int main(int argc, char **argv)
{
while (cvWaitKey(10) < 0) {
IplImage *image = freenect_sync_get_rgb_cv(0);
if (!image) {
printf("Error: Kinect not connected?\n");
return -1;
}
cvCvtColor(image, image, CV_RGB2BGR);
IplImage *depth = freenect_sync_get_depth_cv(0);
if (!depth) {
printf("Error: Kinect not connected?\n");
return -1;
}
cvShowImage("RGB", image);
cvShowImage("Depth", GlViewColor(depth));
}
}
int main(int argc, char **argv)
{
int first = 1;
int angle = 0;
double duration = 5;
IplImage *image = 0;
IplImage *image2 = 0;
IplImage *prev = 0;
IplImage *output = 0;
IplImage *depth;
IplImage *diff = 0;
IplImage *bw = 0;
IplImage *edge = 0;
IplImage *edge2 = 0;
// if (!prev) prev = cvCreateImageHeader(cvSize(640,480), 8, 3);
//if (!diff) diff = cvCreateImageHeader(cvSize(640,480), 8, 3);
diff = cvCreateImage(cvSize(640,480),8,3);
bw = cvCreateImage(cvSize(640,480),8,1);
edge = cvCreateImage(cvSize(640,480),8,1);
edge2 = cvCreateImage(cvSize(640,480),8,1);
output = cvCreateImage(cvSize(640,480),8,3);
cvZero( output );
//cvCvtColor(output, output, CV_RGB2BGR);
while (1) {
switch(cvWaitKey(10)){
case 113:
exit(0);
case 'w':
angle++;
if(angle > 30)
angle = 30;
set_tilt_cv(angle,0);
break;
case 'x':
angle--;
if(angle < -30)
angle = -30;
set_tilt_cv(angle,0);
break;
case 's':
angle = 0;
set_tilt_cv(angle,0);
break;
case 'e':
angle += 10;
if(angle > 30)
angle = 30;
set_tilt_cv(angle,0);
break;
case 'c':
angle -=10;
if(angle < -30)
angle = -30;
set_tilt_cv(angle,0);
break;
default:
// cvWaitKey(700);
if(first){
prev = freenect_sync_get_rgb_cv(0);
//first = 0;
}
else
{
prev = cvCloneImage(image2);
cvReleaseImage(&image2);
}
image = freenect_sync_get_rgb_cv(0);
image2 = cvCloneImage(image);
if (!image) {
printf("Error: Kinect not connected?\n");
return -1;
}
cvCvtColor(image, image, CV_RGB2BGR);
// cvCvtColor(image2, image2, CV_RGB2BGR);
cvAbsDiff(image,prev,diff);
cvCvtColor(diff, bw,CV_BGR2GRAY);
cvCanny(bw, edge, 29000,30500,7);
// cvThreshold(bw,bw,100,254,CV_THRESH_BINARY);
cvNot(edge,edge2);
if(!first)
{
cvSubS(output,cvScalar(255,255,255,255),output,0);
cvAnd(GlViewColor(depth),GlViewColor(depth),output,edge);
//cvRunningAvg(GlViewColor(depth),output,1,edge);
}
//cvRunningAvg(image,output,1,edge);
if(!first)
{
cvReleaseImage(&prev);
}
else
first = 0;
cvAddWeighted(image, .3, output, .7, 1, image);
// OverlayImage(image2, output, cvPoint(0, 0), cvScalar(0.8,0.8,0.8,0.8), cvScalar(0.2,0.2,0.2,0.2));
/*
CvPoint* points[1];
CvPoint ptt[5];
points[0] = &(ptt[0]);
points[0][0] = cvPoint(100,100);
points[0][1] = cvPoint(200,100);
points[0][2] = cvPoint(150,150);
points[0][3] = cvPoint(150,300);
points[0][4] = cvPoint(100,250);
int npts[1];
npts[0]=5;
cvPolyLine(image, points, npts, 1,1, cvScalar(100,100,100,230),1, 8,0);
cvFillPoly(image, points, npts,1, cvScalar(100,100,100,230), 8,0);
*/
depth = freenect_sync_get_depth_cv(0);
cvSmooth(depth,depth,CV_BLUR,18,18,2.0,2.0);
if (!depth) {
printf("Error: Kinect not connected?\n");
return -1;
}
cvShowImage("RGB", image);
cvShowImage("Output", output);
cvShowImage("Depth", GlViewColor(depth));
break;
}
}
}
