inline void getBGRImageFromMetaData( const xn::ImageMetaData& imageMetaData, cv::Mat& bgrImage )
{
if( imageMetaData.PixelFormat() != XN_PIXEL_FORMAT_RGB24 )
CV_Error( CV_StsUnsupportedFormat, "Unsupported format of grabbed image\n" );
cv::Mat rgbImage( imageMetaData.YRes(), imageMetaData.XRes(), CV_8UC3 );
const XnRGB24Pixel* pRgbImage = imageMetaData.RGB24Data();
// CV_Assert( 3*sizeof(uchar) == sizeof(XnRGB24Pixel) );
memcpy( rgbImage.data, pRgbImage, rgbImage.total()*sizeof(XnRGB24Pixel) );
cv::cvtColor( rgbImage, bgrImage, CV_RGB2BGR );
}
IplImage* CvCapture_OpenNI::retrieveGrayImage()
{
if( !imageMetaData.Data() )
return 0;
CV_Assert( imageMetaData.BytesPerPixel() == 3 ); // RGB
cv::Mat rgbImage;
getBGRImageFromMetaData( imageMetaData, rgbImage );
cv::cvtColor( rgbImage, outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].mat, CV_BGR2GRAY );
return outputMaps[CV_CAP_OPENNI_GRAY_IMAGE].getIplImagePtr();
}
virtual bool grab( xn::DepthMetaData& depthMetaData,
xn::ImageMetaData& imageMetaData )
{
while(1)
{
if( !isDepthFilled )
isDepthFilled = popDepthMetaData(depth);
if( !isImageFilled )
isImageFilled = popImageMetaData(image);
if( !isDepthFilled || !isImageFilled )
break;
double timeDiff = 1e-3 * std::abs(static_cast<double>(depth.Timestamp()) - static_cast<double>(image.Timestamp()));
if( timeDiff <= approxSyncGrabber.maxTimeDuration )
{
depthMetaData.InitFrom(depth);
imageMetaData.InitFrom(image);
isDepthFilled = isImageFilled = false;
return true;
}
else
{
if( depth.Timestamp() < image.Timestamp() )
isDepthFilled = false;
else
isImageFilled = false;
}
}
return false;
}
virtual inline bool popImageMetaData( xn::ImageMetaData& imageMetaData )
{
cv::Ptr<xn::ImageMetaData> imagePtr;
bool isPop = imageQueue.try_pop(imagePtr);
if( isPop )
imageMetaData.CopyFrom(*imagePtr);
return isPop;
}
virtual inline bool popImageMetaData( xn::ImageMetaData& imageMetaData )
{
if( imageQueue.empty() )
return false;
imageMetaData.CopyFrom(*imageQueue.front());
imageQueue.pop();
return true;
}
IplImage* CvCapture_OpenNI::retrieveBGRImage()
{
if( !imageMetaData.Data() )
return 0;
getBGRImageFromMetaData( imageMetaData, outputMaps[CV_CAP_OPENNI_BGR_IMAGE].mat );
return outputMaps[CV_CAP_OPENNI_BGR_IMAGE].getIplImagePtr();
}
/**
* return RGB Image
*/
std::string getRGBImage(bool br) {
{
ReadLock r_lock(myLock);
stringstream emitter;
emitter << "{RGBMap," << g_imageMD.XRes() << ","<< g_imageMD.YRes() << "}[";
for(int i = 0; i < g_imageMD.XRes(); i++) {
if(i>0 && br == true) emitter << "<BR>";
for(int j = 0; j < g_imageMD.YRes(); j++, pPixelPoint++) {
emitter << (int)(pPixelPoint->nRed) << ",";
emitter << (int)(pPixelPoint->nGreen) << ",";
emitter << (int)(pPixelPoint->nBlue) << ";";
}
}
emitter << "]";
return emitter.str();
}
}
void SimKinect::DrawRGBMap(const xn::ImageMetaData& imd) {
static bool bInitialized = false;
static int width;
static int height;
static int width_step;
static XnRGB24Pixel* g_pTexMap;
if(!bInitialized) {
width = video_size_width;
height = video_size_height;
g_pTexMap = (XnRGB24Pixel*)malloc(width * height * sizeof(XnRGB24Pixel));
width_step = width*3;
bInitialized = true;
}
const XnUInt8* pImage = imd.Data();
const XnRGB24Pixel* pImageRow = imd.RGB24Data();
XnRGB24Pixel* pTexRow = g_pTexMap + imd.YOffset() * width;
for (XnUInt y = 0; y < imd.YRes(); ++y)
{
const XnRGB24Pixel* pImage = pImageRow;
XnRGB24Pixel* pTex = pTexRow + imd.XOffset();
for (XnUInt x = 0; x < imd.XRes(); ++x, ++pImage, ++pTex)
{
*pTex = *pImage;
}
pImageRow += imd.XRes();
pTexRow += width;
}
//Draw rgb image
XnRGB24Pixel* pix_ptr = g_pTexMap;
for ( int i=0 ; i<height ; i++ ) {
unsigned char* row_pointer = color_frame+i*width_step;
for ( int j=0 ; j<width_step; j+=3,pix_ptr++ ) {
row_pointer[j] = pix_ptr->nBlue;
row_pointer[j+1]=pix_ptr->nGreen;
row_pointer[j+2]=pix_ptr->nRed;
}
}
//imshow("COLOR",color_img);
}
bool DataCapture::captureOne()
{
XnStatus rc = context_.WaitAndUpdateAll(); // want this to be WaitOneUpdateAll(RGB image)
if( rc != XN_STATUS_OK )
{
std::cout << "WaitAndUpdateAll: " << xnGetStatusString(rc) << std::endl;
return false;
}
// grab image
imageGen_.GetMetaData(imageMd_);
const XnRGB24Pixel* rgbData = imageMd_.RGB24Data();
for( unsigned int i = 0; i < 640 * 480; ++i )
{
pRgbData_[3*i] = rgbData->nRed;
pRgbData_[3*i + 1] = rgbData->nGreen;
pRgbData_[3*i + 2] = rgbData->nBlue;
++rgbData;
}
// grab depth image
depthGen_.GetMetaData(depthMd_);
const uint16_t* pDepthDataU16 = depthMd_.Data();
for( int i = 0; i < 640 * 480; ++i)
{
uint16_t d = pDepthDataU16[i];
if( d != 0 )
{
pDepthData_[i] = (d * 255)/2048;
}
else
{
pDepthData_[i] = 0; // should be NAN
}
}
return true;
}
int main ( int argc, char ** argv )
{
//
// Initializing Calibration Related
//
// ARTagHelper artagHelper ( colorImgWidth, colorImgHeight, ARTAG_CONFIG_FILE, ARTAG_POS_FILE );
ARTagHelper artagHelper ( colorImgWidth, colorImgHeight, ARTAG_CONFIG_A3_FILE, ARTAG_POS_A3_FILE );
ExtrCalibrator extrCalibrator ( 6, KINECT_INTR_FILE, KINECT_DIST_FILE );
// unsigned char * kinectImgBuf = new unsigned char[colorImgWidth * colorImgHeight * 3];
//
// Initializing OpenNI Settings
//
int ctlWndKey = -1;
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
//
// Initialize Context Object
//
nRetVal = g_Context.InitFromXmlFile ( CONFIG_XML_PATH, g_ScriptNode, &errors );
if ( nRetVal == XN_STATUS_NO_NODE_PRESENT )
{
XnChar strError[1024];
errors.ToString ( strError, 1024 );
printf ( "XN_STATUS_NO_NODE_PRESENT:\n%s\n", strError );
system ( "pause" );
return ( nRetVal );
}
else if ( nRetVal != XN_STATUS_OK )
{
printf ( "Open FAILED:\n%s\n", xnGetStatusString ( nRetVal ) );
system ( "pause" );
return ( nRetVal );
}
//
// Handle the Depth Generator Node.
//
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_DEPTH, g_DepthGen );
if ( nRetVal != XN_STATUS_OK )
{
printf ( "No Depth Node Exists! Please Check your XML.\n" );
return ( nRetVal );
}
//
// Handle the Image Generator node
//
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_IMAGE, g_ImageGen );
if ( nRetVal != XN_STATUS_OK )
{
printf ( "No Image Node Exists! Please Check your XML.\n" );
return ( nRetVal );
}
// g_DepthGen.GetAlternativeViewPointCap().SetViewPoint( g_ImageGen );
g_DepthGen.GetMetaData ( g_DepthMD );
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );
//
// Create OpenCV Showing Window and Related Data Structures
//
cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::Mat depthImgMat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
cv::Mat depthImgShow ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC3 );
cv::Mat colorImgMat ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3 );
#define ARTAG_DEBUG
#ifdef ARTAG_DEBUG
cv::setMouseCallback ( IMAGE_WIN_NAME, ClickOnMouse, 0 );
#endif
bool flipColor = true;
//
// Start to Loop
//
while ( ctlWndKey != ESC_KEY_VALUE )
{
//
// Try to Get New Frame From Kinect
//
nRetVal = g_Context.WaitAnyUpdateAll ();
g_DepthGen.GetMetaData ( g_DepthMD );
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() && g_DepthMD.FullYRes() == g_DepthMD.YRes() );
assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() && g_ImageMD.FullYRes() == g_ImageMD.YRes() );
GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), colorImgMat );
#ifdef SHOW_DEPTH_WINDOW
GlobalUtility::CopyDepthRawBufToCvMat16u ( (const XnDepthPixel *)(g_DepthMD.Data()), depthImgMat );
// GlobalUtility::ConvertDepthCvMat16uToYellowCvMat ( depthImgMat, depthImgShow );
GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( depthImgMat, depthImgShow );
cv::imshow ( DEPTH_WIN_NAME, depthImgShow );
#endif
ctlWndKey = cvWaitKey ( 15 );
if ( ctlWndKey == 'f' || ctlWndKey == 'F' )
{
artagHelper.Clear();
artagHelper.FindMarkerCorners ( (unsigned char *)(g_ImageMD.Data()) );
artagHelper.PrintMarkerCornersPos2dInCam ();
extrCalibrator.ExtrCalib ( artagHelper );
std::cout << "\nKinect Extr Matrix:" << std::endl;
extrCalibrator.PrintMatrix ( extrCalibrator.GetMatrix ( ExtrCalibrator::EXTR ) );
std::cout << "Reprojection ERROR = "
<< extrCalibrator.ComputeReprojectionErr ( artagHelper ) << std::endl
// << extrCalibrator.ComputeReprojectionErr ( artagHelper.m_MarkerCornerPosCam2d, artagHelper.m_MarkerCornerPos3d, 24 ) << std::endl
<< "Valid Marker Number = " << artagHelper.GetValidMarkerNumber() << std::endl
<< std::endl;
extrCalibrator.SaveMatrix ( ExtrCalibrator::EXTR, KINECT_EXTR_FILE );
}
if ( ctlWndKey == 's' || ctlWndKey == 'S' )
{
flipColor = !flipColor;
}
if ( flipColor ) {
cv::cvtColor ( colorImgMat, colorImgMat, CV_RGB2BGR );
}
artagHelper.DrawMarkersInCameraImage ( colorImgMat );
cv::imshow ( IMAGE_WIN_NAME, colorImgMat );
}
g_Context.Release ();
system ( "pause" );
exit ( EXIT_SUCCESS );
}
// Save new data from OpenNI
void MovieMng::Update(const xn::DepthMetaData& dmd, const xn::ImageMetaData& imd)
{
// バッファ空き確認
if((m_nBufferSizeFile == 0) || (m_nBufferSizeSend == 0))
{
printf("バッファ空きなし！！ ForFile:%d ForSend:%d\n", m_nBufferSizeFile, m_nBufferSizeSend);
return;
}
SingleFrame* pFrames = m_pFrames + m_nNextWrite;
if(m_nNextWrite == 0)
{
m_nImageHeight = imd.FullYRes();
m_nImageWidth = imd.FullXRes();
m_nDepthHeight = dmd.FullYRes();
m_nDepthWidth = dmd.FullXRes();
printf("Image Height:%d Width:%d Depth Height:%d Width:%d\n",
m_nImageHeight, m_nImageWidth, m_nDepthHeight, m_nDepthWidth);
}
#ifdef LOG_WRITE_ENABLE
fprintf(mmng_fp, "[%s] update. m_nNextWrite:%d\n", __FUNCTION__, m_nNextWrite);
#endif
if (m_bDepth)
{
pFrames->depthFrame.CopyFrom(dmd);
}
if (m_bImage)
{
pFrames->imageFrame.CopyFrom(imd);
}
// バッファ管理情報書き換え
if (m_bFileWrite)
{
EnterCriticalSection(&csFileWriter);
m_nDataCountFile++;
m_nBufferSizeFile--;
}
if (m_bSendDepth)
{
EnterCriticalSection(&csDepthSender);
m_nDataCountSend++;
m_nBufferSizeSend--;
}
m_nNextWrite++;
if (m_nBufferSize == m_nNextWrite)
{
m_nNextWrite = 0;
}
if (m_bFileWrite)
{
LeaveCriticalSection(&csFileWriter);
}
if (m_bSendDepth)
{
LeaveCriticalSection(&csDepthSender);
}
}
void start_kinect() {
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
UsersCount = 0;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
//return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
//return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
//return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
CHECK_RC(nRetVal,"No depth");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
CHECK_RC(nRetVal,"No image");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
//return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
//return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation anyjoint;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
int numTracked=0;
int userToPrint=-1;
WriteLock w_lock(myLock);
pDepthMap = g_depth.GetDepthMap();
pPixelMap = g_image.GetRGB24ImageMap();
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
pPixelPoint = g_imageMD.RGB24Data();
for(XnUInt16 i=0; i<nUsers; i++) {
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
{
/* Writing all new movements into structure*/
/* Head */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_HEAD,anyjoint);
Skeletons[i]["Head"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Head"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Head"]["Z"] = anyjoint.position.position.Z;
/* Neck */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_NECK,anyjoint);
Skeletons[i]["Neck"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Neck"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Neck"]["Z"] = anyjoint.position.position.Z;
/* Left Shoulder */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_SHOULDER,anyjoint);
Skeletons[i]["LeftShoulder"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftShoulder"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftShoulder"]["Z"] = anyjoint.position.position.Z;
/* Right Shoulder */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_SHOULDER,anyjoint);
Skeletons[i]["RightShoulder"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightShoulder"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightShoulder"]["Z"] = anyjoint.position.position.Z;
/* Torso */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,anyjoint);
Skeletons[i]["Torso"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Torso"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Torso"]["Z"] = anyjoint.position.position.Z;
/* Left Elbow */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_ELBOW,anyjoint);
Skeletons[i]["LeftElbow"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftElbow"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftElbow"]["Z"] = anyjoint.position.position.Z;
/* Right Elbow */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_ELBOW,anyjoint);
Skeletons[i]["RightElbow"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightElbow"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightElbow"]["Z"] = anyjoint.position.position.Z;
/* Left Hip */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HIP,anyjoint);
Skeletons[i]["LeftHip"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftHip"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftHip"]["Z"] = anyjoint.position.position.Z;
/* Right Hip */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HIP,anyjoint);
Skeletons[i]["RightHip"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightHip"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightHip"]["Z"] = anyjoint.position.position.Z;
/* Left Hand */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HAND,anyjoint);
Skeletons[i]["LeftHand"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftHand"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftHand"]["Z"] = anyjoint.position.position.Z;
/* Right Hand */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HAND,anyjoint);
Skeletons[i]["RightHand"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightHand"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightHand"]["Z"] = anyjoint.position.position.Z;
/* Left Knee */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_KNEE,anyjoint);
Skeletons[i]["LeftKnee"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftKnee"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftKnee"]["Z"] = anyjoint.position.position.Z;
/* Right Knee */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_KNEE,anyjoint);
Skeletons[i]["RightKnee"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightKnee"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightKnee"]["Z"] = anyjoint.position.position.Z;
/* Left Foot */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_FOOT,anyjoint);
Skeletons[i]["LeftFoot"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftFoot"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftFoot"]["Z"] = anyjoint.position.position.Z;
/* Right Foot */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_FOOT,anyjoint);
Skeletons[i]["RightFoot"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightFoot"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightFoot"]["Z"] = anyjoint.position.position.Z;
/*printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
Skeletons[i]["Head"]["X"],
Skeletons[i]["Head"]["Y"],
Skeletons[i]["Head"]["Z"]);*/
}
}
}
g_scriptNode.Release();
g_depth.Release();
g_image.Release();
g_UserGenerator.Release();
g_Context.Release();
}
int main ( int argc, char * argv[] )
{
//
// Initialize OpenNI Settings
//
XnStatus nRetVal = XN_STATUS_OK;
xn::ScriptNode scriptNode;
xn::EnumerationErrors errors;
//
// Initialize Context Object
//
nRetVal = g_Context.InitFromXmlFile ( CONFIG_XML_PATH, scriptNode, &errors );
if ( nRetVal == XN_STATUS_NO_NODE_PRESENT ) {
XnChar strError[1024];
errors.ToString(strError, 1024);
printf ( "XN_STATUS_NO_NODE_PRESENT:\n%s\n", strError );
system ( "pause" );
return ( nRetVal );
}
else if ( nRetVal != XN_STATUS_OK ) {
printf ( "Open failed: %s\n", xnGetStatusString(nRetVal) );
system ( "pause" );
return ( nRetVal );
}
//
// Handle Image & Depth Generator Node
//
bool colorFlag = true;
bool depthFlag = true;
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_DEPTH, g_DepthGen );
if ( nRetVal != XN_STATUS_OK ) {
printf("No depth node exists!\n");
depthFlag = false;
}
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_IMAGE, g_ImageGen );
if ( nRetVal != XN_STATUS_OK ) {
printf("No image node exists!\n");
colorFlag = false;
}
// g_DepthGen.GetAlternativeViewPointCap().SetViewPoint( g_ImageGen );
if ( depthFlag ) {
g_DepthGen.GetMetaData ( g_DepthMD );
assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );
}
if ( colorFlag ) {
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
}
g_DepthImgShow = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC1 );
g_DepthImgMat = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
g_ColorImgMat = cv::Mat ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3 );
//
// Start to Loop
//
bool flipColor = true;
int ctlWndKey = -1;
g_StartTickCount = GetTickCount();
g_HeadTrackingFrameCount = 0;
while ( ctlWndKey != ESC_KEY_VALUE )
{
nRetVal = g_Context.WaitOneUpdateAll ( g_DepthGen );
// nRetVal = g_Context.WaitAnyUpdateAll();
#ifdef HANDLING_IMAGE_DATA
if ( colorFlag )
{
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() );
assert ( g_ImageMD.FullYRes() == g_ImageMD.YRes() );
GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), g_ColorImgMat );
if ( ctlWndKey == 's' || ctlWndKey == 'S' ) { // Switch
flipColor = !flipColor;
}
if ( flipColor ) {
cv::cvtColor ( g_ColorImgMat, g_ColorImgMat, CV_RGB2BGR );
}
cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::imshow ( IMAGE_WIN_NAME, g_ColorImgMat );
}
#endif
#ifdef HANDLING_DEPTH_DATA
if ( depthFlag )
{
g_DepthGen.GetMetaData(g_DepthMD);
// assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() );
// assert ( g_DepthMD.FullYRes() == g_DepthMD.YRes() );
GlobalUtility::CopyDepthRawBufToCvMat16u ( (const XnDepthPixel *)(g_DepthMD.Data()), g_DepthImgMat );
GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( g_DepthImgMat, g_DepthImgShow );
/*
cv::putText(colorImgMat,
GlobalUtility::DoubleToString(g_ImageMD.FPS()) + " FPS",
cv::Point(10, 450),
cv::FONT_ITALIC,
0.7,
cv::Scalar(255, 255, 255, 0),
2,
8,
false);
*/
cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::imshow ( DEPTH_WIN_NAME, g_DepthImgShow );
}
#endif
XnFieldOfView fov;
g_DepthGen.GetFieldOfView( fov );
std::cout << "HFov = " << fov.fHFOV << std::endl
<< "VFov = " << fov.fVFOV << std::endl;
ctlWndKey = cvWaitKey ( 5 );
g_HeadTrackingFrameCount++;
g_CurrTickCount = GetTickCount();
std::cout << "FPS = "
<< 1000 / ( ( double )( g_CurrTickCount - g_StartTickCount ) / ( double )( g_HeadTrackingFrameCount ) )
<< std::endl;
}
g_Context.Release ();
exit ( EXIT_SUCCESS );
}
bool OpenNIVideo::update(osg::NodeVisitor* nv) {
//this is the main function of your video plugin
//you can either retrieve images from your video stream/camera/file
//or communicate with a thread to synchronize and get the data out
//the most important is to synchronize your data
//and copy the result to the VideoImageSteam used in this plugin
//
//0. you can collect some stats, for that you can use a timer
osg::Timer t;
{
//1. mutex lock access to the image video stream
OpenThreads::ScopedLock<OpenThreads::Mutex> _lock(this->getMutex());
osg::notify(osg::DEBUG_INFO)<<"osgART::OpenNIVideo::update() get new image.."<<std::endl;
XnStatus nRetVal = XN_STATUS_OK;
nRetVal=context.WaitAndUpdateAll();
CHECK_RC(nRetVal, "Update Data");
xnFPSMarkFrame(&xnFPS);
depth_generator.GetMetaData(depthMD);
const XnDepthPixel* pDepthMap = depthMD.Data();
//depth pixel floating point depth map.
image_generator.GetMetaData(imageMD);
const XnUInt8* pImageMap = imageMD.Data();
// Hybrid mode isn't supported in this sample
if (imageMD.FullXRes() != depthMD.FullXRes() || imageMD.FullYRes() != depthMD.FullYRes())
{
std::cerr<<"The device depth and image resolution must be equal!"<<std::endl;
exit(1);
}
// RGB is the only image format supported.
if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
std::cerr<<"The device image format must be RGB24"<<std::endl;
exit(1);
}
const XnDepthPixel* pDepth=pDepthMap;
const XnUInt8* pImage=pImageMap;
XnDepthPixel zMax = depthMD.ZRes();
//convert float buffer to unsigned short
for ( unsigned int i=0; i<(depthMD.XRes() * depthMD.YRes()); ++i )
{
*(_depthBufferByte + i) = 255 * (float(*(pDepth + i)) / float(zMax));
}
memcpy(_videoStreamList[0]->data(),pImage, _videoStreamList[0]->getImageSizeInBytes());
memcpy(_videoStreamList[1]->data(),_depthBufferByte, _videoStreamList[1]->getImageSizeInBytes());
//3. don't forget to call this to notify the rest of the application
//that you have a new video image
_videoStreamList[0]->dirty();
_videoStreamList[1]->dirty();
}
//4. hopefully report some interesting data
if (nv) {
const osg::FrameStamp *framestamp = nv->getFrameStamp();
if (framestamp && _stats.valid())
{
_stats->setAttribute(framestamp->getFrameNumber(),
"Capture time taken", t.time_m());
}
}
// Increase modified count every X ms to ensure tracker updates
if (updateTimer.time_m() > 50) {
_videoStreamList[0]->dirty();
_videoStreamList[1]->dirty();
updateTimer.setStartTick();
}
return true;
}
void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, XnUserID player, xn::ImageMetaData& imd)
{
texWidth = 640;
texHeight = 480;
LEFT = 0; RIGHT = 640;
TOP = 0; BOTTOM = 480;
nValue = 0;
nIndex = 0;
nX = 0; nY = 0;
nNumberOfPoints = 0;
g_nXRes = dmd.XRes();
g_nYRes = dmd.YRes();
pDestImage = pDepthTexBuf;
pDepth = dmd.Data();
pixel = imd.RGB24Data();
pLabels = smd.Data();
// Calculate the accumulative histogram
memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX<g_nXRes; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
g_pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
}
}
// printf("Debug: %i\n",focus);
pDepth = (short unsigned int*)dmd.Data();
///{
// Prepare the texture map
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++)
{
nValue = *pDepth;
if(nX == (int)centerScreen[0] && nY == (int)centerScreen[1]){
if (calibrationMode){
depthVal = nValue;
// printf("depthVal: %i\n",depthVal);
}
}
//printf("Depth: %i \n",nValue);
label = *pLabels;
// XnUInt32 nColorID = label % nColors;
if (label != focus)
{
if(calibrationMode){
pDestImage[0] = pixel->nRed;
pDestImage[1] = pixel->nGreen;
pDestImage[2] = pixel->nBlue;
pDestImage[3] = 255;
} else {
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
pDestImage[3] = 0;
}
} else {
pDestImage[0] = pixel->nRed;
pDestImage[1] = pixel->nGreen;
pDestImage[2] = pixel->nBlue;
pDestImage[3] = 255;
//find max/min values for width and height boundaries
if (nX > (unsigned int)LEFT) {
LEFT = nX;
}
if (nX < (unsigned int)RIGHT) {
RIGHT = nX;
}
if (nY > (unsigned int)TOP) {
TOP = nY;
}
if (nY < (unsigned int)BOTTOM) {
BOTTOM = nY;
}
}
pixel++;
pDepth++;
pLabels++;
pDestImage+=4;
}
pDestImage += (texWidth - g_nXRes) *4;
}
//}*/
// Display the OpenGL texture map
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, texWidth, texHeight, 0, GL_RGBA, GL_UNSIGNED_BYTE, pDepthTexBuf);
nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
g_UserGenerator.GetCoM(aUsers[0], com);
CENTER = com.X;
//glDisable(GL_BLEND);
//glDisable(GL_TEXTURE_2D);
/*
char strLabel[20] = "";
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i)
{
XnPoint3D com;
g_UserGenerator.GetCoM(aUsers[i], com);
g_DepthGenerator.ConvertRealWorldToProjective(1, &com, &com);
if (aUsers[i] == player)
sprintf(strLabel, "%d (Player)", aUsers[i]);
else
sprintf(strLabel, "%d", aUsers[i]);
//glColor4f(1-Colors[i%nColors][0], 1-Colors[i%nColors][1], 1-Colors[i%nColors][2], 1);
glRasterPos2i(com.X, com.Y);
glPrintString(GLUT_BITMAP_HELVETICA_18, strLabel); */
// }
// Draw skeleton of user
// glBegin(GL_LINES);
// //glColor4f(1,0,0,1.0f);
// glVertex3f(-1, 1, 0);
// glVertex3f(1, -1, 0);
// //glColor4f(1-Colors[player%nColors][0], 1-Colors[player%nColors][1], 1-Colors[player%nColors][2], 1);
// DrawLimb(1, XN_SKEL_HEAD, XN_SKEL_NECK);
//
// DrawLimb(1, XN_SKEL_NECK, XN_SKEL_LEFT_SHOULDER);
// DrawLimb(1, XN_SKEL_LEFT_SHOULDER, XN_SKEL_LEFT_ELBOW);
// DrawLimb(1, XN_SKEL_LEFT_ELBOW, XN_SKEL_LEFT_HAND);
//
// DrawLimb(1, XN_SKEL_NECK, XN_SKEL_RIGHT_SHOULDER);
// DrawLimb(1, XN_SKEL_RIGHT_SHOULDER, XN_SKEL_RIGHT_ELBOW);
// DrawLimb(1, XN_SKEL_RIGHT_ELBOW, XN_SKEL_RIGHT_HAND);
//
// DrawLimb(1, XN_SKEL_LEFT_SHOULDER, XN_SKEL_TORSO);
// DrawLimb(1, XN_SKEL_RIGHT_SHOULDER, XN_SKEL_TORSO);
//
// DrawLimb(1, XN_SKEL_TORSO, XN_SKEL_LEFT_HIP);
// DrawLimb(1, XN_SKEL_LEFT_HIP, XN_SKEL_LEFT_KNEE);
// DrawLimb(1, XN_SKEL_LEFT_KNEE, XN_SKEL_LEFT_FOOT);
//
// DrawLimb(1, XN_SKEL_TORSO, XN_SKEL_RIGHT_HIP);
// DrawLimb(1, XN_SKEL_RIGHT_HIP, XN_SKEL_RIGHT_KNEE);
// DrawLimb(1, XN_SKEL_RIGHT_KNEE, XN_SKEL_RIGHT_FOOT);
// glEnd();
//XnSkeletonJoint eJoint1 = XN_SKEL_RIGHT_HAND;
}
