int main()
{
XnStatus nRetVal = XN_STATUS_OK;
Context context;
EnumerationErrors errors;
nRetVal = context.InitFromXmlFile(SAMPLE_XML_PATH, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
XnFPSData xnFPS;
nRetVal = xnFPSInit(&xnFPS, 180);
CHECK_RC(nRetVal, "FPS Init");
DepthMetaData depthMD;
while (!xnOSWasKeyboardHit())
{
nRetVal = context.WaitOneUpdateAll(depth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnFPSMarkFrame(&xnFPS);
depth.GetMetaData(depthMD);
const XnDepthPixel* pDepthMap = depthMD.Data();
printf("Frame %d Middle point is: %u. FPS: %f\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2), xnFPSCalc(&xnFPS));
}
context.Shutdown();
return 0;
}
// -----------------------------------------------------------------------------------------------------
// 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);
}
void createStream(Generator& generator, XnProductionNodeType type)
{
EnumerationErrors errors;
XnStatus nRetVal = g_Context.CreateAnyProductionTree(type, NULL, generator, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
displayMessage("%s", strError);
return;
}
else if (nRetVal != XN_STATUS_OK)
{
displayMessage("Open failed: %s", xnGetStatusString(nRetVal));
return;
}
}
//--------------------------------------------------------------
void testApp::setup(){
XnStatus rc;
EnumerationErrors errors;
rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return ;
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(rc));
return;
}
rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
if (rc != XN_STATUS_OK)
{
printf("No depth node exists! Check your XML.");
return;
}
g_depth.GetMetaData(g_depthMD);
// Texture map init
g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512;
g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512;
g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));
std::cout << " w:" << g_depthMD.FullXRes() << " h:" << g_depthMD.FullYRes() << std::endl;
pixels = (unsigned char*)malloc(640*480*3*sizeof(unsigned char));
tex.allocate(640, 480, GL_RGB);
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
Context context;
ScriptNode scriptNode;
EnumerationErrors errors;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
XnFPSData xnFPS;
nRetVal = xnFPSInit(&xnFPS, 180);
CHECK_RC(nRetVal, "FPS Init");
DepthMetaData depthMD;
while (!xnOSWasKeyboardHit())
{
nRetVal = context.WaitOneUpdateAll(depth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnFPSMarkFrame(&xnFPS);
depth.GetMetaData(depthMD);
printf("Frame %d Middle point is: %u. FPS: %f\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2), xnFPSCalc(&xnFPS));
}
depth.Release();
scriptNode.Release();
context.Release();
return 0;
}
int main(int argc, char **argv)
{
XnBool bChooseDevice = false;
const char* csRecordingName = NULL;
if (argc > 1)
{
if (strcmp(argv[1], "-devices") == 0)
{
bChooseDevice = TRUE;
}
else
{
csRecordingName = argv[1];
}
}
if (csRecordingName != NULL)
{
// check if running from a different directory. If so, we need to change directory
// to the real one, so that path to INI file will be OK (for log initialization, for example)
if (0 != changeDirectory(argv[0]))
{
return(ERR_DEVICE);
}
}
// Xiron Init
XnStatus rc = XN_STATUS_OK;
EnumerationErrors errors;
if (csRecordingName != NULL)
{
xnLogInitFromXmlFile(SAMPLE_XML_PATH);
rc = openDeviceFile(argv[1]);
}
else if (bChooseDevice)
{
rc = openDeviceFromXmlWithChoice(SAMPLE_XML_PATH, errors);
}
else
{
rc = openDeviceFromXml(SAMPLE_XML_PATH, errors);
}
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
closeSample(ERR_DEVICE);
return (rc);
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(rc));
closeSample(ERR_DEVICE);
}
audioInit();
captureInit();
statisticsInit();
reshaper.zNear = 1;
reshaper.zFar = 100;
glut_add_interactor(&reshaper);
cb.mouse_function = MouseCallback;
cb.motion_function = MotionCallback;
cb.passive_motion_function = MotionCallback;
cb.keyboard_function = KeyboardCallback;
cb.reshape_function = ReshapeCallback;
glut_add_interactor(&cb);
glutInit(&argc, argv);
glutInitDisplayString("stencil double rgb");
glutInitWindowSize(WIN_SIZE_X, WIN_SIZE_Y);
glutCreateWindow("OpenNI Viewer");
glutFullScreen();
glutSetCursor(GLUT_CURSOR_NONE);
init_opengl();
glut_helpers_initialize();
camera.configure_buttons(0);
camera.set_camera_mode(true);
camera.set_parent_rotation( & camera.trackball.r);
camera.enable();
object.configure_buttons(1);
object.translator.t[2] = -1;
object.translator.scale *= .1f;
object.trackball.r = rotationf(vec3f(2.0,0.01,0.01), to_radians(180));
object.set_parent_rotation( & camera.trackball.r);
object.disable();
light.configure_buttons(0);
light.translator.t = vec3f(.5, .5, -1);
light.set_parent_rotation( & camera.trackball.r);
light.disable();
// make sure all interactors get glut events
glut_add_interactor(&camera);
glut_add_interactor(&light);
glut_add_interactor(&object);
camera.translator.t = vec3f(0, 0, 0);
camera.trackball.r = rotationf(vec3f(0, 0, 0), to_radians(0));
light.translator.t = vec3f (0, 1.13, -2.41);
light.trackball.r = rotationf(vec3f(0.6038, -0.1955, -0.4391), to_radians(102));
glutIdleFunc(IdleCallback);
glutDisplayFunc(drawFrame);
drawInit();
createKeyboardMap();
createMenu();
atexit(onExit);
// Per frame code is in drawFrame()
glutMainLoop();
audioShutdown();
closeSample(ERR_OK);
return (ERR_OK);
}
XnStatus TYKinect :: Init(bool depthNode, bool imageNode){ //Kinect Routines (Copied From OpenNI Sameple : Simple Viewer)
cout << "Connecting to kinect..." << endl;
status = context.Init();
CHECK_RC(status, "context init");
if(status != XN_STATUS_OK) return status;
/* >>>>> Acquisition from device*/
/* Depth Node Initialization */
if(depthNode){
status = depth.Create(context);
CHECK_RC(status, "create depth generator");
if(status == XN_STATUS_OK){
status = depth.SetMapOutputMode(outputMode); //640, 480, 30fps
CHECK_RC(status, "set output mode");
if(status == XN_STATUS_OK) hasDepthNode = true;
}
}
/* Depth Node Initialization */
if(imageNode){
status = image.Create(context);
CHECK_RC(status, "create image generator");
if(status == XN_STATUS_OK){
status = image.SetMapOutputMode(outputMode); //640, 480, 30fps
CHECK_RC(status, "set output mode");
if(status == XN_STATUS_OK) hasImageNode = true;
}
}
/* >>>>> Acquisition from file*/
if(!(hasDepthNode||hasImageNode)){
EnumerationErrors errors;
printf("Trying to create node from oni file\n");
//status = xnContextOpenFileRecording( (XnContext*) &context, oniFile.c_str());
status = context.OpenFileRecording(oniFile.c_str());
CHECK_RC(status,"Open input file");
if (status == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return status;
}
else if (status != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(status));
return status;
}
status = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(status, "Find depth generator");
if(status == XN_STATUS_OK) hasDepthNode = true;
status = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image);
CHECK_RC(status, "Find image generator");
if(status == XN_STATUS_OK) hasImageNode = true;
if(status != XN_STATUS_OK)
{
cout << "Initial Failed!! " << endl;
return status;
}
}
if(isSyncTwoView && hasImageNode && hasDepthNode) depth.GetAlternativeViewPointCap().SetViewPoint(image);
if(isMirroring) context.SetGlobalMirror(!context.GetGlobalMirror());
status = context.StartGeneratingAll();
CHECK_RC(status, "context start generating all");
return status;
}
int main(int argc, char* argv[])
{
XnStatus rc;
EnumerationErrors errors;
rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (rc);
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(rc));
return (rc);
}
rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
// Hybrid mode isn't supported in this sample
if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes())
{
printf ("The device depth and image resolution must be equal!\n");
return 1;
}
// RGB is the only image format supported.
if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("The device image format must be RGB24\n");
return 1;
}
// Texture map init
g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512;
g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512;
g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel));
// OpenGL init
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
glutCreateWindow ("OpenNI Simple Viewer");
glutFullScreen();
glutSetCursor(GLUT_CURSOR_NONE);
glutKeyboardFunc(glutKeyboard);
glutDisplayFunc(glutDisplay);
glutIdleFunc(glutIdle);
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
// Per frame code is in glutDisplay
glutMainLoop();
return 0;
}
int OpenniWrapper::start()
{
XnStatus rc;
EnumerationErrors errors;
hasRGB = 0;
hasDepth = 0;
rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
sprintf(buf, "%s\n", strError);
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
return (rc);
}
else if (rc != XN_STATUS_OK)
{
sprintf(buf, "Open failed: %s\n", xnGetStatusString(rc));
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
return (rc);
}
rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
hasDepth = 1;
if (rc != XN_STATUS_OK)
{
sprintf(buf, "No depth node exists! Check your XML.");
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
hasDepth = 0;
//return 1;
}
rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
hasRGB=1;
if (rc != XN_STATUS_OK)
{
sprintf(buf, "No image node exists! Check your XML.");
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
hasRGB=0;
//return 1;
}
// rc = g_depth.SetIntProperty ("OutputFormat", 0);
// if (rc != XN_STATUS_OK)
// {
// sprintf(buf, "Cannot set depth generator property");
// __android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
// return 1;
// }
//for ASUS XTION ONLY
//see: http://dev.pointclouds.org/projects/pcl/wiki/MacOSX
rc = g_depth.SetIntProperty ("RegistrationType", 1);
if (rc != XN_STATUS_OK)
{
sprintf(buf, "Cannot set depth generator property: RegistrationType");
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
return 1;
}
//obviously Kinect doesn't support anything else!?
// XnMapOutputMode outputMode;
//
// outputMode.nXRes = 640;
// outputMode.nYRes = 480;
// outputMode.nFPS = 30;
////
// rc = g_depth.SetMapOutputMode(outputMode);
// if (rc != XN_STATUS_OK)
// {
// sprintf(buf, "Cannot set depth generator property");
// __android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
// return 1;
// }
////
// rc = g_image.SetMapOutputMode(outputMode);
// if (rc != XN_STATUS_OK)
// {
// sprintf(buf, "Cannot set image generator property");
// __android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
// return 1;
// }
// TODO: check error code
if(hasDepth)
g_depth.GetMetaData(g_depthMD);
if(hasRGB)
g_image.GetMetaData(g_imageMD);
// Hybrid mode isn't supported in this sample
// if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes())
// {
// sprintf (buf, "The device depth and image resolution must be equal!\n");
// __android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
// return 1;
// }
//show some info of the device...
// sprintf(buf, "Image Resolution: %d x %d", g_imageMD.FullXRes(), g_imageMD.FullYRes());
// __android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
// // RGB is the only image format supported.
// if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
// {
// sprintf(buf, "The device image format must be RGB24\n");
// __android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
// return 1;
// }
//configure the global variable
width = g_depthMD.FullXRes();
height = g_depthMD.FullYRes();
//g_image.StopGenerating();
//init the tmp storage for the frames
rgbImage = (unsigned char*)malloc(width*height*3*sizeof(unsigned char));
pDepth = (unsigned short*)malloc(width*height*sizeof(unsigned short));
//this will map the depth map to the rgb image by default. Of course we can turn this off
//if we would like to process the depth map independently.
//TODO: turning this off will cause the RGB image to corrupt? why?.glo
if(g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image)!=XN_STATUS_OK)
{
sprintf(buf, "Cannot set GetAlternativeViewPointCap() ");
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
}
if(g_image.GetAlternativeViewPointCap().SetViewPoint(g_depth)!=XN_STATUS_OK){
sprintf(buf, "Cannot set GetAlternativeViewPointCap() for g_image ");
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
}
//show some info of the device...
sprintf(buf, "Finished OpenNI Initialization");
__android_log_print(ANDROID_LOG_DEBUG, "OPENNI", buf);
return 0;
}
int main(int argc, char* argv[])
{
XnStatus nRetVal = XN_STATUS_OK;
Context context;
EnumerationErrors errors;
Mode mode;
// default mode
#if XN_PLATFORM == XN_PLATFORM_WIN32
mode = MODE_PLAY;
#else
mode = MODE_RECORD;
#endif
// check if mode was provided by user
if (argc > 1)
{
if (strcmp(argv[1], "play") == 0)
{
mode = MODE_PLAY;
}
else if (strcmp(argv[1], "record") == 0)
{
mode = MODE_RECORD;
}
else
{
printUsage(argv[0]);
return -1;
}
}
// make sure mode is valid
#if XN_PLATFORM != XN_PLATFORM_WIN32
if (mode == MODE_PLAY)
{
printf("Playing is not supported on this platform!\n");
return -1;
}
#endif
ScriptNode scriptNode;
nRetVal = context.InitFromXmlFile(SAMPLE_XML_PATH, scriptNode);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
// find audio nodes
AudioGenerator gens[nSupportedNodes];
XnUInt32 nNodes = 0;
NodeInfoList list;
nRetVal = context.EnumerateExistingNodes(list, XN_NODE_TYPE_AUDIO);
CHECK_RC(nRetVal, "Enumerate audio nodes");
for (NodeInfoList::Iterator it = list.Begin(); it != list.End(); ++it)
{
NodeInfo info = *it;
nRetVal = info.GetInstance(gens[nNodes]);
CHECK_RC(nRetVal, "Get audio node");
nNodes++;
}
if (nNodes == 0)
{
printf("No audio node was found!\n");
return -1;
}
if (mode == MODE_PLAY)
{
nRetVal = play(context, gens, nNodes);
}
else if (mode == MODE_RECORD)
{
nRetVal = record(context, gens, nNodes);
}
scriptNode.Release();
for (int i = 0; i < nSupportedNodes; ++i)
gens[i].Release();
context.Release();
return nRetVal;
}
int main(int argc, char* argv[])
{
EnumerationErrors errors;
//rc = context.Init();
rc = context.InitFromXmlFile(strPathToXML,&errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (rc);
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(rc));
return (rc);
}
/* UNCOMMENT TO GET FILE READING
//rc = context.OpenFileRecording(strInputFile);
//CHECK_RC(rc, "Open input file");
//rc = context.FindExistingNode(XN_NODE_TYPE_PLAYER, player);
//CHECK_RC(rc, "Get player node"); */
rc = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(rc, "Find depth generator");
rc = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image);
CHECK_RC(rc, "Find image generator");
depth.GetMetaData(depthMD);
image.GetMetaData(imageMD);
//rc = player.SetRepeat(FALSE);
XN_IS_STATUS_OK(rc);
//rc = player.GetNumFrames(image.GetName(), nNumFrames);
//CHECK_RC(rc, "Get player number of frames");
//printf("%d\n",nNumFrames);
//rc = player.GetNumFrames(depth.GetName(), nNumFrames);
//CHECK_RC(rc, "Get player number of frames");
//printf("%d\n",nNumFrames);
// Hybrid mode isn't supported
if (imageMD.FullXRes() != depthMD.FullXRes() || imageMD.FullYRes() != depthMD.FullYRes())
{
printf ("The device depth and image resolution must be equal!\n");
return 1;
}
// RGB is the only image format supported.
if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("The device image format must be RGB24\n");
return 1;
}
avi = cvCreateVideoWriter(strOutputFile, 0, 30, cvSize(640,480), TRUE);
depthMetersMat = cvCreateMat(480, 640, CV_16UC1);
kinectDepthImage = cvCreateImage( cvSize(640,480),16,1 );
depthMetersMat2 = cvCreateMat(480, 640, CV_16UC1);
kinectDepthImage2 = cvCreateImage( cvSize(640,480),16,1 );
colorArr[0] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
colorArr[1] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
colorArr[2] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U);
//prepare_for_face_detection();
int b;
int g;
int r;
while ((rc = image.WaitAndUpdateData()) != XN_STATUS_EOF && (rc = depth.WaitAndUpdateData()) != XN_STATUS_EOF) {
if (rc != XN_STATUS_OK) {
printf("Read failed: %s\n", xnGetStatusString(rc));
break;
}
depth.GetMetaData(depthMD);
image.GetMetaData(imageMD);
//XnUInt32 a;
//a = g_imageMD.FPS;
printf("%d\n",imageMD.FrameID());
//a = g_depthMD.DataSize();
//printf("%d\n",a);
pDepth = depthMD.Data();
pImageRow = imageMD.RGB24Data();
for (unsigned int y=0; y<imageMD.YRes(); y++) {
pPixel = pImageRow;
uchar* Bptr = colorArr[0].ptr<uchar>(y);
uchar* Gptr = colorArr[1].ptr<uchar>(y);
uchar* Rptr = colorArr[2].ptr<uchar>(y);
for(unsigned int x=0;x<imageMD.XRes();++x , ++pPixel){
Bptr[x] = pPixel->nBlue;
Gptr[x] = pPixel->nGreen;
Rptr[x] = pPixel->nRed;
depthMetersMat->data.s[y * XN_VGA_X_RES + x ] = 7*pDepth[y * XN_VGA_X_RES + x];
depthMetersMat2->data.s[y * XN_VGA_X_RES + x ] = pDepth[y * XN_VGA_X_RES + x];
}
pImageRow += imageMD.XRes();
}
cv::merge(colorArr,3,colorImage);
iplImage = colorImage;
//cvThreshold(depthMetersMat2, depthMetersMat2, 150, 1500, THRESH_BINARY);
cvGetImage(depthMetersMat,kinectDepthImage);
cvGetImage(depthMetersMat2,kinectDepthImage2);
depthImage = Bw2Image(kinectDepthImage2);
printf("1. Middle pixel is %u millimeters away\n",depthImage[240][320]);
rgbImage = RgbImage(&iplImage);
// we want to see on up to 2000 MM
int THRESH = 2000;
for (unsigned int y=0; y<imageMD.YRes(); y++) {
for(unsigned int x=0;x<imageMD.XRes();++x){
if ( depthImage[y][x] >= THRESH ) {
depthImage[y][x] = 0;
} else {
float tmp = depthImage[y][x];
tmp = tmp / THRESH * (65536)*(-1) + 65536;
depthImage[y][x] = (unsigned int)tmp;
}
}
}
// THE PART ABOUT FILTERING COLOURS IN HSV TO SEE ONLY SPECIFIC ONE
// AFTER ONE FEW MORPHOLOGICAL OPERATIONS TO MAKE IT LOOK BETTER
IplImage* imgHSV = cvCreateImage(cvGetSize(&iplImage), 8, 3);
cvCvtColor(&iplImage, imgHSV, CV_BGR2HSV);
imgThreshed = cvCreateImage(cvGetSize(&iplImage), 8, 1);
//cvInRangeS(imgHSV, cvScalar(100, 60, 80), cvScalar(110, 255, 255), imgThreshed); // BLUE
cvInRangeS(imgHSV, cvScalar(29, 95, 95), cvScalar(35, 255, 255), imgThreshed); // YELLOW
//cvInRangeS(imgHSV, cvScalar(29, 60, 60), cvScalar(35, 255, 255), imgThreshed); // YELLOW DARK
//cvInRangeS(imgHSV, cvScalar(150, 70, 70), cvScalar(160, 255, 255), imgThreshed); // PINK
//cvInRangeS(imgHSV, cvScalar(40, 76, 76), cvScalar(70, 255, 255), imgThreshed); // GREEN
IplConvKernel* kernel = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT, NULL);
//cvDilate(imgThreshed,imgThreshed,kernel);
//cvErode(imgThreshed,imgThreshed,kernel);
Mat mat = Mat(imgThreshed);
blur(Mat(imgThreshed),mat,cvSize(3,3));
imgThreshed = &IplImage(mat);
//cvInRangeS(imgThreshed,cvScalar(100),cvScalar(255),imgThreshed);
//cvErode(imgThreshed,imgThreshed,kernel);
cvDilate(imgThreshed,imgThreshed,kernel);
cvDilate(imgThreshed,imgThreshed,kernel);
cvErode(imgThreshed,imgThreshed,kernel);
cvErode(imgThreshed,imgThreshed,kernel);
mat = Mat(imgThreshed);
blur(Mat(imgThreshed),mat,cvSize(6,6));
imgThreshed = &IplImage(mat);
cvInRangeS(imgThreshed,cvScalar(100),cvScalar(255),imgThreshed);
cvReleaseImage(&imgHSV);
BwImage threshed = BwImage(imgThreshed);
if ( initialize == true ) {
normalizeReferenceFace();
int currentID = 0;
for ( int y = 30; y<480; y++ ) {
for ( int x = 30; x<640; x++ ) {
bool g2g = true;
//printf("%d %d %d\n",ID, y,x);
if ( threshed[y][x]!=0 ) {
for ( int ID2 = 0; ID2<nbOfPoints; ID2++) {
if ( (abs(markers[ID2].y-y)<proximityLimit) && (abs(markers[ID2].x-x)<proximityLimit)) {
g2g = false;
}
}
if (currentID >= nbOfPoints || g2g == false ) {
break;
}
markers[currentID].y=y;
markers[currentID].x=x;
currentID++;
printf("WHITE PIXEL INITIALIZED %d: %d %d\n",currentID, x,y);
}
}
}
if (isDebugConf==true || currentID == nbOfMarkers) {
printf("%d PIXELS INITIALIZED\n", currentID);
initialize = false;
//printf("%d,%d\n", currentID, nbOfPoints);
//return 0;
} else {
printf("WAITING FOR %d PIXELS TO APPEAR, %d SO FAR \n",nbOfMarkers, currentID);
continue;
}
// FIND TOP RIGHT AND CHIN PIXEL
int refPixID = 0;
int chinPixID = 0;
for ( int i = 0; i < nbOfMarkers; i++) {
if ( (markers[i].x + markers[i].y)*(markers[i].x + markers[i].y) < (markers[refPixID].x + markers[refPixID].y)* (markers[refPixID].x + markers[refPixID].y)) {
refPixID = i;
}
if (markers[i].y > markers[chinPixID].y) {
chinPixID = i;
}
}
float width = (markers[1].x-markers[0].x)*2;
float heigth = abs(markers[1].y-markers[0].y);
// WE GOT WIDTH & HEIGTH OF THE FACE, LETS ADJUST POINTS
// SET 0 to REF, SET 1 to CHIN
MyPoint tmp = MyPoint(markers[refPixID].x,markers[refPixID].y);
markers[refPixID].x = markers[0].x;
markers[refPixID].y = markers[0].y;
markers[0].x = tmp.x;
markers[0].y = tmp.y;
tmp = MyPoint(markers[chinPixID].x,markers[chinPixID].y);
markers[chinPixID].x = markers[1].x;
markers[chinPixID].y = markers[1].y;
markers[1].x = tmp.x;
markers[1].y = tmp.y;
// REST OF THE POINTS
for ( int i = 2; i < nbOfPoints; i++) {
int cost = 0;
int lowestCost = 0;
int closestPixID = -1;
for ( int j = 2; j < nbOfMarkers; j++ ) {
cost = (markers[j].x-points[i].x*width)*(markers[j].x-points[i].x*width) + (markers[j].y-points[i].y*heigth)*(markers[j].y-points[i].y*heigth);
if ( cost < lowestCost ) {
lowestCost = cost;
closestPixID = j;
}
if (closestPixID == -1) {
//printf("COS JEST SPORO NIE W PORZADKU, CHECK HERE\n");
break;
}
tmp.x = markers[i].x;
tmp.y = markers[i].y;
markers[i].x=markers[closestPixID].x;
markers[i].x=markers[closestPixID].y;
markers[closestPixID].x = tmp.x;
markers[closestPixID].y = tmp.y;
}
}
}
for ( int currentPixelID = 0; currentPixelID < nbOfMarkers; currentPixelID++) {
if (markers[currentPixelID].x == 0) {
continue;
}
if ( threshed[markers[currentPixelID].y][markers[currentPixelID].x] < 128 ) {
printf("PIXEL %d LOST\n",currentPixelID);
for ( int neighbSize = 2; neighbSize < maxNeighbSize; neighbSize = neighbSize + 2 ) {
int x1 = markers[currentPixelID].x - neighbSize/2;
if ( x1 < intoDepthX(0) ) {
x1 = (int)intoDepthX(0);
}
int y1 = (int)(markers[currentPixelID].y-neighbSize/2);
if ( y1 < intoDepthY(0) ) {
y1 = intoDepthY(0);
}
int y2 = markers[currentPixelID].y+neighbSize/2;
if ( y2 > intoDepthY(480) ) {
y2 = intoDepthY(480);
}
int x2 = markers[currentPixelID].x+neighbSize/2;
if ( x2 > intoDepthX(640) ) {
y2 = intoDepthX(640);
}
bool found = false;
for ( int y = y1; y < y2; y++) {
for ( int x = x1; x < x2; x++) {
bool g2g = true;
if (threshed[y][x] > 128) {
for ( int ID2 = 0; ID2<nbOfMarkers; ID2++) {
if ( currentPixelID == ID2 )
continue;
if ( (abs(markers[ID2].y-y)<proximityLimit) && (abs(markers[ID2].x-x)<proximityLimit)) {
g2g = false;
break;
}
}
if ( g2g ) {
markers[currentPixelID].x = x;
markers[currentPixelID].y = y;
found = true;
printf("Pixel %d, FOUND\n",currentPixelID);
break;
}
}
}
if (found == true ) {
break;
}
}
if (found == true ) {
break;
}
}
}
paintMarkerOnBoth(markers[currentPixelID]);
}
faceImage = cvCreateImage(cvGetSize(&iplImage), 8, 1);
paintFace();
// normal kinect depth
cvShowImage("Depth_Kinect", kinectDepthImage);
// depth within 80 - 200 mm, normalized
cvShowImage("Depth_Kinect_2", kinectDepthImage2);
// rgb with tracking points
cvShowImage("RGB_Kinect", &iplImage);
// colour detector
cvShowImage("RGB_Threshed", imgThreshed);
// attempt to draw a face
cvShowImage("Face Image", faceImage);
cvWaitKey(50); // wait 20 ms
if ( avi == NULL) {
printf ("dupa%d \n",1);
}
//cvWriteFrame (avi, &iplImage);
}
// cvReleaseImageHeader(kinectDepthImage);
cvReleaseVideoWriter(&avi);
// cvReleaseHaarClassifierCascade( &cascade );
context.Shutdown();
return 0;
}
//////////////////// Entry point ////////////////////
int main(int argc, char* argv[])
{
depthmask_for_mesh = cvCreateImage(MESH_SIZE, IPL_DEPTH_8U, 1);
markerSize.width = -1;
markerSize.height = -1;
//init OpenNI
EnumerationErrors errors;
switch (XnStatus rc = niContext.InitFromXmlFile(KINECT_CONFIG_FILENAME, &errors)) {
case XN_STATUS_OK:
break;
case XN_STATUS_NO_NODE_PRESENT:
XnChar strError[1024]; errors.ToString(strError, 1024);
printf("%s\n", strError);
return rc; break;
default:
printf("Open failed: %s\n", xnGetStatusString(rc));
return rc;
}
//set camera parameter
capture = new Camera(0, CAPTURE_SIZE, CAMERA_PARAMS_FILENAME);
RegistrationParams = scaleParams(capture->getParameters(), double(REGISTRATION_SIZE.width)/double(CAPTURE_SIZE.width));
//init parameter for rendering
osg_init(calcProjection(RegistrationParams, capture->getDistortion(), REGISTRATION_SIZE));
//for Kinect view
loadKinectParams(KINECT_PARAMS_FILENAME, &kinectParams, &kinectDistort);
kinectDistort =0;
kinectParams->data.db[2]=320.0;
kinectParams->data.db[5]=240.0;
//setting kinect context
niContext.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
niContext.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
g_depth.GetMirrorCap().SetMirror(false);
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
//registration
kinectReg = new RegistrationOPIRA(new OCVSurf());
kinectReg->addResizedMarker(MARKER_FILENAME, 400);
//physics
m_world = new bt_ARMM_world();
ground_grid = new float[GRID_SIZE];
for (int i =0;i < GRID_SIZE; i++) {
ground_grid[i] = 0;
}
#ifdef SIM_PARTICLES
voxel_grid = new float[1200];
for (int i =0;i < 1200; i++) {
voxel_grid[i] = 0;
}
#endif
//controls
KeyboardController *kc = new KeyboardController(m_world);
XboxController *xc = new XboxController(m_world);
loadKinectTransform(KINECT_TRANSFORM_FILENAME);
#ifdef USE_ARMM_VRPN
//----->Server part
m_Connection = new vrpn_Connection_IP();
ARMM_server = new ARMM_Communicator(m_Connection );
//Open the imager server and set up channel zero to send our data.
//if ( (ARMM_img_server = new vrpn_Imager_Server("ARMM_Image", m_Connection, MESH_SIZE.width, MESH_SIZE.height)) == NULL) {
// fprintf(stderr, "Could not open imager server\n");
// return -1;
//}
//if ( (channel_id = ARMM_img_server->add_channel("Grid")) == -1) {
// fprintf(stderr, "Could not add channel\n");
// return -1;
//}
ARMM_server->SetObjectsData(&(m_world->Objects_Body));
ARMM_server->SetHandsData(&(m_world->HandObjectsArray));
cout << "Created VRPN server." << endl;
//<-----
#ifdef USE_ARMM_VRPN_RECEIVER //----->Receiver part
ARMM_sever_receiver = new vrpn_Tracker_Remote (ARMM_CLIENT_IP);
ARMM_sever_receiver->register_change_handler(NULL, handle_object);
#endif //<-----
#endif
#ifdef USE_SKIN_SEGMENTATION //Skin color look up
_HandRegion.LoadSkinColorProbTable();
#endif
#ifdef USE_OPTICAL_FLOW
prev_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1);
curr_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1);
flow_capture = new FlowCapture();
flow_capture->Init();
#endif
/////////////////////////////////////////////Main Loop////////////////////////////////////////////////
while (running) {
//start kinect
if (XnStatus rc = niContext.WaitAnyUpdateAll() != XN_STATUS_OK) {
printf("Read failed: %s\n", xnGetStatusString(rc));
return rc;
}
//get image and depth data from Kinect
g_depth.GetMetaData(niDepthMD);
g_image.GetMetaData(niImageMD);
colourIm = cvCreateImage(cvSize(niImageMD.XRes(), niImageMD.YRes()), IPL_DEPTH_8U, 3);
memcpy(colourIm->imageData, niImageMD.Data(), colourIm->imageSize); cvCvtColor(colourIm, colourIm, CV_RGB2BGR);
cvFlip(colourIm, colourIm, 1);
depthIm = cvCreateImage(cvSize(niDepthMD.XRes(), niDepthMD.YRes()), IPL_DEPTH_16U, 1);
transDepth160 = cvCreateImage(cvSize(MESH_SIZE.width, MESH_SIZE.height), IPL_DEPTH_32F, 1);
transDepth320 = cvCreateImage(cvSize(SKIN_SEGM_SIZE.width, SKIN_SEGM_SIZE.height), IPL_DEPTH_32F, 1);
transColor320 = cvCreateImage(cvSize(SKIN_SEGM_SIZE.width, SKIN_SEGM_SIZE.height), IPL_DEPTH_8U, 3);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
//cvCircle(colourIm, cvPoint(marker_origin.x,marker_origin.y), 5, CV_BLUE, 3);
cvShowImage("Kinect View", colourIm);
IplImage *arImage = capture->getFrame();
cvWaitKey(1);
//check input device
input_key = kc->check_input();
#ifdef USE_ARMM_VRPN_RECEIVER
if( pass_key != 0){
kc->check_input(pass_key);
pass_key = 0;
}
#endif
xc->check_input();
if(kinectTransform) { // kinect transform as cvmat* for use
if( counter >= SIM_FREQUENCY) {
#ifdef UPDATE_TRIMESH
inpaintDepth(&niDepthMD, true);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
TransformImage(depthIm, transDepth160, MARKER_DEPTH, MESH_SIZE, true);
GenerateTrimeshGroundFromDepth(transDepth160, MARKER_DEPTH); /*Trimesh generation*/
m_world->updateTrimeshRefitTree(ground_grid);//opencl?
osg_UpdateHeightfieldTrimesh(ground_grid);//opencl?
#endif
#ifdef SIM_PARTICLES
/*World spheres simulation*/
// GenerateVoxelFromDepth(depthIm, MARKER_DEPTH);
// m_world->updateWorldSphereTransform(voxel_grid);
// osgUpdateWorldSphereTransform(voxel_grid);
#endif
counter = 0;
} else {
#ifdef USE_SKIN_SEGMENTATION /*Skin color segmentation*/ // may be reduce resolution first as well as cut off depth make processing faster
// (2)Sphere representation
FindHands(depthIm, colourIm);
UpdateAllHands();
#endif
#ifdef USE_PARTICLES
//XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
#endif
counter++;
}
//do hand pose recognition
m_world->Update();
//(B)normal client only rendering
RenderScene(arImage, capture);
}
// TickCountAverageEnd();
#ifdef USE_ARMM_VRPN
//Send Car position+orientation
ARMM_server->mainloop();
#ifdef USE_ARMM_VRPN_RECEIVER
ARMM_sever_receiver->mainloop();
#endif
////Copy depth info
//for (int i = 0; i < GRID_SIZE;i++) {
// ARMM_img_buffer[i] = ground_grid[i];
//}
//Send depth grid info
//ARMM_img_server->send_begin_frame(0, MESH_SIZE.width-1, 0, MESH_SIZE.height-1);
// ARMM_img_server->mainloop();
// int nRowsPerRegion= ((int) vrpn_IMAGER_MAX_REGIONf32)/ MESH_SIZE.width;
// for(int y=0; y<MESH_SIZE.height; y+=nRowsPerRegion) {
// ARMM_img_server->send_region_using_base_pointer(channel_id,0,MESH_SIZE.width-1,y,min(MESH_SIZE.width,y+nRowsPerRegion)-1, ARMM_img_buffer, 1, MESH_SIZE.width, MESH_SIZE.height);
// ARMM_img_server->mainloop();
// }
// ARMM_img_server->send_end_frame(0, MESH_SIZE.width-1, 0, MESH_SIZE.height-1);
// ARMM_img_server->mainloop();
//Exec data transmission
m_Connection->mainloop();
#endif
#ifdef USE_OPTICAL_FLOW
if(!RunOnce) RunOnce = true;
cvCopyImage(curr_gray, prev_gray);
#endif
cvReleaseImage(&arImage);
cvReleaseImage(&depthIm);
cvReleaseImage(&colourIm);
cvReleaseImage(&transDepth160);
#ifdef USE_SKIN_SEGMENTATION
cvReleaseImage(&transDepth320);
cvReleaseImage(&transColor320);
#endif
}
#ifdef USE_OPTICAL_FLOW
cvReleaseImage(&prev_gray); cvReleaseImage(&curr_gray);
#endif
//memory release
osg_uninit();
delete m_world;
delete kinectReg;
cvReleaseMat(&RegistrationParams);
delete kc;
delete xc;
return 0;
}
//----------------------------------------------------
// OpenNI関連の初期化
//----------------------------------------------------
void xnInit(void){
XnStatus rc;
EnumerationErrors errors;
rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT){
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
exit(1);
}else if (rc != XN_STATUS_OK){
printf("Open failed: %s\n", xnGetStatusString(rc));
exit(1);
}
//playerInit();
rc = xnFPSInit(&g_xnFPS, 180); // FPSの初期化
//CHECK_RC(rc, "FPS Init");
// デプス・イメージ・ユーザジェネレータの作成
rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
errorCheck(rc, "g_depth"); // エラーチェック
rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
errorCheck(rc, "g_image");
rc = g_context.FindExistingNode(XN_NODE_TYPE_USER, g_user);
//rc = g_user.Create(g_context);
errorCheck(rc, "g_user");
// ユーザー検出機能をサポートしているか確認
if (!g_user.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) {
//throw std::runtime_error("ユーザー検出をサポートしてません");
cout << "ユーザー検出をサポートしてません" << endl;
exit(1);
}
// レコーダーの設定
//rc = setRecorder(g_recorder, rc);
// ユーザコールバックの登録
XnCallbackHandle userCallbacks;
g_user.RegisterUserCallbacks(UserDetected, UserLost, NULL, userCallbacks);
// デプス・イメージ・ユーザデータの取得
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
g_user.GetUserPixels(0, g_sceneMD);
// Hybrid mode isn't supported in this sample
// イメージとデプスの大きさが違うとエラー
if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes()){
printf ("The device depth and image resolution must be equal!\n");
exit(1);
}
// RGB is the only image format supported.
// フォーマットの確認
if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24){
printf("The device image format must be RGB24\n");
exit(1);
}
// Texture map init
// フルスクリーン画面の大きさ調整
g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes() - 1) / 512) + 1) * 512; // 大きさによって512の倍数に調整(1024)
g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes() - 1) / 512) + 1) * 512; // 512
g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); // スクリーンの大きさ分の色情報の容量を確保
// 座標ポインタの初期化
g_pPoint = (XnPoint3D*)malloc(KINECT_IMAGE_SIZE * sizeof(XnPoint3D)); // 座標を入れるポインタを作成
g_pBackTex = (XnRGB24Pixel*)malloc(KINECT_IMAGE_SIZE * sizeof(XnRGB24Pixel)); // 背景画像を入れるポインタを作成
g_pBackPoint = (XnPoint3D*)malloc(KINECT_IMAGE_SIZE * sizeof(XnPoint3D)); // 背景座標を入れるポインタを作成
g_pBackDepth = (XnDepthPixel*)malloc(KINECT_IMAGE_SIZE * sizeof(XnDepthPixel)); // 背景座標を入れるポインタを作成
}
const Int32 NInput::init(void)
{
XnStatus xn_rs = XN_STATUS_OK;
EnumerationErrors errors;
// hardware initializing
xn_rs = context.Init();
if (xn_rs == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
lasterr_str = reinterpret_cast<TCHAR*>(strError);
return (xn_rs);
}
else if (xn_rs != XN_STATUS_OK)
{
lasterr_str = Str(_T("Open failed: "))
+ Str(reinterpret_cast<const TCHAR*>(xnGetStatusString(xn_rs)));
return (xn_rs);
}
// mumble
XnLicense license;
xnOSStrCopy(license.strVendor, "PrimeSense", XN_MAX_NAME_LENGTH);
xnOSStrCopy(license.strKey, "0KOIk2JeIBYClPWVnMoRKn5cdY4=",
XN_MAX_LICENSE_LENGTH);
CHECK_RC(context.AddLicense(license), "Added license");
#ifdef MOTOR
// motor initializing
#define VID_MICROSOFT 0x45e
#define PID_NUI_MOTOR 0x02b0
// CHECK_RC(xnUSBInit(), "USB init");
XN_USB_DEV_HANDLE dev;
CHECK_RC(xnUSBOpenDevice(VID_MICROSOFT, PID_NUI_MOTOR, NULL, NULL, &dev),
"USB Open");
uChar empty[0x1];
int angle = 1;
CHECK_RC(xnUSBSendControl(dev,
XN_USB_CONTROL_TYPE_VENDOR,
0x31, (XnUInt16)angle,
0x0, empty, 0x0, 0), "USB sendcontrol");
CHECK_RC(xnUSBCloseDevice(dev), "USB Close");
#endif
// base initializing
CHECK_RC(gen_depth.Create(context), "Find depth generator");
CHECK_RC(gen_image.Create(context), "Find image generator");
// recognition initializing
CHECK_RC(gen_user.Create(context), "Find user generator");
CHECK_RC(gen_gesture.Create(context), "Find gesture generator");
CHECK_RC(gen_hands.Create(context), "Find hand generator");
// user initializing
XnCallbackHandle usr_cbh;
gen_user.RegisterUserCallbacks(cb_usr_found, cb_usr_lost, this, usr_cbh);
// gestures initializing
XnCallbackHandle gesture_cb;
gen_gesture.RegisterGestureCallbacks(cb_gst_recognized, cb_gst_beginning,
this, gesture_cb);
// hands initializing
XnCallbackHandle hand_cb;
gen_hands.RegisterHandCallbacks(cb_hnd_begin, cb_hnd_continue,
cb_hnd_finish, this, hand_cb);
xn_rs = context.StartGeneratingAll();
CHECK_RC(xn_rs, "Start generating all");
// The first getting of metadatas
gen_depth.GetMetaData(depthMD);
gen_image.GetMetaData(imageMD);
gen_user.GetUserPixels(0, sceneMD);
// gesture
add_ordinal_gestures();
CHECK_RC(xn_rs, "Start generating gesture");
// Hybrid mode isn't supported in this sample
if (imageMD.FullXRes() != depthMD.FullXRes()
|| imageMD.FullYRes() != depthMD.FullYRes())
{
lasterr_str =
_T("The device depth and image resolution must be equal!\n");
return 1;
}
// RGB is the only image format supported.
if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
lasterr_str = _T("The device image format must be RGB24\n");
return 1;
}
// Calibrate rgb and depth
gen_depth.GetAlternativeViewPointCap().SetViewPoint(gen_image);
XnFieldOfView fov;
gen_depth.GetFieldOfView(fov);
OutputDebugStr("max_depth: %d fov: %f/%f\n", gen_depth.GetDeviceMaxDepth(),
fov.fVFOV, fov.fHFOV);
return true;
}
int main(int argc, char* argv[])
{
XnBool bChooseDevice = false;
const char* csRecordingName = NULL;
if (argc > 1)
{
if (strcmp(argv[1], "-devices") == 0)
{
bChooseDevice = TRUE;
}
else
{
csRecordingName = argv[1];
}
}
if (csRecordingName != NULL)
{
// check if running from a different directory. If so, we need to change directory
// to the real one, so that path to INI file will be OK (for log initialization, for example)
if (0 != changeDirectory(argv[0]))
{
return(ERR_DEVICE);
}
}
// Xiron Init
XnStatus rc = XN_STATUS_OK;
EnumerationErrors errors;
if (csRecordingName != NULL)
{
xnLogInitFromXmlFile(SAMPLE_XML_PATH);
rc = openDeviceFile(argv[1]);
}
else if (bChooseDevice)
{
rc = openDeviceFromXmlWithChoice(SAMPLE_XML_PATH, errors);
}
else
{
rc = openDeviceFromXml(SAMPLE_XML_PATH, errors);
}
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
closeSample(ERR_DEVICE);
return (rc);
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(rc));
closeSample(ERR_DEVICE);
}
captureInit();
statisticsInit();
//reshaper.zNear = 1;
//reshaper.zFar = 100;
//glut_add_interactor(&reshaper);
//cb.mouse_function = MouseCallback;
//cb.motion_function = MotionCallback;
//cb.passive_motion_function = MotionCallback;
//cb.keyboard_function = KeyboardCallback;
//cb.reshape_function = ReshapeCallback;
//glut_add_interactor(&cb);
glutInit(&argc, argv);
glutInitDisplayString("stencil double rgb");
glutInitWindowSize(WIN_SIZE_X, WIN_SIZE_Y);
glutCreateWindow("OpenNI Viewer");
//glutFullScreen();
glutSetCursor(GLUT_CURSOR_NONE);
glutMouseFunc(MouseCallback);
glutMotionFunc(MotionCallback);
init_opengl();
glutIdleFunc(IdleCallback);
glutDisplayFunc(drawFunctionMain);
glutPassiveMotionFunc(MotionCallback);
//createKeyboardMap();
//createMenu();
atexit(onExit);
//Use built in hand tracker class to handle all hand movements and gestures
HandTracker mainHandTracker(g_Context);
m_HandTracker = &mainHandTracker;
drawInit(m_HandTracker);
//mainHandTracker.Init();
//mainHandTracker.Run();
xn::ImageGenerator test;
g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, test);
xn::DepthGenerator depth;
g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
depth.GetAlternativeViewPointCap().SetViewPoint(test);
glutMainLoop();
return 0;
}
/*
* Function: KinectMonitor (Constructor)
*
* Initializes all the production nodes for the kinect to get and process data.
* Sets the camera tilt to the specified (or default) angle.
* Registers the OpenNI callbacks for user events.
* Registers the system signal handlers (for terminating the program).
* Initializes the global and member variables.
*
* Parameters:
* int* tilt - A pointer to the desired tilt angle of the camera.
* If it is NULL, the default value is used.
*/
KinectMonitor::KinectMonitor(char *tilt) {
XnStatus status;
EnumerationErrors errors;
XnCallbackHandle userCallbacks;
// Setup Context from an XML configuration file (the default supplied by OpenNI)
// CONTEXT_XML is defined in monitor.h
status = context.InitFromXmlFile(CONTEXT_XML, scriptNode, &errors);
// Check to ensure that the context was initialized properly.
if( status == XN_STATUS_NO_NODE_PRESENT ) {
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return;
} else if( status != XN_STATUS_OK ) {
printf("Could not initialize Context: %s\n", xnGetStatusString(status));
return;
}
// Setup Depth Generator production node from the context
status = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depthGenerator);
// Setup User Generator production node from the context
status = context.FindExistingNode(XN_NODE_TYPE_USER, userGenerator);
// Check that the user generator is available
if( status != XN_STATUS_OK ) {
// If the context did not define a UserGenerator node, then try to create one
status = userGenerator.Create(context);
CHECK_RC(status, "Find user generator");
}
// Set FPS
status = xnFPSInit(&xnFPS, 180);
// Check for Skeletal Mapping
if( !userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON) ) {
printf("Skeletal mapping not supported.\n");
return;
}
// Set the skeletal profile to only include the joints in the upper body.
// Profile options are XN_SKEL_PROFILE_<option>
// Where <option> could be: NONE, ALL, UPPER, LOWER, or HEAD_HANDS
userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_UPPER);
// Tilt camera - This feature requires the program to be run with root privilege,
// because it requires writing to the usb device.
XN_USB_DEV_HANDLE dev;
// Sets the angle to either the DEFAULT_TILT (defined in monitor.h) or the given tilt.
int angle = (tilt == nullptr)? DEFAULT_TILT : atoi(tilt);
// Open the kinect usb device
status = xnUSBOpenDevice(VID_MICROSOFT, PID_NUI_MOTOR, NULL, NULL, &dev);
// Send the proper code to the usb device to set the angle.
uint8_t empty[0x1];
status = xnUSBSendControl(
dev, XN_USB_CONTROL_TYPE_VENDOR, 0x31, (XnUInt16)angle,
0x0, empty, 0x0, 0
);
// Register Callbacks
status = userGenerator.RegisterUserCallbacks(
foundUser, lostUser, NULL, userCallbacks
);
// Register Handlers
signal(SIGABRT, &stop);
signal(SIGTERM, &stop);
signal(SIGINT, &stop);
// Initialize globals
quit = false;
out = true;
}
int main(int argc, char* argv[])
{
int nRetVal;
XnStatus rc;
EnumerationErrors errors;
// get playback file if using
if (argc > 2 && strcmp(argv[2], "true") == 0) {
rc = g_context.Init();
rc = g_context.OpenFileRecording(RECORDING_PATH, g_player);
CHECK_RC(rc, "Opening file");
rc = g_player.SetRepeat(TRUE);
CHECK_RC(rc, "Turn repeat off");
} else {
// get context from xml
rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors);
}
// error checking
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (rc);
}
CHECK_RC(rc, "Context initialization");
// get hand and image generator from context, check errors
rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
CHECK_RC(rc, "Get image generator");
rc = g_context.FindExistingNode(XN_NODE_TYPE_HANDS, g_hands);
CHECK_RC(rc, "Get hand generator");
rc = g_context.FindExistingNode(XN_NODE_TYPE_GESTURE, g_gesture);
CHECK_RC(rc, "Get gesture generator");
// create and register callbacks
XnCallbackHandle h1, h2;
g_gesture.RegisterGestureCallbacks(Gesture_Recognized,
Gesture_Process,
NULL, h1);
CHECK_RC(rc, "Get register gesture callback");
g_hands.RegisterHandCallbacks(Hand_Create, Hand_Update,
Hand_Destroy, NULL, h2);
CHECK_RC(rc, "Get hand callback");
// add gestures to the generator
rc = g_gesture.AddGesture("Click", NULL);
CHECK_RC(rc, " add click gesture");
rc = g_gesture.AddGesture("RaiseHand", NULL);
CHECK_RC(rc, "add raise gesture");
rc = g_gesture.AddGesture("Wave", NULL);
CHECK_RC(rc, "add wave gesture");
g_image.GetMetaData(g_imageMD);
// RGB is the only image format supported.
if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("The device image format must be RGB24\n");
return 1;
}
// if argument is set true, then record the session
if (argc > 1 && strcmp(argv[1], "true") == 0) {
std::cout << "recording to " << RECORDING_PATH << std::endl;
// Create Recorder
rc = recorder.Create(g_context);
CHECK_RC(rc, "create recorder");
// Init it
rc = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, RECORDING_PATH);
CHECK_RC(rc, "init recorder");
// Add nodes to recording
rc = recorder.AddNodeToRecording(g_image);
CHECK_RC(rc, "add image node");
rc = recorder.AddNodeToRecording(g_hands);
CHECK_RC(rc, "add hands node");
}
// initialize and run program
glutInit(&argc, argv); // GLUT initialization
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH ); // Display Mode
glutInitWindowSize(WIDTH, HEIGHT); // set window size
glutInitWindowPosition(GL_WIN_POSITION_X, GL_WIN_POSITION_Y);
glutCreateWindow(TITLE); // create Window
glutDisplayFunc(glutDisplay); // register Display Function
glutIdleFunc(glutDisplay); // register Idle Function
glutKeyboardFunc(glutKeyboard ); // register Keyboard Handler
initialize();
glutMainLoop();
CleanUpExit();
return 0;
}
int main(int argc, char* argv[]) {
markerSize.width = -1; markerSize.height = -1;
EnumerationErrors errors;
switch (XnStatus rc = niContext.InitFromXmlFile(KINECT_CONFIG_FILENAME, &errors)) {
case XN_STATUS_OK:
break;
case XN_STATUS_NO_NODE_PRESENT:
XnChar strError[1024]; errors.ToString(strError, 1024);
printf("%s\n", strError);
return rc; break;
default:
printf("Open failed: %s\n", xnGetStatusString(rc));
return rc;
}
capture = new Camera(CAPTURE_SIZE, CAMERA_PARAMS_FILENAME);
RegistrationParams = scaleParams(capture->getParameters(), double(REGISTRATION_SIZE.width)/double(CAPTURE_SIZE.width));
osg_init(calcProjection(RegistrationParams, capture->getDistortion(), REGISTRATION_SIZE));
loadKinectParams(KINECT_PARAMS_FILENAME, &kinectParams, &kinectDistort);
kinectDistort =0;
kinectParams->data.db[2]=320.0; kinectParams->data.db[5]=240.0;
niContext.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
niContext.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
g_depth.GetMirrorCap().SetMirror(false);
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
kinectReg = new RegistrationOPIRA(new OCVSurf());
kinectReg->addResizedMarker(MARKER_FILENAME, 400);
//physics
m_world = new KCRPhysicsWorld();
ground_grid = new float[19200];
for (int i =0;i < 19200; i++) {
ground_grid[i] = 0;
}
#ifdef SIM_PARTICLES
voxel_grid = new float[1200];
for (int i =0;i < 1200; i++) {
voxel_grid[i] = 0;
}
#endif
//controls
KeyboardController *kc = new KeyboardController(m_world);
XboxController *xc = new XboxController(m_world);
loadKinectTransform(KINECT_TRANSFORM_FILENAME);
#ifdef USE_ARMM_VRPN
m_Connection = new vrpn_Connection_IP();
ARMM_server = new ARMM_Communicator(m_Connection );
cout << "Created VRPN server." << endl;
#endif
#ifdef USE_SKIN_SEGMENTATION //Skin color look up
_HandRegion.LoadSkinColorProbTable();
#endif
#ifdef USE_OPTICAL_FLOW
prev_colourIm = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
#endif
/////////////////////////////////////////////Main Loop////////////////////////////////////////////////
while (running) {
if (XnStatus rc = niContext.WaitAnyUpdateAll() != XN_STATUS_OK) {
printf("Read failed: %s\n", xnGetStatusString(rc));
return rc;
}
g_depth.GetMetaData(niDepthMD);
g_image.GetMetaData(niImageMD);
colourIm = cvCreateImage(cvSize(niImageMD.XRes(), niImageMD.YRes()), IPL_DEPTH_8U, 3);
memcpy(colourIm->imageData, niImageMD.Data(), colourIm->imageSize); cvCvtColor(colourIm, colourIm, CV_RGB2BGR);
cvFlip(colourIm, colourIm, 1);
depthIm = cvCreateImage(cvSize(niDepthMD.XRes(), niDepthMD.YRes()), IPL_DEPTH_16U, 1);
transDepth160 = cvCreateImage(cvSize(MESH_SIZE.width, MESH_SIZE.height), IPL_DEPTH_32F, 1);
transDepth320 = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_32F, 1);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
cvShowImage("Kinect View", colourIm);
IplImage *arImage = capture->getFrame();
cvWaitKey(1);
kc->check_input(); xc->check_input();
#ifdef USE_OPTICAL_FLOW
if(RunOnce) SceneOpticalFlowLK(prev_colourIm, colourIm);
#endif
if(kinectTransform) { // kinect transform as cvmat* for use
if( counter >= 4) {
inpaintDepth(&niDepthMD, true);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
TransformDepth(depthIm, transDepth160, MARKER_DEPTH, MESH_SIZE);
GenerateTrimeshGroundFromDepth(transDepth160, MARKER_DEPTH); /*Trimesh generation*/
m_world->updateTrimeshRefitTree(ground_grid);//opencl?
osg_UpdateHeightfieldTrimesh(ground_grid);//opencl?
#ifdef SIM_PARTICLES
/*World spheres simulation*/
// GenerateVoxelFromDepth(depthIm, MARKER_DEPTH);
// m_world->updateWorldSphereTransform(voxel_grid);
// osgUpdateWorldSphereTransform(voxel_grid);
#endif
counter = 0;
} else {
#ifdef USE_SKIN_SEGMENTATION /*Skin color segmentation*/ // may be reduce resolution first as well as cut off depth make processing faster
TransformDepth(depthIm, transDepth320, MARKER_DEPTH, CV_OP_SIZE);
IplImage* depthTmp = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_8U, 1);
IplImage* colourImResized = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_8U, 3);
gray = cvCreateImage(cvSize(colourImResized->width, colourImResized->height),IPL_DEPTH_8U,1);
hand_region = cvCreateImage(cvSize(colourImResized->width, colourImResized->height),IPL_DEPTH_8U,1);
IplImage* colourIm640 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
// cvCmpS(transDepth, 0, depthTmp, CV_CMP_LT);//dst must b 8U
cvThreshold(transDepth320, depthTmp, 1, 255, CV_THRESH_BINARY_INV); //thres at 1cm above marker
cvResize(colourIm, colourImResized, CV_INTER_NN);//use nearest neighbor interpolation
// removeNoise( depthTmp, 100 );
// cvSet(colourImResized, cvScalar(0), depthTmp);
cvShowImage ("Marker Thresh", colourImResized);
cvResize(colourImResized, colourIm640,CV_INTER_NN);
cvShowImage ("Marker Thresh 640", colourIm640);
cvCopyImage( _HandRegion.GetHandRegion( colourImResized, gray), hand_region );
// removeNoise( hand_region, 20 );
cvThreshold(hand_region, depthTmp, 0, 255, CV_THRESH_BINARY_INV);
// removeNoise( depthTmp, 100 );
// cvShowImage ("depthTmp", depthTmp);
// cvShowImage ("hand_region", hand_region);
cvSet(colourImResized, cvScalar(0), depthTmp);
// cvShowImage ("Skin Color", colourImResized);
// cvDilate(colourImResized,colourImResized,CV_SHAPE_RECT,1);
// cvErode(colourImResized,colourImResized,CV_SHAPE_RECT,1);
// cvMorphologyEx(colourImResized,colourImResized,NULL,CV_SHAPE_RECT,CV_MOP_OPEN,1);
cvResize(colourImResized, colourIm640,CV_INTER_NN);
cvShowImage ("Color Skin Color 640", colourIm640);
cvReleaseImage(&depthTmp);
cvReleaseImage(&colourImResized);
cvReleaseImage(&colourIm640);
#endif
#ifdef USE_PARTICLES
/*
IplImage* depthTmp1 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_32F, 1);
IplImage* depthTmp2 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_8U, 1);
cvConvertScale(depthIm, depthTmp1, 1);
// cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO_INV);//thresh 5mm above marker
cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-10, 255, CV_THRESH_TOZERO);
//cvCmpS(depthTmp1, MARKER_DEPTH, depthTmp2, CV_CMP_GT);
// cvShowImage("DEPTH640", depthTmp2);
// IplImage* colourTmp = cvCreateImage(cvSize(colourIm->width, colourIm->height), IPL_DEPTH_8U, 3);
// cvCopyImage(colourIm, colourTmp);
// cvSet(colourTmp, cvScalar(0), depthTmp2);
// cvShowImage ("Color640", colourTmp);
cvSet(depthTmp1, cvScalar(0), depthTmp2);
cvShowImage("DEPTH640_32F", depthTmp1);
*/
inpaintDepth(&niDepthMD, true);
// TransformDepth(depthTmp1, transDepth, MARKER_DEPTH);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
TransformDepth(depthIm, transDepth, MARKER_DEPTH);
IplImage* depthTmp3 = cvCreateImage(cvSize(TRACKING_SIZE.width, TRACKING_SIZE.height), IPL_DEPTH_8U, 1);
cvThreshold(transDepth, depthTmp3, 0.5, 255, CV_THRESH_BINARY_INV);
// cvThreshold(transDepth, depthTmp3, 0, 255, CV_THRESH_TOZERO);
// cvConvertScale(transDepth, depthTmp3, 1);
cvShowImage("DEPTH160", transDepth);
IplImage* colourImResized = cvCreateImage(cvSize(TRACKING_SIZE.width, TRACKING_SIZE.height), IPL_DEPTH_8U, 3);
cvResize(colourIm, colourImResized, CV_INTER_NN);//use nearest neighbor interpolation
cvSet(colourImResized, cvScalar(0), depthTmp3);
cvShowImage ("Color160", colourImResized);
// cvReleaseImage(&depthTmp1);
// cvReleaseImage(&depthTmp2);
// cvReleaseImage(&colourTmp);
cvReleaseImage(&depthTmp3);
cvReleaseImage(&colourImResized);
/*
IplImage* depthTmp1 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_32F, 1);
IplImage* depthTmp2 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_8U, 1);
cvConvertScale(depthIm, depthTmp1, 1);
// cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO_INV);//thresh 5mm above marker
cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO);
//cvCmpS(depthTmp1, MARKER_DEPTH, depthTmp2, CV_CMP_GT);
cvShowImage("TMP_DEPTH", depthTmp2);
IplImage* colourTmp = cvCreateImage(cvSize(colourIm->width, colourIm->height), IPL_DEPTH_8U, 3);
cvCopyImage(colourIm, colourTmp);
cvSet(colourTmp, cvScalar(0), depthTmp2);
cvShowImage ("Basic Thresh", colourTmp);
cvReleaseImage(&depthTmp1);
cvReleaseImage(&depthTmp2);
*/
#endif
counter++;
// } else {
// counter++;
}
//do hand pose recognition
m_world->Update();
RenderScene(arImage, capture);
}
#ifdef USE_ARMM_VRPN
ARMM_server->mainloop();
m_Connection->mainloop();
#endif
#ifdef USE_OPTICAL_FLOW
if(!RunOnce) RunOnce = true;
cvCopyImage(colourIm, prev_colourIm);
memcpy(prev_colourIm->imageData, niImageMD.Data(), prev_colourIm->imageSize);
cvCvtColor(prev_colourIm, prev_colourIm, CV_RGB2BGR);
#endif
cvReleaseImage(&arImage);
cvReleaseImage(&depthIm); cvReleaseImage(&colourIm);
cvReleaseImage(&transDepth320);cvReleaseImage(&transDepth160);
#ifdef USE_SKIN_SEGMENTATION
cvReleaseImage(&gray); cvReleaseImage(&hand_region);
#endif
}
cvReleaseImage(&prev_colourIm);
osg_uninit();
delete m_world;
delete kinectReg;
cvReleaseMat(&RegistrationParams);
delete kc;
return 0;
}
bool CVKinectWrapper::init(string CalibFilePath)
{
this->CalibFilePath = CalibFilePath;
XnStatus rc;
EnumerationErrors errors;
rc = g_context.InitFromXmlFile(CalibFilePath.c_str(), g_scriptNode, &errors);
if (rc == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
error = 1;
return started;
}
else if (rc != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(rc));
error = 2;
return started;
}
rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
if (rc != XN_STATUS_OK)
{
printf("No depth node exists! Check your XML.");
error = 3;
return started;
}
rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
if (rc != XN_STATUS_OK)
{
printf("No image node exists! Check your XML.");
error = 4;
return started;
}
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
// Hybrid mode isn't supported in this sample
if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes())
{
printf ("The device depth and image resolution must be equal!\n");
error = 5;
return started;
}
// RGB is the only image format supported.
if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24)
{
printf("The device image format must be RGB24\n");
error = 6;
return started;
}
// skeleton
rc = g_context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (rc != XN_STATUS_OK)
{
rc = g_UserGenerator.Create(g_context);
CHECK_RC(rc, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected, hCalibrationInProgress, hPoseInProgress;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
error = 7;
return 1;
}
rc = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(rc, "Register to user callbacks");
rc = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(rc, "Register to calibration start");
rc = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(rc, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
error = 7;
return 1;
}
rc = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(rc, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
rc = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationInProgress(MyCalibrationInProgress, NULL, hCalibrationInProgress);
CHECK_RC(rc, "Register to calibration in progress");
rc = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseInProgress(MyPoseInProgress, NULL, hPoseInProgress);
CHECK_RC(rc, "Register to pose in progress");
rc = g_context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
_rgbImage = new Mat(480, 640, CV_8UC3, Scalar::all(0));
_comboImage = new Mat(480, 640, CV_8UC3, Scalar::all(0));
_depthImage = new Mat(480, 640, CV_8UC1, Scalar::all(0));
_rawDepth = new Mat(480, 640, CV_16UC1, Scalar::all(0));
rgbImage = cvCreateImage (cvSize (640, 480), IPL_DEPTH_8U, 3);
depthImage = cvCreateImage (cvSize (640, 480), IPL_DEPTH_8U, 3);
comboImage = cvCreateImage (cvSize (640, 480), IPL_DEPTH_8U, 3);
rawDepth = cvCreateImage (cvSize (640, 480), IPL_DEPTH_8U, 3);
started = true;
error = 0;
return started;
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
Context context;
ScriptNode scriptNode;
EnumerationErrors errors;
XnUInt32 min_z1, min_z2, min_z3, maxGrad, distVal;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
XnFPSData xnFPS;
nRetVal = xnFPSInit(&xnFPS, 180);
CHECK_RC(nRetVal, "FPS Init");
DepthMetaData depthMD;
//Initialize WiringPi
if(wiringPiSetup() == -1)
exit(1);
//Enable SoftPWM on pin 1,2 and 3
softPwmCreate(1, 0, RANGE);
softPwmCreate(2, 0, RANGE);
softPwmCreate(3, 0, RANGE);
while (!xnOSWasKeyboardHit())
{
nRetVal = context.WaitOneUpdateAll(depth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnFPSMarkFrame(&xnFPS);
depth.GetMetaData(depthMD);
const XnDepthPixel* pDepthMap = depthMD.Data();
int XRes = depthMD.XRes();
int YRes = depthMD.YRes();
//To find closest pixel value in Zone 1, Zone 2 and Zone 3
min_z1 = getClosestPixel( 0 , 0, (XRes / 2) , YRes, depthMD);
min_z2 = getClosestPixel( (XRes / 4), 0, (3 * XRes / 4), YRes, depthMD);
min_z3 = getClosestPixel( (XRes / 2), 0, XRes , YRes, depthMD);
double in_low = 600;
double in_high = 2000;
double in_diff = in_high - in_low;
double out_low = 51;
double out_high = 973;
double out_diff = out_high - out_low;
distVal = min_z1;
XnUInt32 pwm_val1 = ( (out_diff) / ((in_diff)*(in_diff)*(in_diff)) ) * ((in_high - distVal) * (in_high - distVal) * (in_high - distVal)) + out_low;
distVal = min_z2;
XnUInt32 pwm_val2 = ( (out_diff) / ((in_diff)*(in_diff)*(in_diff)) ) * ((in_high - distVal) * (in_high - distVal) * (in_high - distVal)) + out_low;
distVal = min_z3;
XnUInt32 pwm_val3 = ( (out_diff) / ((in_diff)*(in_diff)*(in_diff)) ) * ((in_high - distVal) * (in_high - distVal) * (in_high - distVal)) + out_low;
// Zone 1 - Left side (pin )
if (pwm_val1 < out_low)
pwm_val1 = 0; // if object too far, set DUTY CYCLE to 0
if (min_z1 == 9000.0)
pwm_val1 = out_high; //if object too close, set DUTY CYCLE to max (here, 95%)
if (min_z1 < 600)
pwm_val1 = out_high;
// Zone 2 - Center (pin )
if (pwm_val2 < out_low)
pwm_val2 = 0; // if object too far, set DUTY CYCLE to 0
if (min_z2 == 9000.0)
pwm_val2 = out_high; //if object too close, set DUTY CYCLE to max (here, 95%)
if (min_z2 < 600)
pwm_val2 = out_high;
// Zone 3 - Right side (pin )
if (pwm_val3 < out_low)
pwm_val3 = 0; // if object too far, set DUTY CYCLE to 0
if (min_z3 == 9000.0)
pwm_val3 = out_high; //if object too close, set DUTY CYCLE to max (here, 95%)
if (min_z3 < 600)
pwm_val3 = out_high;
pwm_val1 = ((pwm_val1 - out_low) / (1.0 * out_diff)) * 100.0;
pwm_val2 = ((pwm_val2 - out_low) / (1.0 * out_diff)) * 100.0;
pwm_val3 = ((pwm_val3 - out_low) / (1.0 * out_diff)) * 100.0;
softPwmWrite(1,(int)pwm_val1);
softPwmWrite(2,(int)pwm_val2);
softPwmWrite(3,(int)pwm_val3);
if ( (depthMD.FrameID() % 30) == 0)
{
printf("Frame %d", depthMD.FrameID());
printf("\n");
printf("Zone 1 value is %u \t", pwm_val1);
printf("Zone 2 value is %u \t", pwm_val2);
printf("Zone 3 value is %u \n", pwm_val3);
printf("Zone1 min_dis %u \t", min_z1);
printf("Zone2 min_dis %u \t", min_z2);
printf("Zone3 min_dis %u \n", min_z3);
//To find a gradient value for the floor
//maxGrad = getGradient( 5, 0, (YRes/2) + 1, depthMD.XRes(), depthMD.YRes(), depthMD);
//printf("Frame %d max gradient for Floor is: %u. FPS: %f\n\n", depthMD.FrameID(), maxGrad, xnFPSCalc(&xnFPS));
}
}
softPwmWrite(1,0);
softPwmWrite(2,0);
softPwmWrite(3,0);
//release the nodes
depth.Release();
scriptNode.Release();
context.Release();
return 0;
}
