regtest.c

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/*
 * This file is part of the OpenKinect Project. http://www.openkinect.org
 *
 * Copyright (c) 2011 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 <stdio.h>
#include <stdlib.h>

#include "libfreenect.h"
#include "libfreenect_sync.h"

FILE *open_dump(const char *filename)
{
        FILE* fp = fopen(filename, "w");
        if (fp == NULL) {
                fprintf(stderr, "Error: Cannot open file [%s]\n", filename);
                exit(1);
        }
        printf("%s\n", filename);
        return fp;
}

void dump_depth(FILE *fp, void *data, unsigned int width, unsigned int height)
{
        fprintf(fp, "P5 %u %u 65535\n", width, height);
        fwrite(data, width * height * 2, 1, fp);
}

void dump_rgb(FILE *fp, void *data, unsigned int width, unsigned int height)
{
        fprintf(fp, "P6 %u %u 255\n", width, height);
        fwrite(data, width * height * 3, 1, fp);
}

void no_kinect_quit(void)
{
        fprintf(stderr, "Error: Kinect not connected?\n");
        exit(1);
}

int main(void)
{
        short *depth = 0;
        char *rgb = 0;
        uint32_t ts;
        FILE *fp;
        int ret;

        ret = freenect_sync_get_video((void**)&rgb, &ts, 0, FREENECT_VIDEO_RGB);
        if (ret < 0)
                no_kinect_quit();

        fp = open_dump("registration_test_rgb.ppm");
        dump_rgb(fp, rgb, 640, 480);
        fclose(fp);

        ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_11BIT);
        if (ret < 0)
                no_kinect_quit();

        fp = open_dump("registration_test_depth_raw.pgm");
        dump_depth(fp, depth, 640, 480);
        fclose(fp);

        ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_REGISTERED);
        if (ret < 0)
                no_kinect_quit();

        fp = open_dump("registration_test_depth_registered.pgm");
        dump_depth(fp, depth, 640, 480);
        fclose(fp);

        ret = freenect_sync_get_depth((void**)&depth, &ts, 0, FREENECT_DEPTH_MM);
        if (ret < 0)
                no_kinect_quit();

        fp = open_dump("registration_test_depth_mm.pgm");
        dump_depth(fp, depth, 640, 480);
        fclose(fp);

        return 0;
}