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| 1 | +/* |
| 2 | + * This file is part of the OpenKinect Project. http://www.openkinect.org |
| 3 | + * |
| 4 | + * Copyright (c) 2011 individual OpenKinect contributors. See the CONTRIB file |
| 5 | + * for details. |
| 6 | + * |
| 7 | + * This code is licensed to you under the terms of the Apache License, version |
| 8 | + * 2.0, or, at your option, the terms of the GNU General Public License, |
| 9 | + * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses, |
| 10 | + * or the following URLs: |
| 11 | + * http://www.apache.org/licenses/LICENSE-2.0 |
| 12 | + * http://www.gnu.org/licenses/gpl-2.0.txt |
| 13 | + * |
| 14 | + * If you redistribute this file in source form, modified or unmodified, you |
| 15 | + * may: |
| 16 | + * 1) Leave this header intact and distribute it under the same terms, |
| 17 | + * accompanying it with the APACHE20 and GPL20 files, or |
| 18 | + * 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or |
| 19 | + * 3) Delete the GPL v2 clause and accompany it with the APACHE20 file |
| 20 | + * In all cases you must keep the copyright notice intact and include a copy |
| 21 | + * of the CONTRIB file. |
| 22 | + * |
| 23 | + * Binary distributions must follow the binary distribution requirements of |
| 24 | + * either License. |
| 25 | + */ |
| 26 | + |
| 27 | +#include <stdio.h> |
| 28 | +#include <stdlib.h> |
| 29 | + |
| 30 | +#include "libfreenect.h" |
| 31 | +#include "libfreenect_sync.h" |
| 32 | + |
| 33 | +FILE *open_dump(const char *filename) |
| 34 | +{ |
| 35 | + FILE* fp = fopen(filename, "w"); |
| 36 | + if (fp == NULL) { |
| 37 | + fprintf(stderr, "Error: Cannot open file [%s]\n", filename); |
| 38 | + exit(1); |
| 39 | + } |
| 40 | + printf("%s\n", filename); |
| 41 | + return fp; |
| 42 | +} |
| 43 | + |
| 44 | +void dump_depth(FILE *fp, void *data, unsigned int width, unsigned int height) |
| 45 | +{ |
| 46 | + fprintf(fp, "P5 %d %d 65535\n", width, height); |
| 47 | + fwrite(data, width * height * 2, 1, fp); |
| 48 | +} |
| 49 | + |
| 50 | +void dump_rgb(FILE *fp, void *data, unsigned int width, unsigned int height) |
| 51 | +{ |
| 52 | + fprintf(fp, "P6 %d %d 255\n", width, height); |
| 53 | + fwrite(data, width * height * 3, 1, fp); |
| 54 | +} |
| 55 | + |
| 56 | +void no_kinect_quit(void) |
| 57 | +{ |
| 58 | + fprintf(stderr, "Error: Kinect not connected?\n"); |
| 59 | + exit(1); |
| 60 | +} |
| 61 | + |
| 62 | +int main(void) |
| 63 | +{ |
| 64 | + short *depth = 0; |
| 65 | + char *rgb = 0; |
| 66 | + uint32_t ts; |
| 67 | + FILE *fp; |
| 68 | + int ret; |
| 69 | + |
| 70 | + ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB); |
| 71 | + if (ret < 0) |
| 72 | + no_kinect_quit(); |
| 73 | + |
| 74 | + fp = open_dump("registration_test_rgb.ppm"); |
| 75 | + dump_rgb(fp, rgb, 640, 480); |
| 76 | + fclose(fp); |
| 77 | + |
| 78 | + ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_11BIT); |
| 79 | + if (ret < 0) |
| 80 | + no_kinect_quit(); |
| 81 | + |
| 82 | + fp = open_dump("registration_test_depth_raw.pgm"); |
| 83 | + dump_depth(fp, depth, 640, 480); |
| 84 | + fclose(fp); |
| 85 | + |
| 86 | + ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_REGISTERED); |
| 87 | + if (ret < 0) |
| 88 | + no_kinect_quit(); |
| 89 | + |
| 90 | + fp = open_dump("registration_test_depth_registered.pgm"); |
| 91 | + dump_depth(fp, depth, 640, 480); |
| 92 | + fclose(fp); |
| 93 | + |
| 94 | + ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_MM); |
| 95 | + if (ret < 0) |
| 96 | + no_kinect_quit(); |
| 97 | + |
| 98 | + fp = open_dump("registration_test_depth_mm.pgm"); |
| 99 | + dump_depth(fp, depth, 640, 480); |
| 100 | + fclose(fp); |
| 101 | + |
| 102 | + return 0; |
| 103 | +} |
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