void glutKeyboard (unsigned char key, int x, int y)
{
switch (key)
{
case 27:
exit (1);
case '1':
g_nViewState = DISPLAY_MODE_OVERLAY;
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
break;
case '2':
g_nViewState = DISPLAY_MODE_DEPTH;
g_depth.GetAlternativeViewPointCap().ResetViewPoint();
break;
case '3':
g_nViewState = DISPLAY_MODE_IMAGE;
g_depth.GetAlternativeViewPointCap().ResetViewPoint();
break;
case 's':
takePhoto();
break;
case 'm':
g_context.SetGlobalMirror(!g_context.GetGlobalMirror());
break;
}
}
void changeRegistration(int nValue)
{
if (!g_Depth.IsValid() || !g_Depth.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
{
return;
}
if (!nValue)
{
g_Depth.GetAlternativeViewPointCap().ResetViewPoint();
}
else if (g_Image.IsValid())
{
g_Depth.GetAlternativeViewPointCap().SetViewPoint(g_Image);
}
}
// -----------------------------------------------------------------------------------------------------
// connect
// -----------------------------------------------------------------------------------------------------
bool CameraDevice::connect()
{
//Connect to kinect
printf("Connecting to Kinect... ");
fflush(stdout);
XnStatus nRetVal = XN_STATUS_OK;
EnumerationErrors errors;
ScriptNode script;
nRetVal = g_context.InitFromXmlFile(Config::_PathKinectXmlFile.c_str(), script, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return false;
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return false;
}
printf("OK\n");
// allocate the point cloud buffer
g_cloudPointSave.width = NBPIXELS_WIDTH;
g_cloudPointSave.height = NBPIXELS_HEIGHT;
g_cloudPointSave.points.resize(NBPIXELS_WIDTH*NBPIXELS_HEIGHT);
nRetVal = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
CHECK_RC(nRetVal, "Find depth generator");
nRetVal = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
CHECK_RC(nRetVal, "Find image generator");
nRetVal = xnFPSInit(&g_xnFPS, 180);
CHECK_RC(nRetVal, "FPS Init");
g_context.SetGlobalMirror(false); // mirror image horizontally
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
if (g_depth.GetIntProperty ("ShadowValue", g_shadowValue) != XN_STATUS_OK)
printf ("[OpenNIDriver] Could not read shadow value!");
if (g_depth.GetIntProperty ("NoSampleValue", g_noSampleValue) != XN_STATUS_OK)
printf ("[OpenNIDriver] Could not read no sample value!");
return (nRetVal == XN_STATUS_OK);
}
bool getImageCoordinatesForDepthPixel(int x, int y, int& imageX, int& imageY)
{
if (!g_Depth.IsValid())
return false; // no depth
if (!g_Image.IsValid())
return false; // no image
if (!g_Depth.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
return false;
XnUInt32 altX;
XnUInt32 altY;
if (XN_STATUS_OK != g_Depth.GetAlternativeViewPointCap().GetPixelCoordinatesInViewPoint(g_Image, x, y, altX, altY))
return false;
imageX = (int)altX;
imageY = (int)altY;
return true;
}
//----------------------------------------------------
// キーボード処理
//----------------------------------------------------
void glutKeyboard (unsigned char key, int x, int y){
switch (key){
case '1': // オーバーレイモード
g_nViewState = DISPLAY_MODE_OVERLAY;
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image); // イメージとデプスのずれを無くす
break;
case '2': // デプスモード
g_nViewState = DISPLAY_MODE_DEPTH;
g_depth.GetAlternativeViewPointCap().ResetViewPoint(); // デプスの大きさを元に戻す？
break;
case '3': // イメージモード
g_nViewState = DISPLAY_MODE_IMAGE;
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image); // イメージとデプスのずれを無くす
break;
case '4': // クロマキーモード
g_nViewState = DISPLAY_MODE_CHROMA;
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image); // イメージとデプスのずれを無くす
break;
case '5': // ポイントクラウドモード
g_nViewState = DISPLAY_MODE_POINT_CLOUD;
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image); // イメージとデプスのずれを無くす
break;
case 'm': // ★連打厳禁！！（何故か重くなる）★
g_context.SetGlobalMirror(!g_context.GetGlobalMirror()); // ミラーリング
break;
case 'd':
g_debugMode = !g_debugMode; // デバッグモードのオンオフ
break;
case 'f':
g_fullScreenMode = !g_fullScreenMode; // フルスクリーンモードの切り替え（トグルスイッチ）
if(g_fullScreenMode){ // フルスクリーンモード
glutFullScreen();
}else{ // ウィンドウモード
glutPositionWindow(100, 100);
glutReshapeWindow(KINECT_IMAGE_WIDTH, KINECT_IMAGE_HEIGHT);
}
break;
case 's': // スクリーンショットを撮る（深さも撮る）
g_screenShotDepthMode = true;
case 'S': // スクリーンショットを撮る（深さは撮らない）
g_screenShotImageMode = true;
break;
case 'R': // レコードストップ
g_recorder.RemoveNodeFromRecording(g_image);
g_recorder.RemoveNodeFromRecording(g_depth);
cout << "recording stop!" << endl;
break;
// 閾値の増減
case 't': g_chromaThresh += 10; break;
case 'T': g_chromaThresh -= 10; break;
//case 'p':
// g_pointSize += 0.000001;
// break;
//case 'P':
// g_pointSize -= 0.000001;
// break;
// 視点移動
case 'x': g_lokEyeX ++; g_lokDirX ++; break;
case 'X': g_lokEyeX --; g_lokDirX --; break;
case 'y': g_lokEyeY ++; g_lokDirY ++; break;
case 'Y': g_lokEyeY --; g_lokDirY --; break;
case 'z': g_lokEyeZ += 1; g_lokDirZ += 1; break;
case 'Z': g_lokEyeZ -= 1; g_lokDirZ -= 1; break;
// 強制終了
case 27: // Escボタン
case 'q':
case 'Q':
exit (1);
}
}
int Init()
{
XnStatus rc;
//Make sure our image types are the same as the OpenNI image types.
assert(sizeof(XnRGB24Pixel) == sizeof(ColorPixel));
assert(sizeof(XnDepthPixel) == sizeof(DepthPixel));
assert(sizeof(XnStatus) == sizeof(int));
// Load OpenNI xml settings
char filePath[255];
int length = Util::Helpers::GetExeDirectory(filePath, sizeof(filePath));
filePath[length] = '\\';
strcpy(&filePath[length+1], SAMPLE_XML_PATH);
EnumerationErrors errors;
rc = deviceContext.InitFromXmlFile(filePath, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
//One reason would be if Microsoft SDK is installed beside PrimeSense. Device manager should say PrimeSense instead of Microsoft Kinect.
//XnChar strError[1024];
//errors.ToString(strError, 1024);
//LOGE("%s\n", strError);
return -1;
}
else if (rc != XN_STATUS_OK)
{
fprintf(stderr, "%s\n", xnGetStatusString(rc));
/*LOGE("Open failed: %s\n", xnGetStatusString(rc));*/
return (rc);
}
// Retrieve colour and depth nodes
rc = deviceContext.FindExistingNode(XN_NODE_TYPE_IMAGE, colorImageGenerator);
rc = deviceContext.FindExistingNode(XN_NODE_TYPE_DEPTH, depthImageGenerator);
// Set mirror mode to off
SetMirrorMode(false);
// Get a frame to perform checks on it
ImageMetaData colorImageMetaData;
DepthMetaData depthImageMetaData;
depthImageGenerator.GetMetaData(depthImageMetaData);
colorImageGenerator.GetMetaData(colorImageMetaData);
// Hybrid mode isn't supported in this sample
if (colorImageMetaData.FullXRes() != depthImageMetaData.FullXRes() || colorImageMetaData.FullYRes() != depthImageMetaData.FullYRes())
{
/*LOGE("The device depth and image resolution must be equal!\n");*/
return 1;
}
// RGB is the only image format supported.
if (colorImageMetaData.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
/*LOGE("The device image format must be RGB24\n");*/
return 1;
}
// Need to make sure the automatic alignment of colour and depth images is supported.
XnBool isSupported = depthImageGenerator.IsCapabilitySupported("AlternativeViewPoint");
if(!isSupported)
{
/*LOGE("Cannot set AlternativeViewPoint!\n");*/
return 1;
}
// Set it to VGA maps at 30 FPS
/*XnMapOutputMode mapMode;
mapMode.nXRes = XN_VGA_X_RES;
mapMode.nYRes = XN_VGA_Y_RES;
mapMode.nFPS = 60;
rc = g_depth.SetMapOutputMode(mapMode);
if(rc)
{
LOGE("Failed to set depth map mode: %s\n", xnGetStatusString(rc));
return 1;
}
mapMode.nFPS = 30;
rc = g_image.SetMapOutputMode(mapMode);
if(rc)
{
LOGE("Failed to set image map mode: %s\n", xnGetStatusString(rc));
return 1;
}*/
// Set automatic alignment of the colour and depth images.
rc = depthImageGenerator.GetAlternativeViewPointCap().SetViewPoint(colorImageGenerator);
if(rc)
{
/*LOGE("Failed to set depth map mode: %s\n", xnGetStatusString(rc));*/
return 1;
}
return XN_STATUS_OK;
}
int main(int argc, char *argv[])
{
//--------------------------------------------------------------------//
//------------------------- SETUP REQUIRED NODES ---------------------//
//--------------------------------------------------------------------//
// Setup the command line parameters.
setupParams(argc, argv);
// Setup all the sockets.
setupSockets();
// Setup the capture socket server for Mac.
#if (XN_PLATFORM == XN_PLATFORM_MACOSX)
if(_featureDepthMapCapture || _featureRGBCapture)
{
if(_useSockets)
{
g_AS3Network = network();
g_AS3Network.init(setupServer);
}
}
#endif
// Setup the status.
XnStatus _status = XN_STATUS_OK;
EnumerationErrors _errors;
// Context Init and Add license.
_status = _context.Init();
CHECK_RC(_status, "AS3OpenNI :: Initialize context");
_context.SetGlobalMirror(_mirror);
XnChar vendor[XN_MAX_NAME_LENGTH];
XnChar license[XN_MAX_LICENSE_LENGTH];
_license.strVendor[XN_MAX_NAME_LENGTH] = strcmp(vendor, "PrimeSense");
_license.strKey[XN_MAX_LICENSE_LENGTH] = strcmp(license, "0KOIk2JeIBYClPWVnMoRKn5cdY4=");
_status = _context.AddLicense(_license);
CHECK_RC(_status, "AS3OpenNI :: Added license");
// Set it to VGA maps at 30 FPS
_depthMode.nXRes = 640;
_depthMode.nYRes = 480;
_depthMode.nFPS = 30;
// Depth map create.
_status = _depth.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create depth generator");
_status = _depth.SetMapOutputMode(_depthMode);
// Depth map create.
_status = _image.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create image generator");
_status = _image.SetMapOutputMode(_depthMode);
_status = _image.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
// Create the hands generator.
_status = _hands.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create hands generator");
_hands.SetSmoothing(0.1);
// Create the gesture generator.
_status = _gesture.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Create gesture generator");
// Create user generator.
_status = _userGenerator.Create(_context);
CHECK_RC(_status, "AS3OpenNI :: Find user generator");
// Create and initialize point tracker
_sessionManager = new XnVSessionManager();
_status = _sessionManager->Initialize(&_context, "Wave", "RaiseHand");
if (_status != XN_STATUS_OK)
{
printf("AS3OpenNI :: Couldn't initialize the Session Manager: %s\n", xnGetStatusString(_status));
CleanupExit();
}
_sessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
// Start catching signals for quit indications
CatchSignals(&_quit);
//---------------------------------------------------------------//
//------------------------- SETUP FEATURES ---------------------//
//--------------------------------------------------------------//
// Define the Wave and SinglePoint detectors.
_waveDetector = new XnVWaveDetector();
// SinglePoint detector.
if(_featureSinglePoint) _waveDetector->RegisterPointUpdate(NULL, &OnPointUpdate);
// Feature Gesture.
if(_featureGesture)
{
// Wave detector.
_waveDetector->RegisterWave(NULL, &OnWave);
// Push detector.
_pushDetector = new XnVPushDetector();
_pushDetector->RegisterPush(NULL, &onPush);
// Swipe detector.
_swipeDetector = new XnVSwipeDetector();
_swipeDetector->RegisterSwipeUp(NULL, &Swipe_SwipeUp);
_swipeDetector->RegisterSwipeDown(NULL, &Swipe_SwipeDown);
_swipeDetector->RegisterSwipeLeft(NULL, &Swipe_SwipeLeft);
_swipeDetector->RegisterSwipeRight(NULL, &Swipe_SwipeRight);
// Steady detector.
_steadyDetector = new XnVSteadyDetector();
_steadyDetector->RegisterSteady(NULL, &Steady_OnSteady);
}
// Feature Circle.
if(_featureCircle)
{
// Circle detector.
_circleDetector = new XnVCircleDetector();
_circleDetector->RegisterCircle(NULL, &CircleCB);
_circleDetector->RegisterNoCircle(NULL, &NoCircleCB);
_circleDetector->RegisterPrimaryPointCreate(NULL, &Circle_PrimaryCreate);
_circleDetector->RegisterPrimaryPointDestroy(NULL, &Circle_PrimaryDestroy);
}
// Feature Slider.
if(_featureSlider)
{
// Left/Right slider.
_leftRightSlider = new XnVSelectableSlider1D(3, 0, AXIS_X);
_leftRightSlider->RegisterActivate(NULL, &LeftRightSlider_OnActivate);
_leftRightSlider->RegisterDeactivate(NULL, &LeftRightSlider_OnDeactivate);
_leftRightSlider->RegisterPrimaryPointCreate(NULL, &LeftRightSlider_OnPrimaryCreate);
_leftRightSlider->RegisterPrimaryPointDestroy(NULL, &LeftRightSlider_OnPrimaryDestroy);
_leftRightSlider->RegisterValueChange(NULL, &LeftRightSlider_OnValueChange);
_leftRightSlider->SetValueChangeOnOffAxis(false);
// Up/Down slider.
_upDownSlider = new XnVSelectableSlider1D(3, 0, AXIS_Y);
_upDownSlider->RegisterActivate(NULL, &UpDownSlider_OnActivate);
_upDownSlider->RegisterDeactivate(NULL, &UpDownSlider_OnDeactivate);
_upDownSlider->RegisterPrimaryPointCreate(NULL, &UpDownSlider_OnPrimaryCreate);
_upDownSlider->RegisterPrimaryPointDestroy(NULL, &UpDownSlider_OnPrimaryDestroy);
_upDownSlider->RegisterValueChange(NULL, &UpDownSlider_OnValueChange);
_upDownSlider->SetValueChangeOnOffAxis(false);
// In/Out slider.
_inOutSlider = new XnVSelectableSlider1D(3, 0, AXIS_Z);
_inOutSlider->RegisterActivate(NULL, &InOutSlider_OnActivate);
_inOutSlider->RegisterDeactivate(NULL, &InOutSlider_OnDeactivate);
_inOutSlider->RegisterPrimaryPointCreate(NULL, &InOutSlider_OnPrimaryCreate);
_inOutSlider->RegisterPrimaryPointDestroy(NULL, &InOutSlider_OnPrimaryDestroy);
_inOutSlider->RegisterValueChange(NULL, &InOutSlider_OnValueChange);
_inOutSlider->SetValueChangeOnOffAxis(false);
}
// Feature TrackPad.
if(_featureTrackPad)
{
// Track Pad.
if(trackpad_columns > 0 && trackpad_rows > 0)
{
_trackPad = new XnVSelectableSlider2D(trackpad_columns, trackpad_rows);
}
else
{
_trackPad = new XnVSelectableSlider2D(4, 9);
}
_trackPad->RegisterItemHover(NULL, &TrackPad_ItemHover);
_trackPad->RegisterItemSelect(NULL, &TrackPad_ItemSelect);
_trackPad->RegisterPrimaryPointCreate(NULL, &TrackPad_PrimaryCreate);
_trackPad->RegisterPrimaryPointDestroy(NULL, &TrackPad_PrimaryDestroy);
}
// Feature User Tracking.
if(_featureUserTracking)
{
// Setup user generator callbacks.
XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks;
if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("AS3OpenNI :: Supplied user generator doesn't support skeleton\n");
return 1;
}
_userGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
// Setup Skeleton detection.
_userGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks);
if (_userGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
_needPose = true;
if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("AS3OpenNI :: Pose required, but not supported\n");
return 1;
}
_userGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks);
_userGenerator.GetSkeletonCap().GetCalibrationPose(_strPose);
}
_userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
}
// Create the broadcaster manager.
_broadcaster = new XnVBroadcaster();
// Start generating all.
_context.StartGeneratingAll();
// Set the frame rate.
_status = xnFPSInit(&xnFPS, 180);
CHECK_RC(_status, "AS3OpenNI :: FPS Init");
//----------------------------------------------------------------------//
//------------------------- SETUP DISPLAY SUPPORT ---------------------//
//--------------------------------------------------------------------//
// Setup depth and image data.
_depth.GetMetaData(_depthData);
_image.GetMetaData(_imageData);
// Hybrid mode isn't supported in this sample
if (_imageData.FullXRes() != _depthData.FullXRes() || _imageData.FullYRes() != _depthData.FullYRes())
{
printf ("AS3OpenNI :: The device depth and image resolution must be equal!\n");
return 1;
}
// RGB is the only image format supported.
if (_imageData.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("AS3OpenNI :: The device image format must be RGB24\n");
return 1;
}
// Setup the view points to match between the depth and image maps.
if(_snapPixels) _depth.GetAlternativeViewPointCap().SetViewPoint(_image);
//-------------------------------------------------------------//
//------------------------- MAIN LOOP ------------------------//
//-----------------------------------------------------------//
// Setup the capture socket server for PC.
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
if(_featureDepthMapCapture || _featureRGBCapture || _featureUserTracking)
{
if(_useSockets)
{
g_AS3Network = network();
g_AS3Network.init(setupServer);
}
}
#endif
// Main loop
while ((!_kbhit()) && (!_quit))
{
xnFPSMarkFrame(&xnFPS);
_context.WaitAndUpdateAll();
_sessionManager->Update(&_context);
if(_featureDepthMapCapture) captureDepthMap(g_ucDepthBuffer);
if(_featureRGBCapture) captureRGB(g_ucImageBuffer);
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
if(_featureUserTracking) getPlayers();
#else
if(_featureUserTracking) renderSkeleton();
#endif
}
CleanupExit();
}
void mixRGB_Depth()
{
bool bShouldRun = true;
int c;
XnStatus nRetVal = XN_STATUS_OK;
Context context;
// Initialize context object
nRetVal = context.Init();
// Check error code
if (nRetVal)
printf("Error: %s", xnGetStatusString(nRetVal));
context.SetGlobalMirror(true);
//Create Depth generator node
DepthGenerator depth;
nRetVal = depth.Create(context);
// Check error code
if (nRetVal)
printf("Error: %s", xnGetStatusString(nRetVal));
// Create an ImageGenetor node
ImageGenerator image;
nRetVal = image.Create(context);
if (nRetVal)
printf("Error: %s", xnGetStatusString(nRetVal));
// Sync the DepthGenerator with the ImageGenerator
nRetVal = depth.GetAlternativeViewPointCap().SetViewPoint(image);
if (nRetVal)
printf("Error: %s", xnGetStatusString(nRetVal));
//Set it to VGA maps at 30 fps
XnMapOutputMode mapMode;
mapMode.nXRes = XN_VGA_X_RES;
mapMode.nYRes = XN_VGA_Y_RES;
mapMode.nFPS = 30;
nRetVal = depth.SetMapOutputMode(mapMode);
// Make it start generating data
nRetVal = context.StartGeneratingAll();
if (nRetVal)
printf("Error: %s", xnGetStatusString(nRetVal));
// Create an OpenCv matrix
CvMat* depthMetersMat = cvCreateMat(480, 640, CV_16UC1);
IplImage *kinectDepthImage;
kinectDepthImage = cvCreateImage(cvSize(640,480), 16, 1);
IplImage *rgbimg = cvCreateImageHeader(cvSize(640,480), 8,3);
// Main loop
while (bShouldRun)
{
//wait for new data to be available
nRetVal = context.WaitOneUpdateAll(depth);
if (nRetVal)
{
printf("Error: %s", xnGetStatusString(nRetVal));
continue;
}
//Take current depth map
const XnDepthPixel* pDepthMap = depth.GetDepthMap();
for (int y=0; y<XN_VGA_Y_RES; y++)
{
for (int x=0; x<XN_VGA_X_RES; x++)
{
depthMetersMat->data.s[y*XN_VGA_X_RES+x]=10*pDepthMap[y*XN_VGA_X_RES+x];
}
}
cvGetImage(depthMetersMat, kinectDepthImage);
//take current image
const XnRGB24Pixel* pImage = image.GetRGB24ImageMap();
//process image data
XnRGB24Pixel* ucpImage = const_cast<XnRGB24Pixel*>(pImage);
cvSetData(rgbimg, ucpImage, 640*3);
cvShowImage("RGB", kinectDepthImage);
c = cvWaitKey(1);
if (c == 27)
bShouldRun = false;
}
cvReleaseImageHeader(&kinectDepthImage);
context.Shutdown();
}
