--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/example/kinect.cc	Tue Feb 01 14:44:56 2011 +0900
@@ -0,0 +1,154 @@
+#include <math.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "SceneGraphRoot.h"
+#include "MainLoop.h"
+
+#include <XnOpenNI.h>
+#include <XnCppWrapper.h>
+#include <XnVNite.h>
+
+#include "kinect.h"
+
+#define INIT_XML_PATH "./kinect.xml"
+
+void checkRC(const XnStatus &rc, const char *what) {
+	if (rc != XN_STATUS_OK) {
+		printf("%s faild: %s\n", what, xnGetStatusString(rc));
+	}
+}
+
+void checkErrors(XnStatus &rc, xn::EnumerationErrors &errors, const char *what) {
+	if (rc == XN_STATUS_NO_NODE_PRESENT) {
+		XnChar strError[1024];
+		errors.ToString(strError, 1024);
+		printf("%s\n", strError);
+	}
+}
+
+SessionState NIState::gSessionState = NOT_IN_SESSION;
+XnBool NIState::gBDrawDepthMap = true;
+xn::Context NIState::gContext;
+XnVSessionManager *NIState::gPSessionManager;
+XnVPointDrawer *NIState::gPDrawer;
+
+void NIState::XN_CALLBACK_TYPE sessionStarting(const XnPoint3D &ptPosition, void *userCxt) {
+	printf("Session start: (%f, %f, %f)\n", ptPosition.X,  ptPosition.Y,  ptPosition.Z);
+	gSessionState = IN_SESSION;
+}
+void NIState::XN_CALLBACK_TYPE sessionEnding(void *userCxt) {
+	printf("Session end\n");
+	gSessionState = NOT_IN_SESSION;
+}
+void NIState::XN_CALLBACK_TYPE focusProgress(const XnChar *strFocus, const XnPoint3D &ptPosition,
+										   XnFloat fProgress, void *userCxt) {
+	printf("Focus progress: %s @(%f, %f, %f): %f\n", strFocus, ptPosition.X,  ptPosition.Y,  ptPosition.Z, fProgress);
+}
+void NIState::XN_CALLBACK_TYPE noHands(void *UserCxt) {
+	if (gSessionState != NOT_IN_SESSION) {
+		printf("Quick refocus\n");
+		gSessionState = QUICK_REFOCUS;
+	}
+}
+
+// prototype
+static void ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h);
+static void null_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h, SceneGraphPtr tree);
+
+static void
+ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h)
+{
+	NIState::gContext.WaitNoneUpdateAll();
+	NIState::gPSessionManager->Update(&NIState::gContext);
+	float x, y, z;
+	int error = NIState::gPDrawer->getPosition(x, y, z);
+	if (error > 0) {
+		node->xyz[0] = x/640 * screen_w;
+		node->xyz[1] = y/480 * screen_h;
+		node->xyz[2] = z - 500;
+	}
+}
+
+static void
+null_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h,
+			   SceneGraphPtr tree)
+{
+}
+
+MainLoopPtr 
+Kinect::init(Viewer *sgroot, int screen_w, int screen_h)
+{
+    SceneGraphPtr ball;
+
+    srandom(100);
+
+    sgroot->createFromXMLfile("xml_file/Ball.xml");
+
+    ball = sgroot->createSceneGraph("Ball");
+    ball->set_move_collision(ball_move, null_collision);
+
+    ball->xyz[0] = screen_w/2;
+    ball->xyz[1] = screen_h/2;
+    ball->xyz[2] = 550.0f;
+
+    sgroot->setSceneData(ball);
+
+	xn::EnumerationErrors errors;
+	XnStatus rc = NIState::gContext.InitFromXmlFile(INIT_XML_PATH, &errors);
+	checkErrors(rc, errors, "InitFromXMLFile");
+	checkRC(rc, "InitFromXMLFile");
+
+	xn::DepthGenerator gDepthGenerator;
+	rc = NIState::gContext.FindExistingNode(XN_NODE_TYPE_DEPTH, gDepthGenerator);
+	checkRC(rc, "Find depth generator");
+
+	xn::HandsGenerator gHandsGenerator;
+	rc = NIState::gContext.FindExistingNode(XN_NODE_TYPE_HANDS, gHandsGenerator);
+	checkRC(rc, "Find hands generator");
+	NIState::gPSessionManager = new XnVSessionManager();
+	rc = NIState::gPSessionManager->Initialize(&NIState::gContext, "Click,Wave", "RaiseHand");
+	checkRC(rc, "SessionManager::Initialize");
+
+	NIState::gPSessionManager->RegisterSession(NULL, NIState::sessionStarting, NIState::sessionEnding, NIState::focusProgress);
+
+	NIState::gPDrawer = new XnVPointDrawer(20, gDepthGenerator);
+	XnVFlowRouter *gPFlowRouter = new XnVFlowRouter;
+	gPFlowRouter->SetActive(NIState::gPDrawer);
+
+	NIState::gPSessionManager->AddListener(gPFlowRouter);
+
+	NIState::gPDrawer->RegisterNoPoints(NULL, NIState::noHands);
+	NIState::gPDrawer->setDepthMap(NIState::gBDrawDepthMap);
+	
+	rc = NIState::gContext.StartGeneratingAll();
+	checkRC(rc, "StartGenerating");
+	
+    return sgroot;
+}
+
+extern Application *
+application() {
+    return new Kinect();
+}
+
+const char *usr_help_str = "Usage: ./kinect [OPTION]\n";
+
+extern int init(TaskManager *manager, int argc, char *argv[]);
+extern void task_initialize();
+static void TMend(TaskManager *manager);
+
+int
+TMmain(TaskManager *manager, int argc, char *argv[])
+{
+    task_initialize();
+    manager->set_TMend(TMend);
+    return init(manager, argc, argv);
+}
+
+void
+TMend(TaskManager *manager)
+{
+    printf("kinect end\n");
+}
+
+/* end */