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/****************************************************************************
* *
* OpenNI 1.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* OpenNI is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* OpenNI is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with OpenNI. If not, see <http://www.gnu.org/licenses/>. *
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnOpenNI.h>
#include <XnLog.h>
#include <XnCppWrapper.h>
#include <XnFPSCalculator.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define SAMPLE_XML_PATH "/etc/openni/SamplesConfig.xml"
#define SAMPLE_XML_PATH_LOCAL "SamplesConfig.xml"
//---------------------------------------------------------------------------
// Macros
//---------------------------------------------------------------------------
#define CHECK_RC(rc, what) \
if (rc != XN_STATUS_OK) \
{ \
printf("%s failed: %s\n", what, xnGetStatusString(rc)); \
return rc; \
}
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
using namespace xn;
XnBool fileExists(const char *fn)
{
XnBool exists;
xnOSDoesFileExist(fn, &exists);
return exists;
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
Context context;
ScriptNode scriptNode;
EnumerationErrors errors;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
XnFPSData xnFPS;
nRetVal = xnFPSInit(&xnFPS, 180);
CHECK_RC(nRetVal, "FPS Init");
DepthMetaData depthMD;
while (!xnOSWasKeyboardHit())
{
nRetVal = context.WaitOneUpdateAll(depth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnFPSMarkFrame(&xnFPS);
depth.GetMetaData(depthMD);
printf("Frame %d Middle point is: %u. FPS: %f\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2), xnFPSCalc(&xnFPS));
}
depth.Release();
scriptNode.Release();
context.Release();
return 0;
}
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