int _tmain(int argc, _TCHAR* argv[])
{
sdl::Application app;
DepthDetector detector(320, 240, ThresholdMin, ThresholdMax);
ScanLineSegmenter segmenter;
OpenNI::initialize();
Device device;
if (device.open(ANY_DEVICE) != STATUS_OK)
{
std::cout << "could not open any device\r\n";
return 1;
}
if (device.hasSensor(SENSOR_DEPTH))
{
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
auto& mode = modes[i];
std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
}
VideoStream stream;
stream.create(device, SENSOR_DEPTH);
VideoMode mode;
mode.setFps(25);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
stream.setMirroringEnabled(true);
stream.setVideoMode(mode);
stream.start();
std::cout << "press any key to capture background\r\n";
std::cin.get();
VideoFrameRef frame;
stream.readFrame(&frame);
DepthImage image(320, 240);
copyFrameToImage(frame, image);
detector.background(image);
std::cout << "starting capture loop\r\n";
sdl::GLContext::setVersion(4, 3);
ImageViewer viewer;
viewer.add(0, 0, 320, 240);
viewer.add(320, 0, 320, 240);
viewer.add(0, 240, 320, 240);
viewer.add(320, 240, 320, 240);
CenterPointExtractor centerPointExtractor(MinBlobSize);
MotionRecorder recorder;
while (true)
{
stream.readFrame(&frame);
copyFrameToImage(frame, image);
detector.detect(image);
std::vector<LineSegment> segments;
segmenter.segment(detector.mask(), segments);
std::vector<std::pair<double_t, double_t>> centerPoints;
centerPointExtractor.extract(segments, centerPoints);
recorder.track(centerPoints);
viewer.crosses.clear();
std::transform(begin(centerPoints), end(centerPoints), std::back_inserter(viewer.crosses), [](std::pair<double_t, double_t>& coord) {
return Cross{ coord.first, coord.second };
});
viewer.lines.clear();
std::transform(begin(recorder.motions()), end(recorder.motions()), std::back_inserter(viewer.lines), [](const Motion& motion) {
return Lines{ motion.points };
});
viewer[0].update(detector.mask());
viewer[1].update(image);
viewer[2].update(detector.background());
viewer[3].update(detector.difference());
viewer.update();
}
openni::OpenNI::shutdown();
return 0;
}
