int main(int argc, wchar_t* argv[]) {
UtilPipeline pipeline;
PXCGesture * gesture;
pipeline.EnableGesture();
pipeline.Init();
while(1)
{
if(pipeline.AcquireFrame(false))
{
gesture = pipeline.QueryGesture();
// look for the wave gesture for the primary hand
PXCGesture::Gesture handGesture;
int i=0;
while(gesture->QueryGestureData(0, PXCGesture::GeoNode::LABEL_BODY_HAND_PRIMARY, i++, &handGesture) != PXC_STATUS_ITEM_UNAVAILABLE)
if(handGesture.label == PXCGesture::Gesture::LABEL_HAND_WAVE)
cout << "\nwave";
// get the node data for the whole primary hadn (the one that shows up in the view first)
PXCGesture::GeoNode handNode;
if(gesture->QueryNodeData(0, PXCGesture::GeoNode::LABEL_BODY_HAND_PRIMARY, &handNode) != PXC_STATUS_ITEM_UNAVAILABLE)
cout << "\nPrimary hand at x = " << handNode.positionWorld.x << " y = " << handNode.positionWorld.y << " z = " << handNode.positionWorld.z;
// we must release the frame
pipeline.ReleaseFrame();
}
}
}
int main(int argc, wchar_t* argv[]) {
map<PXCFaceAnalysis::Landmark::Label, string> faceLandmarkNames;
faceLandmarkNames[PXCFaceAnalysis::Landmark::LABEL_LEFT_EYE_INNER_CORNER] = "left eye inner";
faceLandmarkNames[PXCFaceAnalysis::Landmark::LABEL_LEFT_EYE_OUTER_CORNER] = "left eye outer";
faceLandmarkNames[PXCFaceAnalysis::Landmark::LABEL_RIGHT_EYE_INNER_CORNER] = "right eye inner";
faceLandmarkNames[PXCFaceAnalysis::Landmark::LABEL_RIGHT_EYE_OUTER_CORNER] = "right eye outer";
faceLandmarkNames[PXCFaceAnalysis::Landmark::LABEL_MOUTH_LEFT_CORNER] = "mouth left";
faceLandmarkNames[PXCFaceAnalysis::Landmark::LABEL_MOUTH_RIGHT_CORNER] = "mouth right";
UtilPipeline pipeline;
PXCFaceAnalysis *faceAnalysis;
pipeline.EnableFaceLocation();
pipeline.EnableFaceLandmark();
pipeline.Init();
while(1)
{
if(pipeline.AcquireFrame(false))
{
faceAnalysis = pipeline.QueryFace();
// get the face id for the first face
pxcUID faceId;
if(faceAnalysis->QueryFace(0, &faceId) != PXC_STATUS_ITEM_UNAVAILABLE)
{
// get the face location
PXCFaceAnalysis::Detection *detector = faceAnalysis->DynamicCast<PXCFaceAnalysis::Detection>();
PXCFaceAnalysis::Detection::Data faceData;
if(detector->QueryData(faceId, &faceData) != PXC_STATUS_ITEM_UNAVAILABLE)
cout << "\nFace " << faceId << " at location " << faceData.rectangle.x << " " << faceData.rectangle.y;
PXCFaceAnalysis::Landmark *landmarkDetector = faceAnalysis->DynamicCast<PXCFaceAnalysis::Landmark>();
PXCFaceAnalysis::Landmark::LandmarkData landmarkData;
int i=0;
while(landmarkDetector->QueryLandmarkData(faceId, PXCFaceAnalysis::Landmark::LABEL_6POINTS, i++, &landmarkData) != PXC_STATUS_ITEM_UNAVAILABLE)
cout << "\nFace landmark " << faceLandmarkNames[landmarkData.label] << " at x = " << landmarkData.position.x << " y = " << landmarkData.position.y;
}
pipeline.ReleaseFrame();
}
}
}
int _tmain(int argc, _TCHAR* argv[])
{
UtilPipeline pp;
pp.EnableImage(PXCImage::COLOR_FORMAT_RGB32, 640, 480);
pp.EnableImage(PXCImage::COLOR_FORMAT_DEPTH, 320, 240);
if(!pp.Init()){
return -1;
}
UtilRender colorRender(L"Color Render");
UtilRender depthRender(L"Depth Render");
while(true){
pp.AcquireFrame(true);
PXCImage* rgbImage = pp.QueryImage(PXCImage::IMAGE_TYPE_COLOR);
PXCImage* depthImage = pp.QueryImage(PXCImage::IMAGE_TYPE_DEPTH);
if (!colorRender.RenderFrame(rgbImage)) break;
if (!depthRender.RenderFrame(depthImage)) break;
pp.ReleaseFrame();
}
pp.Close();
return 0;
}
int _tmain(int argc, _TCHAR* argv[])
{
//Initializing objects for analysis
//Creating the session
PXCSmartPtr<PXCSession> session;
PXCSession_Create(&session);
//Creating face analysis object
PXCFaceAnalysis *face=0;
session->CreateImpl(PXCFaceAnalysis::CUID,(void**)&face);
//Initializing profile info
PXCFaceAnalysis::ProfileInfo pinfo;
face->QueryProfile(0,&pinfo);
//Starting capture
UtilCapture capture(session);
capture.LocateStreams(&pinfo.inputs);
face->SetProfile(&pinfo);
//Creating face detection module
PXCFaceAnalysis::Detection *det=face->DynamicCast<PXCFaceAnalysis::Detection>();
PXCFaceAnalysis::Detection::ProfileInfo dinfo = {0};
det->QueryProfile(0,&dinfo);
det->SetProfile(&dinfo);
//Creating landmark module
PXCFaceAnalysis::Landmark *landmark=face->DynamicCast<PXCFaceAnalysis::Landmark>();
PXCFaceAnalysis::Landmark::ProfileInfo linfo = {0};
landmark->QueryProfile(1,&linfo);
landmark->SetProfile(&linfo);
PXCFaceAnalysis::Landmark::LandmarkData ldata[7];
//Declaring Detection and Landmark data objects for analysis
PXCFaceAnalysis::Detection::Data data;
PXCFaceAnalysis::Landmark::PoseData pdata;
//Storage containers for images
PXCImage* mcImage;
PXCImage::ImageData mCImageData; //Color Image data
PXCSmartArray<PXCImage> images;
PXCSmartSPArray sps(2);
UtilPipeline pipeline;
pipeline.EnableImage(PXCImage::COLOR_FORMAT_RGB24,640,480);
pipeline.EnableImage(PXCImage::COLOR_FORMAT_DEPTH,320,240); //depth resolution 320,240
pipeline.Init();
UtilRender color_render(L"Color Stream");
UtilRender depth_render(L"Depth Stream");
///////////// OPENCV
IplImage *image=0;
CvSize gab_size;
gab_size.height=480;
gab_size.width=640;
image=cvCreateImage(gab_size,8,3);
PXCImage::ImageData idata;
unsigned char *rgb_data;//=new unsigned char[];
PXCImage::ImageInfo rgb_info;
Mat colorMat;
namedWindow("Test");
namedWindow("Test2");
///////
for (;;) {
capture.ReadStreamAsync(images.ReleaseRefs(),sps.ReleaseRef(0));
face->ProcessImageAsync(images,sps.ReleaseRef(1));
sps.SynchronizeEx();
if (!pipeline.AcquireFrame(true)) break;
PXCImage *color_image=pipeline.QueryImage(PXCImage::IMAGE_TYPE_COLOR);
color_image->AcquireAccess(PXCImage::ACCESS_READ_WRITE,PXCImage::COLOR_FORMAT_RGB24,&idata);
rgb_data=idata.planes[0];
for(int y=0; y<480; y++)
{
for(int x=0; x<640; x++)
{
for(int k=0; k<3 ; k++)
{
image->imageData[y*640*3+x*3+k]=rgb_data[y*640*3+x*3+k];
}
}
}
color_image->ReleaseAccess(&idata);
/*
cvShowImage("rgb_cv", image);
cvShowImage("depth_cv2", depth);
*/
colorMat = image;
//imshow("ShaurinSucks", colorMat);
// Tracking or recognition results are ready
pxcUID fid; pxcU64 ts;
//cout << "QUERY FACE" << endl;
if (face->QueryFace(0,&fid,&ts)<PXC_STATUS_NO_ERROR) continue;
landmark->QueryLandmarkData(fid, linfo.labels, &ldata[0]);
landmark->QueryPoseData(fid, &pdata);
det->QueryData(fid,&data);
//cout << "DATA " << data.confidence << " " << data.viewAngle << " " << data.rectangle.x << " " << data.rectangle.y << endl;
//cout << "PDATA " << pdata.pitch << " " << pdata.roll << " " << pdata.yaw << endl;
//cout << "LDATA ";
for (int j = 0; j < 7; j++){
//cout << ldata[j].position.x << " " << ldata[j].position.y << " " << ldata[j].position.z << endl;
}
//Point center( ldata[6].position.x, ldata[6].position.y);
//ellipse(colorMat, center, Size( 10, 10), 0, 0, 360, Scalar(255, 0, 255), 4, 8, 0);
cout << ldata[0].position.x << " " << ldata[0].position.y << " | " << ldata[1].position.x << " " << ldata[1].position.y << endl;
//Point2f start1(ldata[0].position.x, ldata[0].position.y);
//Point2f end1(ldata[1].position.x, ldata[1].position.y);
//Point2f start2(ldata[2].position.x, ldata[2].position.y);
//Point2f end2(ldata[3].position.x, ldata[3].position.y);
//int rad = abs((ldata[0].position.x+ldata[1].position.x)/2 - ldata[0].position.x);
//Point2f mid1((ldata[0].position.x+ldata[1].position.x)/2, (ldata[0].position.y+ldata[1].position.y)/2);
//ellipse(colorMat, mid1, Size( 50, 50), 0, 0, 360, Scalar(255, 0, 255), 4, 8, 0);
Point2f corner1(ldata[0].position.x, ldata[0].position.y+10);
Point2f corner2(ldata[1].position.x, ldata[1].position.y-10);
//rectangle(colorMat, corner1, corner2, Scalar(0, 255, 255), 2, 8);
Rect temp(corner1, corner2);
//colorMat(temp);
//line(colorMat, start1, end1, Scalar(255,0,255), 2, 8);
//line(colorMat, start2, end2, Scalar(255,0,255), 2, 8);
imshow("Test", colorMat);
Mat frame_gray;
cvtColor(colorMat, frame_gray, CV_BGR2GRAY);
equalizeHist(frame_gray, frame_gray);
Mat faceROI = frame_gray(temp);
imshow("Test2", faceROI);
if( cvWaitKey(10) >= 0 )
break;
//IF THIS IS AFTER. THEN THE STREAM STOPS IF FACE ISNT IN THERE
pipeline.ReleaseFrame();
}
cvReleaseImage(&image);
pipeline.Close();
return 0;
}
int main(int argc, char* argv[]) {
// use pipeline for aligned image
UtilPipeline pflt;
pflt.QueryCapture()->SetFilter(PXCCapture::Device::PROPERTY_DEPTH_SMOOTHING,true); // use smoothed depth
pflt.EnableImage(PXCImage::COLOR_FORMAT_RGB32);
pflt.EnableImage(PXCImage::COLOR_FORMAT_DEPTH);
pflt.Init();
PXCSession* ss = pflt.QuerySession();
PXCCapture::Device *dev = pflt.QueryCapture()->QueryDevice();
UtilRender color_render(L"Color Stream");
UtilRender depth_render(L"Depth Stream");
for (int i=0;;i++) {
if (!pflt.AcquireFrame(true)) break;
PXCImage *color_image=pflt.QueryImage(PXCImage::IMAGE_TYPE_COLOR);
PXCImage *depth_image=pflt.QueryImage(PXCImage::IMAGE_TYPE_DEPTH);
// save the captured images
if( i % 150 == 0 ) {
stringstream ss;
ss << (i / 150) << endl;
string idxstr;
ss >> idxstr;
cout << "Capturing image #" << idxstr << endl;
// use this to get raw buffer
PXCImage::ImageData rgbData;
PXCImage::ImageInfo rgbinfo;
color_image->QueryInfo(&rgbinfo);
assert( rgbinfo.format == PXCImage::COLOR_FORMAT_RGB24 );
while( 1 ) {
if( color_image->AcquireAccess(PXCImage::ACCESS_READ, &rgbData) == PXC_STATUS_NO_ERROR ) break;
}
// obtain the bgr image
#if 0
vector<unsigned char> rgbimg(rgbinfo.width*rgbinfo.height*3);
for(int i=0;i<rgbinfo.height;i++)
memcpy((&rgbimg[0])+i*rgbinfo.width*3, rgbData.planes[0]+i*rgbData.pitches[0], rgbinfo.width*3*sizeof(unsigned char));
#else
vector<unsigned char> rgbimg(rgbData.planes[0], rgbData.planes[0]+rgbinfo.width*rgbinfo.height*3);
#endif
// save it to file
dump2file<unsigned char>("color_" + idxstr + ".bin", rgbimg, rgbinfo.width, rgbinfo.height, 3);
color_image->ReleaseAccess(&rgbData);
PXCImage::ImageData depthData;
PXCImage::ImageInfo depthinfo;
depth_image->QueryInfo(&depthinfo);
assert( depthinfo.format == PXCImage::COLOR_FORMAT_DEPTH );
while( 1 ) {
if( depth_image->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::COLOR_FORMAT_DEPTH, &depthData) == PXC_STATUS_NO_ERROR ) break;
}
// obtain the depth image
short* src = (short*) depthData.planes[0];
float minDistance = 150;
float maxDistance = 2000;
float scaleZ = 1.0f;
#define MAP_TO_COLOR 1
#if MAP_TO_COLOR
vector<float> depthimg(rgbinfo.width*rgbinfo.height, -1.0);
// mapping from depth to color image, the mapped depth scatter around the color image space
float *uvmap = (float*)depthData.planes[2];
// process the image
for (int i=0, idx=0; i<depthinfo.height; i++) {
for (int j=0; j<depthinfo.width; j++, idx++) {
float depth = (float)src[0];
int x = uvmap[idx*2] * rgbinfo.width;
int y = uvmap[idx*2+1] * rgbinfo.height;
int cidx = y * rgbinfo.width + x;
if ( depth < minDistance || depth > maxDistance ) {
// mark as bad point
depthimg[cidx] = -1.0;
}
else {
// normalize depth, not necessary
//depth = (depth-minDistance) / (maxDistance-minDistance);
if( depthimg[cidx] < 0 ) depthimg[cidx] = depth;
else depthimg[cidx] = min(depth, depthimg[cidx]);
}
src ++;
}
}
// apply knn filters to the sparse depth map, with decreasing window size
depthimg = knn(depthimg, rgbinfo.width, rgbinfo.height, 3);
depthimg = knn(depthimg, rgbinfo.width, rgbinfo.height, 2);
depthimg = knn(depthimg, rgbinfo.width, rgbinfo.height, 1);
// save it to file
dump2file<float>("depth_" + idxstr + ".bin", depthimg, rgbinfo.width, rgbinfo.height, 1);
#else
vector<float> depthimg(depthinfo.width*depthinfo.height, -1);
// mapping from depth to color image, the mapped depth scatter around the color image space
float *uvmap = (float*)depthData.planes[2];
// process the image
for (int i=0, idx=0; i<depthinfo.height; i++) {
for (int j=0; j<depthinfo.width; j++, idx++) {
float depth = (float)src[0];
if ( depth < minDistance || depth > maxDistance ) {
// mark as bad point
depth = -1.0;
}
// normalize depth, not necessary
//depth = (depth-minDistance) / (maxDistance-minDistance);
depthimg[idx] = depth;
src ++;
}
}
// save it to file
dump2file<float>("depth_" + idxstr + ".bin", depthimg, depthinfo.width, depthinfo.height, 1);
#endif
depth_image->ReleaseAccess(&depthData);
}
if (!color_render.RenderFrame(color_image)) break;
if (!depth_render.RenderFrame(depth_image)) break;
pflt.ReleaseFrame();
}