                    fgSetWindow( window );
                fgState.IdleCallback( );
            }
            else
                fghSleepForEvents( );
        }
    }

    /*
     * When this loop terminates, destroy the display, state and structure
     * of a freeglut session, so that another glutInit() call can happen
     *
     * Save the "ActionOnWindowClose" because "fgDeinitialize" resets it.
     */
    action = fgState.ActionOnWindowClose;
    fgDeinitialize( );
    if( action == GLUT_ACTION_EXIT )
        exit( 0 );
}