Add freenect-camtest example for headless testing - fixes #428

Signed-off-by: Benn Snyder <[email protected]>

Author: piedar

examples/CMakeLists.txt

@@ -3,7 +3,7 @@
 ######################################################################################
 
 # todo: use these throughout
-file(GLOB SRC_STANDARD chunkview.c glview.c hiview.c regview.c)
+file(GLOB SRC_STANDARD chunkview.c glview.c hiview.c regview.c camtest.c)
 file(GLOB SRC_AUDIO    micview.c wavrecord.c)
 file(GLOB SRC_SYNC     glpclview.c regtest.c tiltdemo.c)
 set (SRC_ALL ${SRC_STANDARD} ${SRC_AUDIO} ${SRC_SYNC})
@@ -21,6 +21,7 @@ add_executable(freenect-hiview hiview.c)
 add_executable(freenect-chunkview chunkview.c)
 add_executable(freenect-wavrecord wavrecord.c)
 add_executable(freenect-micview micview.c)
+add_executable(freenect-camtest camtest.c)
 
 if (BUILD_C_SYNC)
   add_executable(freenect-glpclview glpclview.c)
@@ -43,12 +44,12 @@ if(APPLE)
   target_link_libraries(freenect-chunkview freenect)
   target_link_libraries(freenect-wavrecord freenect)
   target_link_libraries(freenect-micview freenect)
+  target_link_libraries(freenect-camtest freenect)
   if (BUILD_C_SYNC)
     target_link_libraries(freenect-glpclview freenect_sync)
     target_link_libraries(freenect-tiltdemo freenect_sync)
     target_link_libraries(freenect-regtest freenect_sync)
   endif()
-# Linux, not so much
 else()
 
   find_package(Threads REQUIRED)
@@ -63,9 +64,9 @@ else()
   target_link_libraries(freenect-chunkview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(freenect-wavrecord freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
   target_link_libraries(freenect-micview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+  target_link_libraries(freenect-camtest freenect)
   if (BUILD_C_SYNC)
-    target_link_libraries(freenect-glpclview freenect_sync ${OPENGL_LIBRARIES} ${GLUT_LIBRARY}
- ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+    target_link_libraries(freenect-glpclview freenect_sync ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
     target_link_libraries(freenect-tiltdemo freenect_sync ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
     target_link_libraries(freenect-regtest freenect_sync ${CMAKE_THREAD_LIBS_INIT})
   endif()

examples/camtest.c

@@ -0,0 +1,137 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+#include <signal.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include "libfreenect.h"
+
+
+void depth_cb(freenect_device* dev, void* data, uint32_t timestamp)
+{
+	printf("Received depth frame at %d\n", timestamp);
+}
+
+void video_cb(freenect_device* dev, void* data, uint32_t timestamp)
+{
+	printf("Received video frame at %d\n", timestamp);
+}
+
+volatile bool running = true;
+void signalHandler(int signal)
+{
+	if (signal == SIGINT
+	 || signal == SIGTERM
+	 || signal == SIGQUIT)
+	{
+		printf(" %s; shutting down\n", sys_siglist[signal]);
+		running = false;
+	}
+}
+
+int main(int argc, char** argv)
+{
+	// Handle signals gracefully.
+	signal(SIGINT, signalHandler);
+	signal(SIGTERM, signalHandler);
+	signal(SIGQUIT, signalHandler);
+
+	// Initialize libfreenect.
+	freenect_context* fn_ctx;
+	int ret = freenect_init(&fn_ctx, NULL);
+	if (ret < 0)
+		return ret;
+
+	// Show debug messages and use camera only.
+	freenect_set_log_level(fn_ctx, FREENECT_LOG_DEBUG);
+	freenect_select_subdevices(fn_ctx, FREENECT_DEVICE_CAMERA);
+
+	// Find out how many devices are connected.
+	int num_devices = ret = freenect_num_devices(fn_ctx);
+	if (ret < 0)
+		return ret;
+	if (num_devices == 0)
+	{
+		printf("No devices found!\n");
+		freenect_shutdown(fn_ctx);
+		return 1;
+	}
+
+	// Open the first device.
+	freenect_device* fn_dev;
+	ret = freenect_open_device(fn_ctx, &fn_dev, 0);
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+
+	// Set depth and video modes.
+	ret = freenect_set_depth_mode(fn_dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_MM));
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+	ret = freenect_set_video_mode(fn_dev, freenect_find_video_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_VIDEO_RGB));
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+
+	// Set frame callbacks.
+	freenect_set_depth_callback(fn_dev, depth_cb);
+	freenect_set_video_callback(fn_dev, video_cb);
+
+	// Start depth and video.
+	ret = freenect_start_depth(fn_dev);
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+	ret = freenect_start_video(fn_dev);
+	if (ret < 0)
+	{
+		freenect_shutdown(fn_ctx);
+		return ret;
+	}
+
+	// Run until interruption or failure.
+	while (running && freenect_process_events(fn_ctx) >= 0)
+	{
+
+	}
+
+	// Stop everything and shutdown.
+	freenect_stop_depth(fn_dev);
+	freenect_stop_video(fn_dev);
+	freenect_close_device(fn_dev);
+	freenect_shutdown(fn_ctx);
+
+	return 0;
+}