OpenniGrabber :: OpenniGrabber(OpenniDriver& driver, const std::string& camera_serial) :
m_driver(driver),
m_camera_id(-1),
m_camera_serial(camera_serial),
m_subsampling_factor(1),
m_need_pose_to_calibrate(false),
m_max_num_users(15),
m_body_event_detector(0),
m_high_resolution(false),
m_mirrored(false),
m_custom_bayer_decoding(false),
m_xml_config_file(DEFAULT_XML_CONFIG_FILE),
m_track_users(true),
m_get_infrared(false),
m_has_rgb(true)
{
for (size_t i = 0; i < driver.numDevices(); ++i)
{
if (driver.deviceInfo(i).serial == camera_serial)
{
m_camera_id = i;
break;
}
}
if (m_camera_id < 0)
{
ntk_throw_exception("Could not find any device with serial " + camera_serial);
}
setDefaultBayerMode();
}
int main()
{
ntk::ntk_debug_level = 1;
OpenniDriver driver;
ntk_dbg_print(driver.numDevices(), 1);
OpenniGrabber grabber1(driver, 0);
OpenniGrabber grabber2(driver, 1);
grabber1.connectToDevice();
grabber2.connectToDevice();
grabber1.start();
grabber2.start();
RGBDImage image1, image2;
OpenniRGBDProcessor post_processor;
while (true)
{
// Wait for a new frame, get a local copy and postprocess it.
grabber1.waitForNextFrame();
grabber1.copyImageTo(image1);
grabber2.waitForNextFrame();
grabber2.copyImageTo(image2);
post_processor.processImage(image2);
cv::Mat1b debug_depth_img1 = normalize_toMat1b(image1.depth());
cv::Mat1b debug_depth_img2 = normalize_toMat1b(image2.depth());
cv::Mat3b debug_color_img1 = image1.mappedRgb();
cv::Mat3b debug_color_img2 = image2.mappedRgb();
cv::Mat3b debug_users1;
cv::Mat3b debug_users2;
image1.fillRgbFromUserLabels(debug_users1);
image2.fillRgbFromUserLabels(debug_users2);
imshow("depth1", debug_depth_img1);
imshow("color1", debug_color_img1);
imshow("users1", debug_users1);
imshow("depth2", debug_depth_img2);
imshow("color2", debug_color_img2);
imshow("users2", debug_users2);
cv::waitKey(10);
}
}
void *kinect_reader(void *threadid)
{
long tid;
int count = 0;
tid = (long) threadid;
cout << "Thread for kinect reader n. " << tid << " started" << endl;
int num_dev = ni_driver.numDevices();
#if 1
if (num_dev < NUM_KINECTS) {
{
while (true) {
Sleep(1000);
cout << "Error: Less than two Kinect were detected (" <<
ni_driver.numDevices() << ") for tid:" << tid << endl;
}
}
}
#endif
OpenniGrabber *grabber = new OpenniGrabber(ni_driver, 0);
grabber->setTrackUsers(false);
grabber->connectToDevice();
grabber->start();
cout << "Before mesh generator" << endl;
// Mesh generator
MeshGenerator *mesh_generator = new MeshGenerator();
mesh_generator->setMeshType(MeshGenerator::PointCloudMesh);
RGBDImage image;
while (true) {
count++;
grabber->waitForNextFrame();
cout << "!" << tid;
lock(tid);
// got the frame
grabber->copyImageTo(curr_frames[tid].image);
curr_frames[tid].processed = false;
unlock(tid);
}
}
