Beispiel #1
0
void readFrame()
{
	if (!g_Depth.IsValid() && !g_Image.IsValid() && !g_IR.IsValid() && !g_Audio.IsValid())	// @@@dded
		return;

	XnStatus rc = XN_STATUS_OK;

	if (g_pPrimary != NULL)
	{
		rc = g_Context.WaitOneUpdateAll(*g_pPrimary);
	}
	else
	{
		rc = g_Context.WaitAnyUpdateAll();
	}

	if (rc != XN_STATUS_OK)
	{
		printf("Error: %s\n", xnGetStatusString(rc));
	}

	if (g_Depth.IsValid())
	{
		g_Depth.GetMetaData(g_DepthMD);
	}

	if (g_Image.IsValid())
	{
		g_Image.GetMetaData(g_ImageMD);
	}

	if (g_IR.IsValid())
	{
		g_IR.GetMetaData(g_irMD);
	}

	if (g_Audio.IsValid())
	{
		g_Audio.GetMetaData(g_AudioMD);
	}
}
Beispiel #2
0
void seekFrame(int nDiff)
{
	XnStatus nRetVal = XN_STATUS_OK;
	if (isPlayerOn())
	{
		const XnChar* strNodeName = NULL;
		if (g_pPrimary != NULL)
		{
			strNodeName = g_pPrimary->GetName();
		}
		else if (g_Depth.IsValid())
		{
			strNodeName = g_Depth.GetName();
		}
		else if (g_Image.IsValid())
		{
			strNodeName = g_Image.GetName();
		}
		else if (g_IR.IsValid())
		{
			strNodeName = g_IR.GetName();
		}
		else if (g_Audio.IsValid())
		{
			strNodeName = g_Audio.GetName();
		}

		nRetVal = g_Player.SeekToFrame(strNodeName, nDiff, XN_PLAYER_SEEK_CUR);
		if (nRetVal != XN_STATUS_OK)
		{
			displayMessage("Failed to seek: %s", xnGetStatusString(nRetVal));
			return;
		}

		XnUInt32 nFrame = 0;
		XnUInt32 nNumFrames = 0;
		nRetVal = g_Player.TellFrame(strNodeName, nFrame);
		if (nRetVal != XN_STATUS_OK)
		{
			displayMessage("Failed to tell frame: %s", xnGetStatusString(nRetVal));
			return;
		}

		nRetVal = g_Player.GetNumFrames(strNodeName, nNumFrames);
		if (nRetVal != XN_STATUS_OK)
		{
			displayMessage("Failed to get number of frames: %s", xnGetStatusString(nRetVal));
			return;
		}

		displayMessage("Seeked %s to frame %u/%u", strNodeName, nFrame, nNumFrames);
	}	
}
Beispiel #3
0
// Gets the colour and depth data from the Kinect sensor.
bool GetColorAndDepthImages(ColorImage& colorImage, DepthImage& depthImage)
{

	XnStatus rc = XN_STATUS_OK;
	
	// Read a new frame, blocking operation
	rc = deviceContext.WaitAnyUpdateAll();
	if (rc != XN_STATUS_OK)
	{
		/*LOGE("Read failed: %s\n", xnGetStatusString(rc));*/
		throw rc;
	}

	
	// Get handles to new data
	static ImageMetaData colorImageMetaData;
	static DepthMetaData depthImageMetaData;
	colorImageGenerator.GetMetaData(colorImageMetaData);
	depthImageGenerator.GetMetaData(depthImageMetaData);

	
	// Validate images
	if (!depthImageGenerator.IsValid() || !colorImageGenerator.IsValid())
	{
		/*LOGE("Error: Color or depth image is invalid.");*/
		throw 1;
	}

	if (colorImageMetaData.Timestamp() <= mostRecentRGB)
		return false;

	// Fetch pointers to data
	const XnRGB24Pixel* pColorImage = colorImageMetaData.RGB24Data(); //g_depth.GetRGB24ImageMap()
	const XnDepthPixel* pDepthImage = depthImageMetaData.Data();// g_depth.GetDepthMap();
	
	
	// Copy data over to arrays
	memcpy(colorImage.data, pColorImage, sizeof(colorImage.data));
	memcpy(depthImage.data, pDepthImage, sizeof(depthImage.data));
	
	colorImage.rows = colorImage.maxRows;
	colorImage.cols = colorImage.maxCols;

	depthImage.rows = depthImage.maxRows;
	depthImage.cols = depthImage.maxCols;

	mostRecentRGB = colorImageMetaData.Timestamp();
	
	return true;
}
Beispiel #4
0
void changeRegistration(int nValue)
{
	if (!g_Depth.IsValid() || !g_Depth.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
	{
		return;
	}

	if (!nValue)
	{
		g_Depth.GetAlternativeViewPointCap().ResetViewPoint();
	}
	else if (g_Image.IsValid())
	{
		g_Depth.GetAlternativeViewPointCap().SetViewPoint(g_Image);
	}
}
Beispiel #5
0
bool getImageCoordinatesForDepthPixel(int x, int y, int& imageX, int& imageY)
{
	if (!g_Depth.IsValid())
		return false; // no depth

	if (!g_Image.IsValid())
		return false; // no image

	if (!g_Depth.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
		return false;

	XnUInt32 altX;
	XnUInt32 altY;
	if (XN_STATUS_OK != g_Depth.GetAlternativeViewPointCap().GetPixelCoordinatesInViewPoint(g_Image, x, y, altX, altY))
		return false;

	imageX = (int)altX;
	imageY = (int)altY;
	return true;
}
Beispiel #6
0
const DepthMetaData* getDepthMetaData()
{
	return g_Depth.IsValid() ? &g_DepthMD : NULL;
}
Beispiel #7
0
DepthGenerator* getDepthGenerator()
{
	return g_Depth.IsValid() ? &g_Depth : NULL;
}