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;
}