XnStatus openDeviceFromXmlWithChoice(const char* csXmlFile, EnumerationErrors& errors)
{
XnStatus nRetVal = XN_STATUS_OK;
xnLogInitFromXmlFile(csXmlFile);
nRetVal = g_Context.Init();
XN_IS_STATUS_OK(nRetVal);
// find devices
NodeInfoList list;
nRetVal = g_Context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, list, &errors);
XN_IS_STATUS_OK(nRetVal);
printf("The following devices were found:\n");
int i = 1;
for (NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it, ++i)
{
NodeInfo deviceNodeInfo = *it;
Device deviceNode;
deviceNodeInfo.GetInstance(deviceNode);
XnBool bExists = deviceNode.IsValid();
if (!bExists)
{
g_Context.CreateProductionTree(deviceNodeInfo, deviceNode);
// this might fail.
}
if (deviceNode.IsValid() && deviceNode.IsCapabilitySupported(XN_CAPABILITY_DEVICE_IDENTIFICATION))
{
const XnUInt32 nStringBufferSize = 200;
XnChar strDeviceName[nStringBufferSize];
XnChar strSerialNumber[nStringBufferSize];
XnUInt32 nLength = nStringBufferSize;
deviceNode.GetIdentificationCap().GetDeviceName(strDeviceName, nLength);
nLength = nStringBufferSize;
deviceNode.GetIdentificationCap().GetSerialNumber(strSerialNumber, nLength);
printf("[%d] %s (%s)\n", i, strDeviceName, strSerialNumber);
}
else
{
printf("[%d] %s\n", i, deviceNodeInfo.GetCreationInfo());
}
// release the device if we created it
if (!bExists && deviceNode.IsValid())
{
deviceNode.Release();
}
}
printf("\n");
printf("Choose device to open (1): ");
int chosen = 1;
scanf("%d", &chosen);
// create it
NodeInfoList::Iterator it = list.Begin();
for (i = 1; i < chosen; ++i)
{
it++;
}
NodeInfo deviceNode = *it;
nRetVal = g_Context.CreateProductionTree(deviceNode, g_Device);
XN_IS_STATUS_OK(nRetVal);
// now run the rest of the XML
nRetVal = g_Context.RunXmlScriptFromFile(csXmlFile, g_scriptNode, &errors);
XN_IS_STATUS_OK(nRetVal);
openCommon();
return (XN_STATUS_OK);
}
void enumerateDevices(int initType)
{
NodeInfoList device_node_info_list;
NodeInfoList depth_node_info_list;
NodeInfoList image_node_info_list;
Context context;
XnStatus status;
if (initType == 0)
status = context.InitFromXmlFile("D:\\initXml.xml");
else
status = context.Init();
// TODO: check errors
printf("devices:\n");
status = context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, device_node_info_list);
if (status != XN_STATUS_OK && device_node_info_list.Begin() != device_node_info_list.End())
{
printf("Enumerating devices failed. Reason: %s", xnGetStatusString(status));
}
for (NodeInfoList::Iterator nodeIt = device_node_info_list.Begin(); nodeIt != device_node_info_list.End(); ++nodeIt)
{
const xn::NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
printf("device: vendor %s name %s, instance %s\n", description.strVendor, description.strName, info.GetInstanceName());
unsigned short vendor_id;
unsigned short product_id;
unsigned char bus;
unsigned char address;
sscanf(info.GetCreationInfo(), "%hx/%hx@%hhu/%hhu", &vendor_id, &product_id, &bus, &address);
string connection_string = info.GetCreationInfo();
transform (connection_string.begin (), connection_string.end (), connection_string.begin (), tolower);
printf("vendor_id %i product_id %i bus %i address %i connection %s \n", vendor_id, product_id, bus, address, connection_string.c_str());
}
//enumerate depth nodes
printf("depth nodes:\n");
status = context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL, depth_node_info_list, NULL);
if (status != XN_STATUS_OK)
{
printf("enumerating depth generators failed. Reason: %s\n", xnGetStatusString(status));
}
else
{
for (NodeInfoList::Iterator nodeIt = depth_node_info_list.Begin(); nodeIt != depth_node_info_list.End(); ++ nodeIt)
{
const NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
printf("depth: vendor %s name %s, instance %s\n", description.strVendor, description.strName, info.GetInstanceName());
unsigned short vendor_id;
unsigned short product_id;
unsigned char bus;
unsigned char address;
sscanf(info.GetCreationInfo(), "%hx/%hx@%hhu/%hhu", &vendor_id, &product_id, &bus, &address);
string connection_string = info.GetCreationInfo();
transform (connection_string.begin (), connection_string.end (), connection_string.begin (), tolower);
printf("vendor_id %i product_id %i bus %i address %i connection %s \n", vendor_id, product_id, bus, address, connection_string.c_str());
}
}
// enumerate image nodes
printf("image nodes:\n");
status = context.EnumerateProductionTrees(XN_NODE_TYPE_IMAGE, NULL, image_node_info_list, NULL);
if (status != XN_STATUS_OK)
{
printf("enumerating image generators failed. Reason: %s\n", xnGetStatusString (status));
} else
{
for (NodeInfoList::Iterator nodeIt = image_node_info_list.Begin(); nodeIt != image_node_info_list.End(); ++nodeIt)
{
const NodeInfo& info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
printf("image: vendor %s name %s, instance %s\n", description.strVendor, description.strName, info.GetInstanceName());
}
}
}
void OneKinect(int type)
{
NodeInfoList image_node_info_list;
NodeInfoList depth_node_info_list;
XnStatus status;
Context context;
int c;
IplImage* kinectRGBImage;
bool bShouldrun = true;
context.Init();
// status = context.InitFromXmlFile("D:\\initXml.xml");
Query query;
switch (type) {
case 0:
status = query.SetVendor("PrimeSense");
status = context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, &query, depth_node_info_list, NULL);
//status = context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL, depth_node_info_list, NULL);
if (status != XN_STATUS_OK)
printf("Enumerating devices failed. Reason: %s", xnGetStatusString(status));
else
{
NodeInfoList::Iterator nodeIt = depth_node_info_list.Begin();
// NodeInfo& selectedNode = *depth_node_info_list.Begin();
// nodeIt++;
NodeInfo& selectedNode = *nodeIt;
printf("instance %s\n", selectedNode.GetInstanceName());
DepthGenerator depth;
status = selectedNode.GetInstance(depth);
status = context.CreateProductionTree(selectedNode);
status = depth.Create(context);
status = context.StartGeneratingAll();
cvNamedWindow("Depth", 1);
// Create an OpenCv matrix
CvMat* depthMetersMat = cvCreateMat(480, 640, CV_16UC1);
IplImage *kinectDepthImage;
while (bShouldrun)
{
status = context.WaitOneUpdateAll(depth);
if (status)
{
printf("Error: %s", xnGetStatusString(status));
continue;
}
//Take current depth map
const XnDepthPixel* pDepthMap = depth.GetDepthMap();
for (int y=0; y<XN_VGA_Y_RES; y++)
{
for (int x=0; x<XN_VGA_X_RES; x++)
{
depthMetersMat->data.s[y*XN_VGA_X_RES+x]=10*pDepthMap[y*XN_VGA_X_RES+x];
}
}
kinectDepthImage = cvCreateImage(cvSize(640,480),8,1);
cvGetImage(depthMetersMat, kinectDepthImage);
cvShowImage("Depth", kinectDepthImage);
cvReleaseImageHeader(&kinectDepthImage);
c = cvWaitKey(1);
if (c == 27)
bShouldrun = false;
}
}
break;
case 1:
status = context.EnumerateProductionTrees(XN_NODE_TYPE_IMAGE, NULL, image_node_info_list, NULL);
if (status != XN_STATUS_OK)
printf("Enumerating devices failed. Reason: %s", xnGetStatusString(status));
else
{
NodeInfo& selectedNode = *image_node_info_list.Begin();
xn::ImageGenerator rgb;
status = selectedNode.GetInstance(rgb);
status = context.CreateProductionTree(selectedNode);
status = rgb.Create(context);
status = context.StartGeneratingAll();
cvNamedWindow("RGB", 1);
while (bShouldrun)
{
kinectRGBImage = cvCreateImage(cvSize(640,480),8,3);
// Wait for new data to be available
status = context.WaitOneUpdateAll(rgb);
if (status != XN_STATUS_OK)
{
printf("Failed updating data: %s\n");
xnGetStatusString(status);
continue;
}
// Take current rgb map
const XnRGB24Pixel* pImageMap = rgb.GetRGB24ImageMap();
for (int y=0; y<XN_VGA_Y_RES; y++)
{
uchar *ptr = (uchar*)kinectRGBImage->imageData + y*kinectRGBImage->widthStep;
for (int x=0; x<XN_VGA_X_RES; x++)
{
ptr[3*x] = pImageMap->nBlue;
ptr[3*x + 1] = pImageMap->nGreen;
ptr[3*x + 2] = pImageMap->nRed;
pImageMap++;
}
}
cvShowImage("RGB", kinectRGBImage);
cvReleaseImageHeader(&kinectRGBImage);
c = cvWaitKey(1);
if (c == 27)
bShouldrun = false;
}
}
break;
default:
cout << "Incorrect number" << endl;
} // end switch
// Clean-up
context.Shutdown();
}
int recorder::record()
{
Recording = true;
qDebug("//////////////////////////////////////");
qDebug("/// Welcome to the Kinect Recorder!///");
qDebug("/// Press any key to STOP recording!//\n");
bool record_rgb=true;
//Metadata
QFileInfo MetadataFile;
MetadataFile.setFile(QDir::currentPath() + "/Metadata.txt");
ofstream Metadata_file;
if(MetadataFile.exists()){
qDebug("Metadata File exists ");
Metadata_file.open(MetadataFile.absoluteFilePath().toLocal8Bit(), ofstream::out | ofstream::app);
Metadata_file.close();
}
else{
qDebug("Metadata File doesn't exist ");
Metadata_file.open(MetadataFile.absoluteFilePath().toLocal8Bit(), ofstream::out | ofstream::app);
Metadata_file.close();
}
//Status variable
XnStatus nRetVal = XN_STATUS_OK;
//Context
Context context;
nRetVal = context.Init();
//Vectors of Generators
DepthGenerator DepthsGen[MAXGENERATORS];
ImageGenerator ImagesGen[MAXGENERATORS];
Recorder Recorders[MAXGENERATORS];
//Node list.
NodeInfoList node_info_list;
NodeInfoList depth_nodes;
NodeInfoList img_nodes;
int nKinects = 0;
int nDepths = 0;
int nImg = 0;
int Frames=0;
//Enumeramos los nodos
nRetVal = context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL,node_info_list);
//Comprobamos la enumeración
if(nRetVal != XN_STATUS_OK && node_info_list.Begin() != node_info_list.End()){
qDebug ("Enumerating devices failed. Reason: %s", xnGetStatusString(nRetVal));
return -1;
}
else if(node_info_list.Begin () == node_info_list.End()){
qDebug("No devices found.\n");
return -1;
}
for (xn::NodeInfoList::Iterator nodeIt = node_info_list.Begin(); nodeIt != node_info_list.End(); ++nodeIt){
NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
qDebug("Info: vendor %s name %s , instance %s",description.strVendor,description.strName, info.GetInstanceName());
}
//Count number of devices available for recording
for (NodeInfoList::Iterator nodeIt = node_info_list.Begin(); nodeIt != node_info_list.End(); ++nodeIt){
nKinects++;
}
qDebug("Number of Devices %d", nKinects);
//Enumerate depth Devices
nRetVal = context.EnumerateProductionTrees(XN_NODE_TYPE_DEPTH, NULL, depth_nodes, NULL);
if (nRetVal != XN_STATUS_OK && depth_nodes.Begin () != depth_nodes.End ()) {
qDebug ("Enumerating devices failed. Reason: %s", xnGetStatusString (nRetVal));
return -1;
}
else if (depth_nodes.Begin () == depth_nodes.End ()) {
qDebug("No devices found.\n");
return -1;
}
//Enumerate RGB Devices
if(record_rgb){
//IMAGE devices
nRetVal = context.EnumerateProductionTrees(XN_NODE_TYPE_IMAGE, NULL, img_nodes, NULL);
if (nRetVal != XN_STATUS_OK && img_nodes.Begin () != img_nodes.End ()) {
qDebug ("Enumerating devices failed. Reason: %s", xnGetStatusString (nRetVal));
return -1;
}
else if (img_nodes.Begin () == img_nodes.End ()) {
qDebug("No devices found.\n");
return -1;
}
}
//Show depth devices
int i = 0;
for (xn::NodeInfoList::Iterator nodeIt = depth_nodes.Begin(); nodeIt != depth_nodes.End(); ++nodeIt, i++) {
NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
qDebug("Depth: vendor %s name %s, instance %s",description.strVendor,description.strName, info.GetInstanceName());
nDepths++;
}
//Show RGB Devices
if(record_rgb){
//RGB devices
i = 0;
for (xn::NodeInfoList::Iterator nodeIt = img_nodes.Begin(); nodeIt != img_nodes.End(); ++nodeIt, i++) {
NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
qDebug("RGB: vendor %s name %s, instance %s",description.strVendor,description.strName, info.GetInstanceName());
nImg++;
}
}
//Init everything
i=0;
char date[20];
strcpy(date,QDateTime::currentDateTime().toString("yyyy-MM-dd_hh-mm-ss").toLocal8Bit());
qDebug() << date;
//Init depth devices & 'recorders'
DepthGenerator depthaux[MAXGENERATORS];
Recorder recorderaux[MAXGENERATORS];
for (xn::NodeInfoList::Iterator nodeIt = depth_nodes.Begin(); nodeIt != depth_nodes.End(); ++nodeIt, i++) {
//DepthGenerator depthaux;
//Recorder recorderaux;
XNFiles AuxFile;
NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
nRetVal = context.CreateProductionTree(info,depthaux[i]);
nRetVal = info.GetInstance(depthaux[i]);
qDebug("Instance Name %s",info.GetInstanceName());
XnFieldOfView field;
nRetVal= depthaux[i].GetFieldOfView(field);
DepthsGen[i]=depthaux[i];
qDebug("Depth Generator %i", i);
Recorders[i]=recorderaux[i];
nRetVal = Recorders[i].Create(context);
XnChar recording_fileXnaux[300];
strcpy(recording_fileXnaux,QDir::currentPath().toLocal8Bit());
if(record_rgb)
sprintf(recording_fileXnaux,"%s%s%s%d%s%s.oni",recording_fileXnaux,"/","DC-",i,"_",date);
else
sprintf(recording_fileXnaux,"%s%s%s%d%s%s.oni",recording_fileXnaux,"/","D-",i,"_",date);
strcpy(AuxFile.name,recording_fileXnaux);
qDebug(AuxFile.name);
nRetVal = Recorders[i].SetDestination(XN_RECORD_MEDIUM_FILE,recording_fileXnaux);
nRetVal = Recorders[i].AddNodeToRecording(DepthsGen[i], XN_CODEC_16Z_EMB_TABLES);
}
//Init RGB devices
if(record_rgb){
i=0;
ImageGenerator imgaux[MAXGENERATORS];
for (xn::NodeInfoList::Iterator nodeIt = img_nodes.Begin(); nodeIt != img_nodes.End(); ++nodeIt, i++) {
//ImageGenerator imgaux;
NodeInfo info = *nodeIt;
const XnProductionNodeDescription& description = info.GetDescription();
nRetVal = context.CreateProductionTree(info,imgaux[i]);
nRetVal = info.GetInstance(imgaux[i]);
qDebug("Instance Name %s",info.GetInstanceName());
ImagesGen[i]=imgaux[i];
qDebug("Image Generator %i", i);
nRetVal = Recorders[i].AddNodeToRecording(ImagesGen[i],XN_CODEC_JPEG);
}
}
XnMapOutputMode Mode;
Mode.nFPS = FPS;
Mode.nXRes = RES_X;
Mode.nYRes = RES_Y;
if(record_rgb){
if(nDepths==nImg ){
for(int j=0;j<nDepths;j++){
DepthsGen[j].SetMapOutputMode(Mode);
CHECK_RC(nRetVal, "SetMap output for depth generator");
ImagesGen[j].SetMapOutputMode(Mode);
CHECK_RC(nRetVal, "SetMap output for image generator");
if(DepthsGen[j].IsCapabilitySupported("AlternativeViewPoint")){
nRetVal = DepthsGen[j].GetAlternativeViewPointCap().SetViewPoint(ImagesGen[j]);
CHECK_RC(nRetVal, "SetViewPoint for depth generator");
qDebug("Alinged Depth and Image %d",j);
}
}
}
}
// Context Generating all
nRetVal = context.StartGeneratingAll();
qDebug("Starting to record!");
//For the first time
qDebug() << MetadataFile.absoluteFilePath();
write_metadata(MetadataFile.absoluteFilePath(),date,START);
while(Recording){
nRetVal = context.WaitAndUpdateAll();
QCoreApplication::processEvents();
Frames++;
//if (Frames > 300) Recording = 0;
//qDebug() << "Recording:" << Recording << "\tFrames:" <<Frames;
}
//last file
char date_last[20];
strcpy(date_last,QDateTime::currentDateTime().toString("yyyy-MM-dd_hh-mm-ss").toLocal8Bit());
write_metadata(MetadataFile.absoluteFilePath(),date_last,STOP);
//Liberamos
context.Release();
qDebug("Finished");
return 0;
}
