void SensorDataReader::createFirstConnected()
{
releaseData();
std::string filename = GlobalAppState::get().s_binaryDumpSensorFile;
std::cout << "Start loading binary dump... ";
m_sensorData = new SensorData;
m_sensorData->loadFromFile(filename);
std::cout << "DONE!" << std::endl;
std::cout << *m_sensorData << std::endl;
//std::cout << "depth intrinsics:" << std::endl;
//std::cout << m_sensorData->m_calibrationDepth.m_intrinsic << std::endl;
//std::cout << "color intrinsics:" << std::endl;
//std::cout << m_sensorData->m_calibrationColor.m_intrinsic << std::endl;
RGBDSensor::init(m_sensorData->m_depthWidth, m_sensorData->m_depthHeight, std::max(m_sensorData->m_colorWidth, 1u), std::max(m_sensorData->m_colorHeight, 1u), 1);
initializeDepthIntrinsics(m_sensorData->m_calibrationDepth.m_intrinsic(0, 0), m_sensorData->m_calibrationDepth.m_intrinsic(1, 1), m_sensorData->m_calibrationDepth.m_intrinsic(0, 2), m_sensorData->m_calibrationDepth.m_intrinsic(1, 2));
initializeColorIntrinsics(m_sensorData->m_calibrationColor.m_intrinsic(0, 0), m_sensorData->m_calibrationColor.m_intrinsic(1, 1), m_sensorData->m_calibrationColor.m_intrinsic(0, 2), m_sensorData->m_calibrationColor.m_intrinsic(1, 2));
initializeDepthExtrinsics(m_sensorData->m_calibrationDepth.m_extrinsic);
initializeColorExtrinsics(m_sensorData->m_calibrationColor.m_extrinsic);
m_numFrames = (unsigned int)m_sensorData->m_frames.size();
if (m_numFrames > GlobalBundlingState::get().s_maxNumImages * GlobalBundlingState::get().s_submapSize) {
throw MLIB_EXCEPTION("sens file #frames = " + std::to_string(m_numFrames) + ", please change param file to accommodate");
//std::cout << "WARNING: sens file #frames = " << m_numFrames << ", please change param file to accommodate" << std::endl;
//std::cout << "(press key to continue)" << std::endl;
//getchar();
}
if (m_numFrames > 0 && m_sensorData->m_frames[0].getColorCompressed()) {
m_bHasColorData = true;
}
else {
m_bHasColorData = false;
}
const unsigned int cacheSize = 10;
m_sensorDataCache = new ml::SensorData::RGBDFrameCacheRead(m_sensorData, cacheSize);
}
KinectSensor::KinectSensor()
{
// get resolution as DWORDS, but store as LONGs to avoid casts later
DWORD width = 0;
DWORD height = 0;
NuiImageResolutionToSize(cDepthResolution, width, height);
unsigned int depthWidth = static_cast<unsigned int>(width);
unsigned int depthHeight = static_cast<unsigned int>(height);
NuiImageResolutionToSize(cColorResolution, width, height);
unsigned int colorWidth = static_cast<unsigned int>(width);
unsigned int colorHeight = static_cast<unsigned int>(height);
RGBDSensor::init(depthWidth, depthHeight, colorWidth, colorHeight);
m_colorToDepthDivisor = colorWidth/depthWidth;
m_hNextDepthFrameEvent = INVALID_HANDLE_VALUE;
m_pDepthStreamHandle = INVALID_HANDLE_VALUE;
m_hNextColorFrameEvent = INVALID_HANDLE_VALUE;
m_pColorStreamHandle = INVALID_HANDLE_VALUE;
m_colorCoordinates = new LONG[depthWidth*depthHeight*2];
m_bDepthImageIsUpdated = false;
m_bDepthImageCameraIsUpdated = false;
m_bNormalImageCameraIsUpdated = false;
initializeDepthIntrinsics(2.0f*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240, 2.0f*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240, 320.0f, 240.0f);
initializeDepthExtrinsics(mat4f::identity());
//MLIB_WARNING("TODO initialize color intrs/extr");
initializeColorIntrinsics(2.0f*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240, 2.0f*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240, 320.0f, 240.0f);
initializeColorExtrinsics(mat4f::identity());
}
HRESULT BinaryDumpReader::createFirstConnected()
{
releaseData();
if (GlobalAppState::get().s_binaryDumpSensorFile.size() == 0) throw MLIB_EXCEPTION("need to specific s_binaryDumpSensorFile[0]");
std::string filename = GlobalAppState::get().s_binaryDumpSensorFile[0];
std::cout << "Start loading binary dump" << std::endl;
//BinaryDataStreamZLibFile inputStream(filename, false);
BinaryDataStreamFile inputStream(filename, false);
inputStream >> m_data;
std::cout << "Loading finished" << std::endl;
std::cout << m_data << std::endl;
std::cout << "intrinsics:" << std::endl;
std::cout << m_data.m_CalibrationDepth.m_Intrinsic << std::endl;
RGBDSensor::init(m_data.m_DepthImageWidth, m_data.m_DepthImageHeight, std::max(m_data.m_ColorImageWidth,1u), std::max(m_data.m_ColorImageHeight,1u), 1);
initializeDepthIntrinsics(m_data.m_CalibrationDepth.m_Intrinsic(0,0), m_data.m_CalibrationDepth.m_Intrinsic(1,1), m_data.m_CalibrationDepth.m_Intrinsic(0,2), m_data.m_CalibrationDepth.m_Intrinsic(1,2));
initializeColorIntrinsics(m_data.m_CalibrationColor.m_Intrinsic(0,0), m_data.m_CalibrationColor.m_Intrinsic(1,1), m_data.m_CalibrationColor.m_Intrinsic(0,2), m_data.m_CalibrationColor.m_Intrinsic(1,2));
initializeDepthExtrinsics(m_data.m_CalibrationDepth.m_Extrinsic);
initializeColorExtrinsics(m_data.m_CalibrationColor.m_Extrinsic);
m_NumFrames = m_data.m_DepthNumFrames;
assert(m_data.m_ColorNumFrames == m_data.m_DepthNumFrames || m_data.m_ColorNumFrames == 0);
if (m_data.m_ColorImages.size() > 0) {
m_bHasColorData = true;
} else {
m_bHasColorData = false;
}
return S_OK;
}
