int main(int argc, char* argv[])
{
EnumerationErrors errors;
//rc = context.Init();
rc = context.InitFromXmlFile(strPathToXML,&errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (rc);
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(rc));
return (rc);
}
/* UNCOMMENT TO GET FILE READING
//rc = context.OpenFileRecording(strInputFile);
//CHECK_RC(rc, "Open input file");
//rc = context.FindExistingNode(XN_NODE_TYPE_PLAYER, player);
//CHECK_RC(rc, "Get player node"); */
rc = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(rc, "Find depth generator");
rc = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image);
CHECK_RC(rc, "Find image generator");
depth.GetMetaData(depthMD);
image.GetMetaData(imageMD);
//rc = player.SetRepeat(FALSE);
XN_IS_STATUS_OK(rc);
//rc = player.GetNumFrames(image.GetName(), nNumFrames);
//CHECK_RC(rc, "Get player number of frames");
//printf("%d\n",nNumFrames);
//rc = player.GetNumFrames(depth.GetName(), nNumFrames);
//CHECK_RC(rc, "Get player number of frames");
//printf("%d\n",nNumFrames);
// Hybrid mode isn't supported
if (imageMD.FullXRes() != depthMD.FullXRes() || imageMD.FullYRes() != depthMD.FullYRes())
{
printf ("The device depth and image resolution must be equal!\n");
return 1;
}
// RGB is the only image format supported.
if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("The device image format must be RGB24\n");
return 1;
}
avi = cvCreateVideoWriter(strOutputFile, 0, 30, cvSize(640,480), TRUE);
depthMetersMat = cvCreateMat(480, 640, CV_16UC1);
kinectDepthImage = cvCreateImage( cvSize(640,480),16,1 );
depthMetersMat2 = cvCreateMat(480, 640, CV_16UC1);
kinectDepthImage2 = cvCreateImage( cvSize(640,480),16,1 );
colorArr[0] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
colorArr[1] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
colorArr[2] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
//prepare_for_face_detection();
int b;
int g;
int r;
while ((rc = image.WaitAndUpdateData()) != XN_STATUS_EOF && (rc = depth.WaitAndUpdateData()) != XN_STATUS_EOF) {
if (rc != XN_STATUS_OK) {
printf("Read failed: %s\n", xnGetStatusString(rc));
break;
}
depth.GetMetaData(depthMD);
image.GetMetaData(imageMD);
//XnUInt32 a;
//a = g_imageMD.FPS;
printf("%d\n",imageMD.FrameID());
//a = g_depthMD.DataSize();
//printf("%d\n",a);
pDepth = depthMD.Data();
pImageRow = imageMD.RGB24Data();
for (unsigned int y=0; y<imageMD.YRes(); y++) {
pPixel = pImageRow;
uchar* Bptr = colorArr[0].ptr<uchar>(y);
uchar* Gptr = colorArr[1].ptr<uchar>(y);
uchar* Rptr = colorArr[2].ptr<uchar>(y);
for(unsigned int x=0;x<imageMD.XRes();++x , ++pPixel){
Bptr[x] = pPixel->nBlue;
Gptr[x] = pPixel->nGreen;
Rptr[x] = pPixel->nRed;
depthMetersMat->data.s[y * XN_VGA_X_RES + x ] = 7*pDepth[y * XN_VGA_X_RES + x];
depthMetersMat2->data.s[y * XN_VGA_X_RES + x ] = pDepth[y * XN_VGA_X_RES + x];
}
pImageRow += imageMD.XRes();
}
cv::merge(colorArr,3,colorImage);
iplImage = colorImage;
//cvThreshold(depthMetersMat2, depthMetersMat2, 150, 1500, THRESH_BINARY);
cvGetImage(depthMetersMat,kinectDepthImage);
cvGetImage(depthMetersMat2,kinectDepthImage2);
depthImage = Bw2Image(kinectDepthImage2);
printf("1. Middle pixel is %u millimeters away\n",depthImage[240][320]);
rgbImage = RgbImage(&iplImage);
// we want to see on up to 2000 MM
int THRESH = 2000;
for (unsigned int y=0; y<imageMD.YRes(); y++) {
for(unsigned int x=0;x<imageMD.XRes();++x){
if ( depthImage[y][x] >= THRESH ) {
depthImage[y][x] = 0;
} else {
float tmp = depthImage[y][x];
tmp = tmp / THRESH * (65536)*(-1) + 65536;
depthImage[y][x] = (unsigned int)tmp;
}
}
}
// THE PART ABOUT FILTERING COLOURS IN HSV TO SEE ONLY SPECIFIC ONE
// AFTER ONE FEW MORPHOLOGICAL OPERATIONS TO MAKE IT LOOK BETTER
IplImage* imgHSV = cvCreateImage(cvGetSize(&iplImage), 8, 3);
cvCvtColor(&iplImage, imgHSV, CV_BGR2HSV);
imgThreshed = cvCreateImage(cvGetSize(&iplImage), 8, 1);
//cvInRangeS(imgHSV, cvScalar(100, 60, 80), cvScalar(110, 255, 255), imgThreshed); // BLUE
cvInRangeS(imgHSV, cvScalar(29, 95, 95), cvScalar(35, 255, 255), imgThreshed); // YELLOW
//cvInRangeS(imgHSV, cvScalar(29, 60, 60), cvScalar(35, 255, 255), imgThreshed); // YELLOW DARK
//cvInRangeS(imgHSV, cvScalar(150, 70, 70), cvScalar(160, 255, 255), imgThreshed); // PINK
//cvInRangeS(imgHSV, cvScalar(40, 76, 76), cvScalar(70, 255, 255), imgThreshed); // GREEN
IplConvKernel* kernel = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT, NULL);
//cvDilate(imgThreshed,imgThreshed,kernel);
//cvErode(imgThreshed,imgThreshed,kernel);
Mat mat = Mat(imgThreshed);
blur(Mat(imgThreshed),mat,cvSize(3,3));
imgThreshed = &IplImage(mat);
//cvInRangeS(imgThreshed,cvScalar(100),cvScalar(255),imgThreshed);
//cvErode(imgThreshed,imgThreshed,kernel);
cvDilate(imgThreshed,imgThreshed,kernel);
cvDilate(imgThreshed,imgThreshed,kernel);
cvErode(imgThreshed,imgThreshed,kernel);
cvErode(imgThreshed,imgThreshed,kernel);
mat = Mat(imgThreshed);
blur(Mat(imgThreshed),mat,cvSize(6,6));
imgThreshed = &IplImage(mat);
cvInRangeS(imgThreshed,cvScalar(100),cvScalar(255),imgThreshed);
cvReleaseImage(&imgHSV);
BwImage threshed = BwImage(imgThreshed);
if ( initialize == true ) {
normalizeReferenceFace();
int currentID = 0;
for ( int y = 30; y<480; y++ ) {
for ( int x = 30; x<640; x++ ) {
bool g2g = true;
//printf("%d %d %d\n",ID, y,x);
if ( threshed[y][x]!=0 ) {
for ( int ID2 = 0; ID2<nbOfPoints; ID2++) {
if ( (abs(markers[ID2].y-y)<proximityLimit) && (abs(markers[ID2].x-x)<proximityLimit)) {
g2g = false;
}
}
if (currentID >= nbOfPoints || g2g == false ) {
break;
}
markers[currentID].y=y;
markers[currentID].x=x;
currentID++;
printf("WHITE PIXEL INITIALIZED %d: %d %d\n",currentID, x,y);
}
}
}
if (isDebugConf==true || currentID == nbOfMarkers) {
printf("%d PIXELS INITIALIZED\n", currentID);
initialize = false;
//printf("%d,%d\n", currentID, nbOfPoints);
//return 0;
} else {
printf("WAITING FOR %d PIXELS TO APPEAR, %d SO FAR \n",nbOfMarkers, currentID);
continue;
}
// FIND TOP RIGHT AND CHIN PIXEL
int refPixID = 0;
int chinPixID = 0;
for ( int i = 0; i < nbOfMarkers; i++) {
if ( (markers[i].x + markers[i].y)*(markers[i].x + markers[i].y) < (markers[refPixID].x + markers[refPixID].y)* (markers[refPixID].x + markers[refPixID].y)) {
refPixID = i;
}
if (markers[i].y > markers[chinPixID].y) {
chinPixID = i;
}
}
float width = (markers[1].x-markers[0].x)*2;
float heigth = abs(markers[1].y-markers[0].y);
// WE GOT WIDTH & HEIGTH OF THE FACE, LETS ADJUST POINTS
// SET 0 to REF, SET 1 to CHIN
MyPoint tmp = MyPoint(markers[refPixID].x,markers[refPixID].y);
markers[refPixID].x = markers[0].x;
markers[refPixID].y = markers[0].y;
markers[0].x = tmp.x;
markers[0].y = tmp.y;
tmp = MyPoint(markers[chinPixID].x,markers[chinPixID].y);
markers[chinPixID].x = markers[1].x;
markers[chinPixID].y = markers[1].y;
markers[1].x = tmp.x;
markers[1].y = tmp.y;
// REST OF THE POINTS
for ( int i = 2; i < nbOfPoints; i++) {
int cost = 0;
int lowestCost = 0;
int closestPixID = -1;
for ( int j = 2; j < nbOfMarkers; j++ ) {
cost = (markers[j].x-points[i].x*width)*(markers[j].x-points[i].x*width) + (markers[j].y-points[i].y*heigth)*(markers[j].y-points[i].y*heigth);
if ( cost < lowestCost ) {
lowestCost = cost;
closestPixID = j;
}
if (closestPixID == -1) {
//printf("COS JEST SPORO NIE W PORZADKU, CHECK HERE\n");
break;
}
tmp.x = markers[i].x;
tmp.y = markers[i].y;
markers[i].x=markers[closestPixID].x;
markers[i].x=markers[closestPixID].y;
markers[closestPixID].x = tmp.x;
markers[closestPixID].y = tmp.y;
}
}
}
for ( int currentPixelID = 0; currentPixelID < nbOfMarkers; currentPixelID++) {
if (markers[currentPixelID].x == 0) {
continue;
}
if ( threshed[markers[currentPixelID].y][markers[currentPixelID].x] < 128 ) {
printf("PIXEL %d LOST\n",currentPixelID);
for ( int neighbSize = 2; neighbSize < maxNeighbSize; neighbSize = neighbSize + 2 ) {
int x1 = markers[currentPixelID].x - neighbSize/2;
if ( x1 < intoDepthX(0) ) {
x1 = (int)intoDepthX(0);
}
int y1 = (int)(markers[currentPixelID].y-neighbSize/2);
if ( y1 < intoDepthY(0) ) {
y1 = intoDepthY(0);
}
int y2 = markers[currentPixelID].y+neighbSize/2;
if ( y2 > intoDepthY(480) ) {
y2 = intoDepthY(480);
}
int x2 = markers[currentPixelID].x+neighbSize/2;
if ( x2 > intoDepthX(640) ) {
y2 = intoDepthX(640);
}
bool found = false;
for ( int y = y1; y < y2; y++) {
for ( int x = x1; x < x2; x++) {
bool g2g = true;
if (threshed[y][x] > 128) {
for ( int ID2 = 0; ID2<nbOfMarkers; ID2++) {
if ( currentPixelID == ID2 )
continue;
if ( (abs(markers[ID2].y-y)<proximityLimit) && (abs(markers[ID2].x-x)<proximityLimit)) {
g2g = false;
break;
}
}
if ( g2g ) {
markers[currentPixelID].x = x;
markers[currentPixelID].y = y;
found = true;
printf("Pixel %d, FOUND\n",currentPixelID);
break;
}
}
}
if (found == true ) {
break;
}
}
if (found == true ) {
break;
}
}
}
paintMarkerOnBoth(markers[currentPixelID]);
}
faceImage = cvCreateImage(cvGetSize(&iplImage), 8, 1);
paintFace();
// normal kinect depth
cvShowImage("Depth_Kinect", kinectDepthImage);
// depth within 80 - 200 mm, normalized
cvShowImage("Depth_Kinect_2", kinectDepthImage2);
// rgb with tracking points
cvShowImage("RGB_Kinect", &iplImage);
// colour detector
cvShowImage("RGB_Threshed", imgThreshed);
// attempt to draw a face
cvShowImage("Face Image", faceImage);
cvWaitKey(50); // wait 20 ms
if ( avi == NULL) {
printf ("dupa%d \n",1);
}
//cvWriteFrame (avi, &iplImage);
}
// cvReleaseImageHeader(kinectDepthImage);
cvReleaseVideoWriter(&avi);
// cvReleaseHaarClassifierCascade( &cascade );
context.Shutdown();
return 0;
}
int main(int argc, char* argv[])
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = xnLogInitFromXmlFile(SAMPLE_XML_PATH);
if (nRetVal != XN_STATUS_OK)
{
printf("Log couldn't be opened: %s. Running without log", xnGetStatusString(nRetVal));
}
if (argc < 3)
{
printf("usage: %s <inputFile> <outputFile>\n", argv[0]);
return -1;
}
const char* strInputFile = argv[1];
const char* strOutputFile = argv[2];
Context context;
nRetVal = context.Init();
CHECK_RC(nRetVal, "Init");
// open input file
Player player;
nRetVal = context.OpenFileRecording(strInputFile, player);
CHECK_RC(nRetVal, "Open input file");
// Get depth node from recording
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
// Create mock node based on depth node from recording
MockDepthGenerator mockDepth;
nRetVal = mockDepth.CreateBasedOn(depth);
CHECK_RC(nRetVal, "Create mock depth node");
// create recorder
Recorder recorder;
nRetVal = recorder.Create(context);
CHECK_RC(nRetVal, "Create recorder");
nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, strOutputFile);
CHECK_RC(nRetVal, "Set recorder destination file");
// add depth node to recorder
nRetVal = recorder.AddNodeToRecording(mockDepth);
CHECK_RC(nRetVal, "Add node to recording");
nRetVal = player.SetRepeat(FALSE);
XN_IS_STATUS_OK(nRetVal);
XnUInt32 nNumFrames = 0;
nRetVal = player.GetNumFrames(depth.GetName(), nNumFrames);
CHECK_RC(nRetVal, "Get player number of frames");
DepthMetaData depthMD;
while ((nRetVal = depth.WaitAndUpdateData()) != XN_STATUS_EOF)
{
CHECK_RC(nRetVal, "Read next frame");
// Get depth meta data
depth.GetMetaData(depthMD);
//-----------------------------------------------//
// Transform depth! This is the interesting part //
//-----------------------------------------------//
/* Enable the depth data to be modified. This is done implicitly by depthMD.WritableDepthMap(),
but we're calling it just to be clear. */
nRetVal = depthMD.MakeDataWritable();
CHECK_RC(nRetVal, "Make depth data writable");
transformDepthMD(depthMD);
// Pass the transformed data to the mock depth generator
nRetVal = mockDepth.SetData(depthMD);
CHECK_RC(nRetVal, "Set mock node new data");
/* We need to call recorder.Record explicitly because we're not using WaitAndUpdateAll(). */
nRetVal = recorder.Record();
CHECK_RC(nRetVal, "Record");
printf("Recorded: frame %u out of %u\r", depthMD.FrameID(), nNumFrames);
}
printf("\n");
return 0;
}
int main(int argc, char* argv[])
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = xnLogInitFromXmlFile(SAMPLE_XML_PATH);
if (nRetVal != XN_STATUS_OK)
{
printf("Log couldn't be opened: %s. Running without log", xnGetStatusString(nRetVal));
}
if (argc < 3)
{
printf("usage: %s <inputFile> <outputFile>\n", argv[0]);
return -1;
}
const char* strInputFile = argv[1];
const char* strOutputFile = argv[2];
Context context;
nRetVal = context.Init();
CHECK_RC(nRetVal, "Init");
// open input file
Player player;
nRetVal = context.OpenFileRecording("/media/6B58CB581C0AACF6/7.oni", player);
CHECK_RC(nRetVal, "Open input file");
// Get depth node from recording
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
// Create mock node based on depth node from recording
MockDepthGenerator mockDepth;
nRetVal = mockDepth.CreateBasedOn(depth);
CHECK_RC(nRetVal, "Create mock depth node");
ImageGenerator image;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image);
CHECK_RC(nRetVal, "Find depth generator");
// Create mock node based on depth node from recording
MockImageGenerator mockImage;
nRetVal = mockImage.CreateBasedOn(image);
CHECK_RC(nRetVal, "Create mock depth node");
// create recorder
Recorder recorder;
nRetVal = recorder.Create(context);
CHECK_RC(nRetVal, "Create recorder");
nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, "/home/shaghayegh/up.oni");
CHECK_RC(nRetVal, "Set recorder destination file");
// add depth node to recorder
nRetVal = recorder.AddNodeToRecording(mockDepth);
CHECK_RC(nRetVal, "Add node to recording");
// nRetVal = recorder.AddNodeToRecording(mockImage);
// CHECK_RC(nRetVal, "Add node to recording");
nRetVal = player.SetRepeat(FALSE);
XN_IS_STATUS_OK(nRetVal);
XnUInt32 nNumFrames = 0;
nRetVal = player.GetNumFrames(depth.GetName(), nNumFrames);
CHECK_RC(nRetVal, "Get player number of frames");
DepthMetaData depthMD;
ImageMetaData imageMD;
int frameNum = 0;
String path = "/media/6B58CB581C0AACF6/ebook/Articles/activity_recognition/data1/0512164529/";
while ((nRetVal = depth.WaitAndUpdateData()) != XN_STATUS_EOF)
{
++frameNum;
CHECK_RC(nRetVal, "Read next frame");
// Get depth meta data
depth.GetMetaData(depthMD);
image.GetMetaData(imageMD);
//-----------------------------------------------//
// Transform depth! This is the interesting part //
//-----------------------------------------------//
/* Enable the depth data to be modified. This is done implicitly by depthMD.WritableDepthMap(),
but we're calling it just to be clear. */
nRetVal = depthMD.MakeDataWritable();
CHECK_RC(nRetVal, "Make depth data writable");
// nRetVal = imageMD.MakeDataWritable();
// CHECK_RC(nRetVal, "Make depth data writable");
String ficheroActualRGB;
// ficheroActualRGB = path +"RGB_" + boost::to_string(frameNum) + ".png";
String ficheroActualDepth = path +"Depth_"+ boost::to_string(frameNum) + ".png";
// Mat matFrameImage = imread(ficheroActualRGB, 1);
// resize(matFrameImage, matFrameImage, Size(640, 480), 0, 0, INTER_CUBIC);
Mat matFrameDepth = imread(ficheroActualDepth,1);
resize(matFrameDepth, matFrameDepth, Size(480, 640), 0, 0, INTER_CUBIC);
transformDepthMD(matFrameDepth,depthMD);
// transformImageMD(matFrameImage,imageMD);
// Pass the transformed data to the mock depth generator
nRetVal = mockDepth.SetData(depthMD);
CHECK_RC(nRetVal, "Set mock node new data");
// nRetVal = mockImage.SetData(imageMD);
// CHECK_RC(nRetVal, "Set mock node new data");
/* We need to call recorder.Record explicitly because we're not using WaitAndUpdateAll(). */
nRetVal = recorder.Record();
CHECK_RC(nRetVal, "Record");
printf("Recorded: frame %u out of %u\r", depthMD.FrameID(), nNumFrames);
}
printf("\n");
return 0;
}
