Ejemplo n.º 1
0
void SampleViewer::displayFrame(const openni::VideoFrameRef& frame)
{
	if (!frame.isValid())
		return;

	const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)frame.getData();
	openni::RGB888Pixel* pTexRow = m_pTexMap + frame.getCropOriginY() * m_nTexMapX;
	int rowSize = frame.getStrideInBytes() / sizeof(openni::DepthPixel);

	for (int y = 0; y < frame.getHeight(); ++y)
	{
		const openni::DepthPixel* pDepth = pDepthRow;
		openni::RGB888Pixel* pTex = pTexRow + frame.getCropOriginX();

		for (int x = 0; x < frame.getWidth(); ++x, ++pDepth, ++pTex)
		{
			if (*pDepth != 0)
			{
				int nHistValue = m_pDepthHist[*pDepth];
				pTex->r = nHistValue;
				pTex->g = nHistValue;
				pTex->b = nHistValue;
			}
		}

		pDepthRow += rowSize;
		pTexRow += m_nTexMapX;
	}

}
Ejemplo n.º 2
0
// CV_16U
cv::Mat getDepthImage(openni::VideoFrameRef& depth_frame)
{
  if(!depth_frame.isValid())
  {
    return cv::Mat();
  }

  openni::VideoMode video_mode = depth_frame.getVideoMode();
  cv::Mat depth_img = cv::Mat(video_mode.getResolutionY(),
                              video_mode.getResolutionX(),
                              CV_16U, (char*)depth_frame.getData());

  return depth_img.clone();
}
Ejemplo n.º 3
0
cv::Mat getColorImage(openni::VideoFrameRef& color_frame)
{
  if(!color_frame.isValid())
  {
    return cv::Mat();
  }
  openni::VideoMode video_mode = color_frame.getVideoMode();
  cv::Mat color_img = cv::Mat(video_mode.getResolutionY(),
                              video_mode.getResolutionX(),
                              CV_8UC3, (char*)color_frame.getData());
  cv::Mat ret_img;
  cv::cvtColor(color_img, ret_img, CV_RGB2BGR);
  return ret_img;
}
Ejemplo n.º 4
0
  double grabFrame(cv::Mat& color) {
    int changed_index;
    auto status = openni::OpenNI::waitForAnyStream(streams.data(), 1, &changed_index);
    if (status != openni::STATUS_OK)
      return false;

    color_stream.readFrame(&color_frame);
    if (!color_frame.isValid())
      return false;

    auto tgt = color.data;
    auto src = reinterpret_cast<const uint8_t*>(color_frame.getData());
    for (size_t i = 0; i < color.total(); ++i) {
      *tgt++ = *(src + 2);
      *tgt++ = *(src + 1);
      *tgt++ = *(src + 0);
      src += 3;
    }

    ++next_frame_index;
    return true;
  }
Ejemplo n.º 5
0
void SampleViewer::display()
{
	int changedIndex;
	openni::Status rc = openni::OpenNI::waitForAnyStream(m_streams, 2, &changedIndex);
	if (rc != openni::STATUS_OK)
	{
		printf("Wait failed\n");
		return;
	}

	switch (changedIndex)
	{
	case 0:
		m_depthStream.readFrame(&m_depthFrame); break;
	case 1:
		m_colorStream.readFrame(&m_colorFrame); break;
	default:
		printf("Error in wait\n");
	}

	glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

	glMatrixMode(GL_PROJECTION);
	glPushMatrix();
	glLoadIdentity();
	glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);

	if (m_depthFrame.isValid())
	{
		calculateHistogram(m_pDepthHist, MAX_DEPTH, m_depthFrame);
	}

	memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));

	// check if we need to draw image frame to texture
	if ((m_eViewState == DISPLAY_MODE_OVERLAY ||
		m_eViewState == DISPLAY_MODE_IMAGE) && m_colorFrame.isValid())
	{
		const openni::RGB888Pixel* pImageRow = (const openni::RGB888Pixel*)m_colorFrame.getData();
		openni::RGB888Pixel* pTexRow = m_pTexMap + m_colorFrame.getCropOriginY() * m_nTexMapX;
		int rowSize = m_colorFrame.getStrideInBytes() / sizeof(openni::RGB888Pixel);

		for (int y = 0; y < m_colorFrame.getHeight(); ++y)
		{
			const openni::RGB888Pixel* pImage = pImageRow;
			openni::RGB888Pixel* pTex = pTexRow + m_colorFrame.getCropOriginX();

			for (int x = 0; x < m_colorFrame.getWidth(); ++x, ++pImage, ++pTex)
			{
				*pTex = *pImage;
			}

			pImageRow += rowSize;
			pTexRow += m_nTexMapX;
		}
	}

	// check if we need to draw depth frame to texture
	if ((m_eViewState == DISPLAY_MODE_OVERLAY ||
		m_eViewState == DISPLAY_MODE_DEPTH) && m_depthFrame.isValid())
	{
		const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)m_depthFrame.getData();
		openni::RGB888Pixel* pTexRow = m_pTexMap + m_depthFrame.getCropOriginY() * m_nTexMapX;
		int rowSize = m_depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);

		for (int y = 0; y < m_depthFrame.getHeight(); ++y)
		{
			const openni::DepthPixel* pDepth = pDepthRow;
			openni::RGB888Pixel* pTex = pTexRow + m_depthFrame.getCropOriginX();

			for (int x = 0; x < m_depthFrame.getWidth(); ++x, ++pDepth, ++pTex)
			{
				if (*pDepth != 0)
				{
					int nHistValue = m_pDepthHist[*pDepth];
					pTex->r = nHistValue;
					pTex->g = nHistValue;
					pTex->b = 0;
				}
			}

			pDepthRow += rowSize;
			pTexRow += m_nTexMapX;
		}
	}

	glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_nTexMapX, m_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, m_pTexMap);

	// Display the OpenGL texture map
	glColor4f(1,1,1,1);

	glBegin(GL_QUADS);

	int nXRes = m_width;
	int nYRes = m_height;

	// upper left
	glTexCoord2f(0, 0);
	glVertex2f(0, 0);
	// upper right
	glTexCoord2f((float)nXRes/(float)m_nTexMapX, 0);
	glVertex2f(GL_WIN_SIZE_X, 0);
	// bottom right
	glTexCoord2f((float)nXRes/(float)m_nTexMapX, (float)nYRes/(float)m_nTexMapY);
	glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
	// bottom left
	glTexCoord2f(0, (float)nYRes/(float)m_nTexMapY);
	glVertex2f(0, GL_WIN_SIZE_Y);

	glEnd();

	// Swap the OpenGL display buffers
	glutSwapBuffers();

}
Ejemplo n.º 6
0
void SampleViewer::Display()
{

	nite::Status rc = m_pHandTracker->readFrame(&handFrame);
	if (rc != nite::STATUS_OK)
	{
		printf("GetNextData failed\n");
		return;
	}

	depthFrame = handFrame.getDepthFrame();

	if (m_pTexMap == NULL)
	{
		// Texture map init
		m_nTexMapX = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionX(), TEXTURE_SIZE);
		m_nTexMapY = MIN_CHUNKS_SIZE(depthFrame.getVideoMode().getResolutionY(), TEXTURE_SIZE);
		m_pTexMap = new openni::RGB888Pixel[m_nTexMapX * m_nTexMapY];
	}

	glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
	glEnable(GL_DEPTH_TEST);
	glMatrixMode(GL_PROJECTION);
	glPushMatrix();
	glLoadIdentity();
	glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -10000.0, 10000.0);



	if (depthFrame.isValid())
	{
		calculateHistogram(m_pDepthHist, MAX_DEPTH, depthFrame);
	}

	memset(m_pTexMap, 0, m_nTexMapX*m_nTexMapY*sizeof(openni::RGB888Pixel));

	float factor[3] = {1, 1, 1};
	// check if we need to draw depth frame to texture
	
	float av_x = 0;
	float av_y = 0;
	int counter= 0;



	for(int i = 0; i<=7 ; i++)
	      note_on[i] = false;

	if (depthFrame.isValid() && g_drawDepth)
	{
		const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)depthFrame.getData();
		const openni::DepthPixel* pDepthRow1 = pDepthRow;
		openni::RGB888Pixel* pTexRow = m_pTexMap + depthFrame.getCropOriginY() * m_nTexMapX;
		int rowSize = depthFrame.getStrideInBytes() / sizeof(openni::DepthPixel);
		glPointSize(2);
		glBegin(GL_POINTS);

		for (int y = 0; y < depthFrame.getHeight(); ++y)
		{
			const openni::DepthPixel* pDepth = pDepthRow;
			openni::RGB888Pixel* pTex = pTexRow + depthFrame.getCropOriginX();
			//chord_temp = 0;
			for (int x = 0; x < depthFrame.getWidth(); ++x, ++pDepth, ++pTex)
			{
				if (*pDepth != 0)
				{
					factor[0] = Colors[colorCount][0];
					factor[1] = Colors[colorCount][1];
					factor[2] = Colors[colorCount][2];

					int nHistValue = m_pDepthHist[*pDepth];
					pTex->r = nHistValue*factor[0];
					pTex->g = nHistValue*factor[1];
					pTex->b = nHistValue*factor[2];

					factor[0] = factor[1] = factor[2] = 1;
					

					if(*pDepth <= 800)
					{
					    //glColor3f(1,0,0);	
						glColor3f(float(*pDepth)/2000,float(*pDepth)/2000,float(*pDepth)/2000);
						
						av_x = x + av_x;
						counter++;
						av_y = y + av_y;
		
							
					}
					else{
						glColor3f(float(*pDepth)/2000,float(*pDepth)/2000,float(*pDepth)/2000);	
		
					}

					glVertex3f(2*x,2*y,-*pDepth);
				}
			}
			pDepthRow += rowSize;
			pTexRow += m_nTexMapX;
		}
		glEnd();
		//////////////////////////////////////////////////////////////////////////////////////////////////////////////////

		av_x = av_x / counter;
	    av_y = av_y / counter;

		float R_x=0;
		float R_y=0;
		float L_x=0;
		float L_y=0;
		int counter_R=0;
		int counter_L=0;

		/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////	

		for (int y = 0; y < depthFrame.getHeight(); ++y)
		{
			const openni::DepthPixel* pDepth = pDepthRow1;
			//chord_temp = 0;
			for (int x = 0; x < depthFrame.getWidth(); ++x, ++pDepth)
			{
				if (*pDepth != 0)
				{

					if(*pDepth <= 800)
					{

						if(x > av_x){
							counter_R++;
							R_x = R_x +x;
							R_y = R_y +y;
						}
						if(x < av_x){
							counter_L++;
							L_x = L_x +x;
							L_y = L_y +y;
						}

					}

				}
			}
			pDepthRow1 += rowSize;
		}
		/////////////////////////////////////////////////////////////////

		R_x = R_x/counter_R;
	    R_y = R_y/counter_R;

		L_x = L_x/counter_L;
	    L_y = L_y/counter_L;

		glPointSize(30);
	    glBegin(GL_POINTS);
		glColor3f(1,0,0);
		glVertex3f(R_x*2,R_y*2,800);
		glColor3f(1,1,0);
		glVertex3f(L_x*2,L_y*2,800);
		glEnd();


		if( R_x >=75 && R_x <=175  ){
			if( R_y  <= 150  )
				{
					note_on[0] = true;
				}

				else if( R_y >= 350)
				{
					note_on[1] = true;
				}
			}
							
		if( R_x >=175 && R_x <=300){
			if( R_y <= 150 )
			{
				note_on[2] = true;	
			}

			else if( R_y >= 350 )
			{	
				note_on[3] = true;					
			}					
		}

		if( R_x>=300 && R_x<=425){
			if( R_y <= 150 )
			{		
				note_on[4] = true;	
			}

			else if( R_y >= 350 )
			{							
				note_on[5] = true;							
			}
		}

		if( R_x>=425 && R_x<=550){
			if( R_y <= 150  )
			{						
				note_on[6] = true;
			}

			else if( R_y >= 350 )
			{			
				note_on[7] = true;	
			}
		}

		////////////////////////////////////////
		if( L_x >=75 && L_x <=175  ){
			if( L_y  <= 150  )
				{
					note_on[0] = true;
				}

				else if( L_y >= 350)
				{
					note_on[1] = true;
				}
			}
							
		if( L_x >=175 && L_x <=300){
			if( L_y <= 150 )
			{
				note_on[2] = true;	
			}

			else if( L_y >= 350 )
			{	
				note_on[3] = true;					
			}					
		}

		if( L_x>=300 && L_x<=425){
			if( L_y <= 150 )
			{		
				note_on[4] = true;	
			}

			else if( L_y >= 350 )
			{							
				note_on[5] = true;							
			}
		}

		if( L_x>=425 && L_x<=550){
			if( L_y <= 150  )
			{						
				note_on[6] = true;
			}

			else if( L_y >= 350 )
			{			
				note_on[7] = true;	
			}
		}
	}




	playdrum();
	for(int i=0;i<=7 ;i++)
		last_note[i] = note_on[i]; 

	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT); 
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT); 
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); 
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); 

	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, BMPwidth1,BMPheight1, 0, GL_RGB, GL_UNSIGNED_BYTE, BMPimage1);

	glEnable(GL_BLEND);
	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
	glColor4f(1,1,1,0.5);

	glEnable(GL_TEXTURE_2D);
	glBegin(GL_QUADS);

	g_nXRes = depthFrame.getVideoMode().getResolutionX();
	g_nYRes = depthFrame.getVideoMode().getResolutionY();

	// upper left
	glTexCoord2f(0,1);
	glVertex3f(0,0,-800);
	// upper right
	glTexCoord2f(1,1);
	glVertex3f(1240,0,-800);
	// bottom right
	glTexCoord2f(1,0);
	glVertex3f(1240,960,-800);
	// bottom left
	glTexCoord2f(0,0);
	glVertex3f(0,960,-800);

	glEnd();
	glDisable(GL_TEXTURE_2D);
	glDisable(GL_BLEND);  

	/////////////////////////////////////////////////////////////////////////////////chord selection

	glBegin(GL_LINES);
	glColor3f(1,0,0);
	glVertex3f(150,300,800);
	glVertex3f(1100,300,800);
	glVertex3f(150,700,800);
	glVertex3f(1100,700,800);
	glEnd();


	glPointSize(30);
	glBegin(GL_POINTS);
	glColor3f(1,1,0);
	glVertex3f(150,300,800);
	glVertex3f(350,300,800);
	glVertex3f(600,300,800);
	glVertex3f(850,300,800);
	glVertex3f(1100,300,800);


	glVertex3f(150,700,800);
	glVertex3f(350,700,800);
	glVertex3f(600,700,800);
	glVertex3f(850,700,800);
	glVertex3f(1100,700,800);
	glEnd();



	////////////////////////////////////////////////////////////////////////////////////////////////////////////
		

	const nite::Array<nite::GestureData>& gestures = handFrame.getGestures();
	for (int i = 0; i < gestures.getSize(); ++i)
	{
		if (gestures[i].isComplete())
		{
			const nite::Point3f& position = gestures[i].getCurrentPosition();
			printf("Gesture %d at (%f,%f,%f)\n", gestures[i].getType(), position.x, position.y, position.z);

			nite::HandId newId;
			m_pHandTracker->startHandTracking(gestures[i].getCurrentPosition(), &newId);
		}
	}

	const nite::Array<nite::HandData>& hands= handFrame.getHands();
	for (int i = 0; i < hands.getSize(); ++i)
	{
		const nite::HandData& user = hands[i];

		if (!user.isTracking())
		{
			printf("Lost hand %d\n", user.getId());
			nite::HandId id = user.getId();
			HistoryBuffer<20>* pHistory = g_histories[id];
			g_histories.erase(g_histories.find(id));
			delete pHistory;
		}
		else
		{
			if (user.isNew())
			{
				printf("Found hand %d\n", user.getId());
				g_histories[user.getId()] = new HistoryBuffer<20>;
			}
			// Add to history
			HistoryBuffer<20>* pHistory = g_histories[user.getId()];
			pHistory->AddPoint(user.getPosition());
			// Draw history
		    DrawHistory(m_pHandTracker, user.getId(), pHistory);
		   
		}
	}

	if (g_drawFrameId)
	{
		DrawFrameId(handFrame.getFrameIndex());
	}
	// Swap the OpenGL display buffers
	glutSwapBuffers();
	
}