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Added a new demo! This is a 3D point cloud viewer in under 200 lines of C. It's modeled after glview.c, but it uses the c_sync api and removes a lot of clutter. Consider it a supplement rather than a replacement to glview.
Signed-off-by: Andrew <[email protected]>
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‎examples/CMakeLists.txt‎

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add_executable(glview glview.c)
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add_executable(cppview cppview.cpp)
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add_executable(glpclview glpclview.c)
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# We need to include libfreenect_sync.h for glpclview
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include_directories (../wrappers/c_sync/)
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# Mac just has everything already
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if(APPLE)
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set(CMAKE_EXE_LINKER_FLAGS "-framework OpenGL -framework GLUT")
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target_link_libraries(glview freenect)
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target_link_libraries(cppview freenect)
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target_link_libraries(glpclview freenect_sync)
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# Linux, not so much
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else()
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find_package(Threads REQUIRED)
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include_directories(${OPENGL_INCLUDE_DIRS} ${GLUT_INCLUDE_DIRS} ${USB_INCLUDE_DIRS})
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target_link_libraries(glview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} m)
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target_link_libraries(cppview freenect ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} m)
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target_link_libraries(glpclview freenect_sync ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} m)
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endif()
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install (TARGETS glview
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install (TARGETS glview glpclview
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DESTINATION bin)
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install (TARGETS cppview

‎examples/glpclview.c‎

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/*
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* This file is part of the OpenKinect Project. http://www.openkinect.org
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*
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* Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
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* for details.
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*
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* This code is licensed to you under the terms of the Apache License, version
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* 2.0, or, at your option, the terms of the GNU General Public License,
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* version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
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* or the following URLs:
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* http://www.apache.org/licenses/LICENSE-2.0
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* http://www.gnu.org/licenses/gpl-2.0.txt
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*
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* If you redistribute this file in source form, modified or unmodified, you
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* may:
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* 1) Leave this header intact and distribute it under the same terms,
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* accompanying it with the APACHE20 and GPL20 files, or
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* 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
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* 3) Delete the GPL v2 clause and accompany it with the APACHE20 file
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* In all cases you must keep the copyright notice intact and include a copy
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* of the CONTRIB file.
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*
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* Binary distributions must follow the binary distribution requirements of
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* either License.
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*/
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#include "libfreenect.h"
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#include "libfreenect_sync.h"
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#include <stdio.h>
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#if defined(__APPLE__)
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#include <GLUT/glut.h>
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#else
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#include <GL/glut.h>
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#include <GL/gl.h>
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#include <GL/glu.h>
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#endif
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#include <math.h>
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int window;
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GLuint gl_rgb_tex;
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int mx=-1,my=-1; // Prevous mouse coordinates
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int rotangles[2] = {0}; // Panning angles
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float zoom = 1; // zoom factor
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int color = 1; // Use the RGB texture or just draw it as color
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// Do the projection from u,v,depth to X,Y,Z directly in an opengl matrix
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void LoadVertexMatrix()
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{
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float f = 590.0f;
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float a = -0.0030711f;
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float b = 3.3309495f;
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float cx = 320.0f;
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float cy = 240.0f;
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float mat[4][4] = {
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{1/f, 0, 0, 0},
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{0, -1/f, 0, 0},
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{0, 0, 0, a},
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{-cx/f,cy/f, -1, b}};
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glMultMatrixf(mat);
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}
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void mouseMoved(int x, int y)
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{
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if (mx>=0 && my>=0) {
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rotangles[0] += y-my;
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rotangles[1] += x-mx;
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}
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mx = x;
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my = y;
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}
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void mousePress(int button, int state, int x, int y)
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{
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if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN) {
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mx = x;
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my = y;
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}
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if (button == GLUT_LEFT_BUTTON && state == GLUT_UP) {
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mx = -1;
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my = -1;
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}
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}
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void DrawGLScene()
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{
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short *depth = 0;
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char *rgb = 0;
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int ts;
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freenect_sync_get_depth(&depth, &ts);
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freenect_sync_get_rgb(&rgb, &ts);
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static unsigned int indices[480][640];
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static short xyz[480][640][3];
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static float uv[480][640][2];
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int i,j;
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for (i = 0; i < 480; i++) {
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for (j = 0; j < 640; j++) {
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xyz[i][j][0] = j;
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xyz[i][j][1] = i;
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xyz[i][j][2] = depth[i*640+j];
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uv[i][j][0] = j/480.0f;
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uv[i][j][1] = i/640.0f;
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indices[i][j] = i*640+j;
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}
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}
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glLoadIdentity();
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glPushMatrix();
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glScalef(zoom,zoom,1);
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glTranslatef(0,0,-3.5);
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glRotatef(rotangles[0], 1,0,0);
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glRotatef(rotangles[1], 0,1,0);
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glTranslatef(0,0,1.5);
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LoadVertexMatrix();
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glPointSize(1);
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glEnableClientState(GL_VERTEX_ARRAY);
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glVertexPointer(3, GL_SHORT, 0, xyz);
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glEnableClientState(GL_TEXTURE_COORD_ARRAY);
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glTexCoordPointer(2, GL_FLOAT, 0, uv);
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if (color) glEnable(GL_TEXTURE_2D);
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glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
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glTexImage2D(GL_TEXTURE_2D, 0, 3, 640, 480, 0, GL_RGB, GL_UNSIGNED_BYTE, rgb);
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glDrawElements(GL_POINTS, 640*480, GL_UNSIGNED_INT, indices);
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glPopMatrix();
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glDisable(GL_TEXTURE_2D);
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free(rgb);
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free(depth);
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glutSwapBuffers();
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}
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void keyPressed(unsigned char key, int x, int y)
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{
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if (key == 27) {
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glutDestroyWindow(window);
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exit(0);
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}
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if (key == 'w') zoom *= 1.1f;
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if (key == 's') zoom /= 1.1f;
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if (key == 'c') color = !color;
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}
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void ReSizeGLScene(int Width, int Height)
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{
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glViewport(0,0,Width,Height);
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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gluPerspective(60, 4/3., 0.3, 200);
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glMatrixMode(GL_MODELVIEW);
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}
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void InitGL(int Width, int Height)
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{
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glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
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glEnable(GL_DEPTH_TEST);
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glGenTextures(1, &gl_rgb_tex);
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glBindTexture(GL_TEXTURE_2D, gl_rgb_tex);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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ReSizeGLScene(Width, Height);
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}
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int main(int argc, char **argv)
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{
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glutInit(&argc, argv);
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glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH);
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glutInitWindowSize(640, 480);
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glutInitWindowPosition(0, 0);
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window = glutCreateWindow("LibFreenect");
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glutDisplayFunc(&DrawGLScene);
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glutIdleFunc(&DrawGLScene);
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glutReshapeFunc(&ReSizeGLScene);
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glutKeyboardFunc(&keyPressed);
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glutMotionFunc(&mouseMoved);
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glutMouseFunc(&mousePress);
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InitGL(640, 480);
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glutMainLoop();
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return NULL;
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}
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