KinectSensor::KinectSensor()
{
// get resolution as DWORDS, but store as LONGs to avoid casts later
DWORD width = 0;
DWORD height = 0;
NuiImageResolutionToSize(cDepthResolution, width, height);
unsigned int depthWidth = static_cast<unsigned int>(width);
unsigned int depthHeight = static_cast<unsigned int>(height);
NuiImageResolutionToSize(cColorResolution, width, height);
unsigned int colorWidth = static_cast<unsigned int>(width);
unsigned int colorHeight = static_cast<unsigned int>(height);
DepthSensor::init(depthWidth, depthHeight, colorWidth, colorHeight);
m_colorToDepthDivisor = colorWidth/depthWidth;
m_bDepthReceived = false;
m_bColorReceived = false;
m_hNextDepthFrameEvent = INVALID_HANDLE_VALUE;
m_pDepthStreamHandle = INVALID_HANDLE_VALUE;
m_hNextColorFrameEvent = INVALID_HANDLE_VALUE;
m_pColorStreamHandle = INVALID_HANDLE_VALUE;
m_colorCoordinates = new LONG[depthWidth*depthHeight*2];
m_bDepthImageIsUpdated = false;
m_bDepthImageCameraIsUpdated = false;
m_bNormalImageCameraIsUpdated = false;
initializeIntrinsics(2.0f*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240, 2.0f*NUI_CAMERA_SKELETON_TO_DEPTH_IMAGE_MULTIPLIER_320x240, 320.0f, 240.0f);
}
HRESULT BinaryDumpReader::createFirstConnected()
{
std::string filename = GlobalAppState::getInstance().s_BinaryDumpReaderSourceFile;
std::cout << "Start loading binary dump" << std::endl;
//BinaryDataStreamZLibFile inputStream(filename, false);
BinaryDataStreamFile inputStream(filename, false);
CalibratedSensorData sensorData;
inputStream >> sensorData;
std::cout << "Loading finished" << std::endl;
std::cout << sensorData << std::endl;
DepthSensor::init(sensorData.m_DepthImageWidth, sensorData.m_DepthImageHeight, std::max(sensorData.m_ColorImageWidth,1u), std::max(sensorData.m_ColorImageHeight,1u));
mat4f intrinsics(sensorData.m_CalibrationDepth.m_Intrinsic);
initializeIntrinsics(sensorData.m_CalibrationDepth.m_Intrinsic(0,0), sensorData.m_CalibrationDepth.m_Intrinsic(1,1), sensorData.m_CalibrationDepth.m_Intrinsic(0,2), sensorData.m_CalibrationDepth.m_Intrinsic(1,2));
m_NumFrames = sensorData.m_DepthNumFrames;
assert(sensorData.m_ColorNumFrames == sensorData.m_DepthNumFrames || sensorData.m_ColorNumFrames == 0);
releaseData();
m_DepthD16Array = new USHORT*[m_NumFrames];
for (unsigned int i = 0; i < m_NumFrames; i++) {
m_DepthD16Array[i] = new USHORT[getDepthWidth()*getDepthHeight()];
for (unsigned int k = 0; k < getDepthWidth()*getDepthHeight(); k++) {
m_DepthD16Array[i][k] = (USHORT)(sensorData.m_DepthImages[i][k]*1000.0f + 0.5f);
}
}
std::cout << "loading depth done" << std::endl;
if (sensorData.m_ColorImages.size() > 0) {
m_bHasColorData = true;
m_ColorRGBXArray = new BYTE*[m_NumFrames];
for (unsigned int i = 0; i < m_NumFrames; i++) {
m_ColorRGBXArray[i] = new BYTE[getColorWidth()*getColorHeight()*getColorBytesPerPixel()];
for (unsigned int k = 0; k < getColorWidth()*getColorHeight(); k++) {
const BYTE* c = (BYTE*)&(sensorData.m_ColorImages[i][k]);
m_ColorRGBXArray[i][k*getColorBytesPerPixel()+0] = c[0];
m_ColorRGBXArray[i][k*getColorBytesPerPixel()+1] = c[1];
m_ColorRGBXArray[i][k*getColorBytesPerPixel()+2] = c[2];
m_ColorRGBXArray[i][k*getColorBytesPerPixel()+3] = 255;
//I don't know really why this has to be swapped...
}
//std::string outFile = "colorout//color" + std::to_string(i) + ".png";
//ColorImageR8G8B8A8 image(getColorHeight(), getColorWidth(), (vec4uc*)m_ColorRGBXArray[i]);
//FreeImageWrapper::saveImage(outFile, image);
}
} else {
m_bHasColorData = false;
}
sensorData.deleteData();
std::cout << "loading color done" << std::endl;
return S_OK;
}
HRESULT ImageReaderSensor::createFirstConnected()
{
HRESULT hr = S_OK;
//what Qian-Yi / Vladlen tell us
float focalLengthX = 525.0f;
float focalLengthY = 525.0f;
//float cx = 319.5f;
//float cy = 239.5f;
//what the oni framework gives us
//float focalLengthX = 570.34f;
//float focalLengthY = 570.34f;
float cx = 320.0f;
float cy = 240.0f;
initializeIntrinsics(focalLengthX, focalLengthY, cx, cy);
m_CurrentFrameNumberColor = 0;
m_CurrentFrameNumberDepth = 0;
return hr;
}
