int readOpenNiColorAndDepth(VideoStream &color , VideoStream &depth,VideoFrameRef &colorFrame,VideoFrameRef &depthFrame)
{
#if USE_WAITFORANYSTREAM_TO_GRAB
#warning "Please turn #define USE_WAITFORANYSTREAM_TO_GRAB 0"
#warning "This is a bad idea taken from OpenNI2/Samples/SimpleViewer , we dont just want to update 'any' frame we really want to snap BOTH and do that sequentially"
#warning "It is better to sequencially grab them instead of waiting for any stream a couple of times "
openni::VideoStream** m_streams = new openni::VideoStream*[2];
m_streams[0] = &depth;
m_streams[1] = &color;
unsigned char haveDepth=0,haveColor=0;
int changedIndex;
while ( (!haveDepth) || (!haveColor) )
{
openni::Status rc = openni::OpenNI::waitForAnyStream(m_streams, 2, &changedIndex);
if (rc != openni::STATUS_OK)
{
fprintf(stderr,"Wait failed\n");
return 0 ;
}
unsigned int i=0;
switch (changedIndex)
{
case 0:
depth.readFrame(&depthFrame);
haveDepth=1;
break;
case 1:
color.readFrame(&colorFrame);
haveColor=1;
break;
default:
printf("Error in wait\n");
return 0;
}
}
delete m_streams;
return 1;
#else
//Using serial frame grabbing
readFrameBlocking(depth,depthFrame,MAX_TRIES_FOR_EACH_FRAME); // depth.readFrame(&depthFrame);
readFrameBlocking(color,colorFrame,MAX_TRIES_FOR_EACH_FRAME); // color.readFrame(&colorFrame);
if(depthFrame.isValid() && colorFrame.isValid()) { return 1; }
fprintf(stderr,"Depth And Color frames are wrong!\n");
#endif
return 0;
}
void XtionDepthDriverImpl::onNewFrame(VideoStream &stream)
{
VideoFrameRef ref;
stream.readFrame(&ref);
_lastCaptured = XtionDepthImage(ref.getData(), ref.getDataSize(),
ref.getWidth(), ref.getHeight(), 0, this);
}
virtual void onNewFrame(VideoStream& stream)
{
ros::Time ts = ros::Time::now();
VideoFrameRef frame;
stream.readFrame(&frame);
sensor_msgs::Image::Ptr img(new sensor_msgs::Image);
sensor_msgs::CameraInfo::Ptr info(new sensor_msgs::CameraInfo);
double scale = double(frame.getWidth()) / double(1280);
info->header.stamp = ts;
info->header.frame_id = frame_id_;
info->width = frame.getWidth();
info->height = frame.getHeight();
info->K.assign(0);
info->K[0] = 1050.0 * scale;
info->K[4] = 1050.0 * scale;
info->K[2] = frame.getWidth() / 2.0 - 0.5;
info->K[5] = frame.getHeight() / 2.0 - 0.5;
info->P.assign(0);
info->P[0] = 1050.0 * scale;
info->P[5] = 1050.0 * scale;
info->P[2] = frame.getWidth() / 2.0 - 0.5;
info->P[6] = frame.getHeight() / 2.0 - 0.5;
switch(frame.getVideoMode().getPixelFormat())
{
case PIXEL_FORMAT_GRAY8:
img->encoding = sensor_msgs::image_encodings::MONO8;
break;
case PIXEL_FORMAT_GRAY16:
img->encoding = sensor_msgs::image_encodings::MONO16;
break;
case PIXEL_FORMAT_YUV422:
img->encoding = sensor_msgs::image_encodings::YUV422;
break;
case PIXEL_FORMAT_RGB888:
img->encoding = sensor_msgs::image_encodings::RGB8;
break;
case PIXEL_FORMAT_SHIFT_9_2:
case PIXEL_FORMAT_DEPTH_1_MM:
img->encoding = sensor_msgs::image_encodings::TYPE_16UC1;
break;
default:
ROS_WARN("Unknown OpenNI pixel format!");
break;
}
img->header.stamp = ts;
img->header.frame_id = frame_id_;
img->height = frame.getHeight();
img->width = frame.getWidth();
img->step = frame.getStrideInBytes();
img->data.resize(frame.getDataSize());
std::copy(static_cast<const uint8_t*>(frame.getData()), static_cast<const uint8_t*>(frame.getData()) + frame.getDataSize(), img->data.begin());
publish(img, info);
}
const short unsigned int *wb_kinect_get_range_image_mm(WbDeviceTag tag) {
if(kinectenable) {
int i;
int changedStreamDummy;
VideoStream* pStream = &depth;
rc = OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);
if (rc != STATUS_OK)
{
printf("Wait failed! (timeout is %d ms)\n%s\n", SAMPLE_READ_WAIT_TIMEOUT, OpenNI::getExtendedError());
return NULL;
}
rc = depth.readFrame(&frame);
if (rc != STATUS_OK)
{
printf("Read failed!\n%s\n", OpenNI::getExtendedError());
return NULL;
}
if (frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_1_MM && frame.getVideoMode().getPixelFormat() != PIXEL_FORMAT_DEPTH_100_UM)
{
printf("Unexpected frame format\n");
return NULL;
}
DepthPixel* pDepth = (DepthPixel*)frame.getData();
height_pixels = frame.getHeight();
width_pixels = frame.getWidth();
if (width_pixels>160){
//Fix blind column
for(i=0;i<height_pixels;i++){
pDepth[i*width_pixels + 0] = pDepth[i*width_pixels + 3];
pDepth[i*width_pixels + 1] = pDepth[i*width_pixels + 3];
pDepth[i*width_pixels + 2] = pDepth[i*width_pixels + 3];
}
} else {
for(i=0;i<height_pixels;i++){
pDepth[i*width_pixels + 0] = pDepth[i*width_pixels + 1];
}
}
return pDepth;
}
// kinect not enable
fprintf(stderr, "2.Please enable the kinect before to use wb_kinect_get_range_image()\n");
return NULL;
}
int readFrameBlocking(VideoStream &stream,VideoFrameRef &frame , unsigned int max_tries)
{
unsigned int tries_for_frame = 0 ;
while ( tries_for_frame < max_tries )
{
stream.readFrame(&frame);
if (frame.isValid()) { return 1; }
++tries_for_frame;
}
if (!frame.isValid()) { fprintf(stderr,"Could not get a valid frame even after %u tries \n",max_tries); return 0; }
return (tries_for_frame<max_tries);
}
int
main (int argc, char** argv)
{
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
std::cout << "Initialize failed: " << OpenNI::getExtendedError() << std::endl;
return 1;
}
Device device;
rc = device.open(ANY_DEVICE);
if (rc != STATUS_OK)
{
std::cout << "Couldn't open device: " << OpenNI::getExtendedError() << std::endl;
return 2;
}
VideoStream stream;
if (device.getSensorInfo(currentSensor) != NULL)
{
rc = stream.create(device, currentSensor);
if (rc != STATUS_OK)
{
std::cout << "Couldn't create stream: " << OpenNI::getExtendedError() << std::endl;
return 3;
}
}
rc = stream.start();
if (rc != STATUS_OK)
{
std::cout << "Couldn't start the stream: " << OpenNI::getExtendedError() << std::endl;
return 4;
}
VideoFrameRef frame;
//now open the video writer
Size S = Size(stream.getVideoMode().getResolutionX(),
stream.getVideoMode().getResolutionY());
VideoWriter outputVideo;
std::string fileName = "out.avi";
outputVideo.open(fileName, -1, stream.getVideoMode().getFps(), S, currentSensor == SENSOR_COLOR ? true : false);
if (!outputVideo.isOpened())
{
std::cout << "Could not open the output video for write: " << fileName << std::endl;
return -1;
}
while (waitKey(50) == -1)
{
int changedStreamDummy;
VideoStream* pStream = &stream;
rc = OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);
if (rc != STATUS_OK)
{
std::cout << "Wait failed! (timeout is " << SAMPLE_READ_WAIT_TIMEOUT << "ms): " << OpenNI::getExtendedError() << std::endl;
continue;
}
rc = stream.readFrame(&frame);
if (rc != STATUS_OK)
{
std::cout << "Read failed:" << OpenNI::getExtendedError() << std::endl;
continue;
}
Mat image;
switch (currentSensor)
{
case SENSOR_COLOR:
image = Mat(frame.getHeight(), frame.getWidth(), CV_8UC3, (void*)frame.getData());
break;
case SENSOR_DEPTH:
image = Mat(frame.getHeight(), frame.getWidth(), DataType<DepthPixel>::type, (void*)frame.getData());
break;
case SENSOR_IR:
image = Mat(frame.getHeight(), frame.getWidth(), CV_8U, (void*)frame.getData());
break;
default:
break;
}
namedWindow( "Display window", WINDOW_AUTOSIZE ); // Create a window for display.
imshow( "Display window", image ); // Show our image inside it.
outputVideo << image;
}
stream.stop();
stream.destroy();
device.close();
OpenNI::shutdown();
return 0;
}
int main()
{
// 2. initialize OpenNI
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
return 1;
}
// 3. open a device
Device device;
rc = device.open(ANY_DEVICE);
if (rc != STATUS_OK)
{
printf("Couldn't open device\n%s\n", OpenNI::getExtendedError());
return 2;
}
// 4. create depth stream
VideoStream depth;
if (device.getSensorInfo(SENSOR_DEPTH) != NULL){
rc = depth.create(device, SENSOR_DEPTH);
if (rc != STATUS_OK){
printf("Couldn't create depth stream\n%s\n", OpenNI::getExtendedError());
return 3;
}
}
VideoStream color;
if (device.getSensorInfo(SENSOR_COLOR) != NULL){
rc = color.create(device, SENSOR_COLOR);
if (rc != STATUS_OK){
printf("Couldn't create color stream\n%s\n", OpenNI::getExtendedError());
return 4;
}
}
// 5. create OpenCV Window
cv::namedWindow("Depth Image", CV_WINDOW_AUTOSIZE);
cv::namedWindow("Color Image", CV_WINDOW_AUTOSIZE);
// 6. start
rc = depth.start();
if (rc != STATUS_OK)
{
printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
return 5;
}
rc = color.start();
if (rc != STATUS_OK){
printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
return 6;
}
VideoFrameRef colorframe;
VideoFrameRef depthframe;
int iMaxDepth = depth.getMaxPixelValue();
int iColorFps = color.getVideoMode().getFps();
cv::Size iColorFrameSize = cv::Size(color.getVideoMode().getResolutionX(), color.getVideoMode().getResolutionY());
cv::Mat colorimageRGB;
cv::Mat colorimageBGR;
cv::Mat depthimage;
cv::Mat depthimageScaled;
#ifdef F_RECORDVIDEO
cv::VideoWriter outputvideo_color;
cv::FileStorage outputfile_depth;
time_t timenow = time(0);
tm ltime;
localtime_s(<ime, &timenow);
int tyear = 1900 + ltime.tm_year;
int tmouth = 1 + ltime.tm_mon;
int tday = ltime.tm_mday;
int thour = ltime.tm_hour;
int tmin = ltime.tm_min;
int tsecond = ltime.tm_sec;
string filename_rgb = "RGB/rgb_" + to_string(tyear) + "_" + to_string(tmouth) + "_" + to_string(tday)
+ "_" + to_string(thour) + "_" + to_string(tmin) + "_" + to_string(tsecond) + ".avi";
string filename_d = "D/d_" + to_string(tyear) + "_" + to_string(tmouth) + "_" + to_string(tday)
+ "_" + to_string(thour) + "_" + to_string(tmin) + "_" + to_string(tsecond) + ".yml";
outputvideo_color.open(filename_rgb, CV_FOURCC('I', '4', '2', '0'), iColorFps, iColorFrameSize, true);
if (!outputvideo_color.isOpened()){
cout << "Could not open the output color video for write: " << endl;
return 7;
}
outputfile_depth.open(filename_d, cv::FileStorage::WRITE);
if (!outputfile_depth.isOpened()){
cout << "Could not open the output depth file for write: " << endl;
return 8;
}
#endif // F_RECORDVIDEO
// 7. main loop, continue read
while (!wasKeyboardHit())
{
// 8. check is color stream is available
if (color.isValid()){
if (color.readFrame(&colorframe) == STATUS_OK){
colorimageRGB = { colorframe.getHeight(), colorframe.getWidth(), CV_8UC3, (void*)colorframe.getData() };
cv::cvtColor(colorimageRGB, colorimageBGR, CV_RGB2BGR);
}
}
// 9. check is depth stream is available
if (depth.isValid()){
if (depth.readFrame(&depthframe) == STATUS_OK){
depthimage = { depthframe.getHeight(), depthframe.getWidth(), CV_16UC1, (void*)depthframe.getData() };
depthimage.convertTo(depthimageScaled, CV_8U, 255.0 / iMaxDepth);
}
}
cv::imshow("Color Image", colorimageBGR);
cv::imshow("Depth Image", depthimageScaled);
#ifdef F_RECORDVIDEO
outputvideo_color << colorimageBGR;
outputfile_depth << "Mat" << depthimage;
#endif // F_RECORDVIDEO
cv::waitKey(10);
}
color.stop();
depth.stop();
color.destroy();
depth.destroy();
device.close();
OpenNI::shutdown();
return 0;
}
void* camera_thread(void*){
VideoFrameRef frame;
VideoFrameRef rgbframe;
int changed_stream;
VideoStream* pStream;
VideoStream* pRgbStream;
sensor_msgs::CameraInfo rgb_info;
sensor_msgs::CameraInfo depth_info;
sensor_msgs::Image image;
image.header.frame_id=frame_id;
image.is_bigendian=0;
int count = 0;
int num_frames_stat=64;
struct timeval previous_time;
gettimeofday(&previous_time, 0);
uint64_t last_stamp = 0;
while(run){
bool new_frame = false;
uint64_t current_stamp = 0;
openni::OpenNI::waitForAnyStream(streams, 2, &changed_stream);
switch (changed_stream)
{
//DEPTH
case 0:
depth.readFrame(&frame);
depth_info.header.stamp=ros::Time::now();
image.header.stamp=ros::Time::now();
if(!frame.isValid()) break;
current_stamp=frame.getTimestamp();
if (current_stamp-last_stamp>5000){
count++;
new_frame = true;
}
last_stamp = current_stamp;
if (! (count % (_frame_skip)) ){
image.header.seq = count;
if (! _registration){
image.header.frame_id=frame_id+"_depth";
} else
image.header.frame_id=frame_id+"_rgb";
depth_info.width=frame.getWidth();
depth_info.height=frame.getHeight();
depth_info.header.seq = count;
depth_info.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
depth_info.D.resize(5, 0.0);
depth_info.K[0]=depth_info.width/(2*tan(depth.getHorizontalFieldOfView()/2)); //fx
depth_info.K[4]=depth_info.height/(2*tan(depth.getVerticalFieldOfView()/2));; //fy
depth_info.K[2]=depth_info.width/2; //cx
depth_info.K[5]=depth_info.height/2; //cy
depth_info.K[8]=1;
depth_info.header.frame_id=image.header.frame_id;
image.height=frame.getHeight();
image.width=frame.getWidth();
image.encoding="mono16";
image.step=frame.getWidth()*2;
image.data.resize(image.step*image.height);
memcpy((char*)(&image.data[0]),frame.getData(),image.height*image.width*2);
pub_depth.publish(image);
pub_camera_info_depth.publish(depth_info);
}
break;
//RGB
case 1:
rgb.readFrame(&rgbframe);
image.header.stamp=ros::Time::now();
rgb_info.header.stamp=ros::Time::now();
if(!rgbframe.isValid()) break;
current_stamp=rgbframe.getTimestamp();
if (current_stamp-last_stamp>5000){
count++;
new_frame = true;
}
last_stamp = current_stamp;
if (_gain>=0) {
if (count > 64 && gain_status==0){
rgb.getCameraSettings()->setAutoExposureEnabled(false);
rgb.getCameraSettings()->setAutoWhiteBalanceEnabled(false);
rgb.getCameraSettings()->setExposure(1);
rgb.getCameraSettings()->setGain(100);
gain_status=1;
} else if (count > 128 && gain_status==1){
rgb.getCameraSettings()->setExposure(_exposure);
rgb.getCameraSettings()->setGain(_gain);
gain_status=2;
}
}
if (! (count%(_frame_skip)) ){
rgb_info.header.frame_id=frame_id+"_rgb";
rgb_info.width=rgbframe.getWidth();
rgb_info.height=rgbframe.getHeight();
rgb_info.header.seq = count;
rgb_info.K[0]=rgb_info.width/(2*tan(rgb.getHorizontalFieldOfView()/2)); //fx
rgb_info.K[4]=rgb_info.height/(2*tan(rgb.getVerticalFieldOfView()/2));; //fy
rgb_info.K[2]=rgb_info.width/2; //cx
rgb_info.K[5]=rgb_info.height/2; //cy
rgb_info.K[8]=1;
image.header.seq = count;
image.header.frame_id=frame_id+"_rgb";
image.height=rgbframe.getHeight();
image.width=rgbframe.getWidth();
image.encoding="rgb8";
image.step=rgbframe.getWidth()*3;
image.data.resize(image.step*image.height);
memcpy((char*)(&image.data[0]),rgbframe.getData(),image.height*image.width*3);
pub_rgb.publish(image);
pub_camera_info_rgb.publish(rgb_info);
}
break;
default:
printf("Error in wait\n");
}
if (!(count%num_frames_stat) && new_frame){
struct timeval current_time, interval;
gettimeofday(¤t_time, 0);
timersub(¤t_time, &previous_time, &interval);
previous_time = current_time;
double fps = num_frames_stat/(interval.tv_sec +1e-6*interval.tv_usec);
printf("running at %lf fps\n", fps);
fflush(stdout);
}
}
}
int _tmain(int argc, _TCHAR* argv[])
{
DepthDetector detector(ThresholdMin, ThresholdMax);
ScanLineSegmenter segmenter;
OpenNI::initialize();
Device device;
if (device.open(ANY_DEVICE) != STATUS_OK)
{
std::cout << "could not open any device\r\n";
return 1;
}
if (device.hasSensor(SENSOR_DEPTH))
{
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
auto& mode = modes[i];
std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
}
VideoStream stream;
stream.create(device, SENSOR_DEPTH);
VideoMode mode;
mode.setFps(25);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
stream.setMirroringEnabled(true);
stream.setVideoMode(mode);
stream.start();
std::cout << "press any key to capture background\r\n";
std::cin.get();
VideoFrameRef frame;
stream.readFrame(&frame);
DepthImage image(320, 240);
copyFrameToImage(frame, image);
detector.background(image);
std::cout << "starting capture loop\r\n";
CenterPointExtractor centerPointExtractor(MinBlobSize);
std::chrono::high_resolution_clock timer;
auto startTime = timer.now();
int frameId = 0;
while (true)
{
stream.readFrame(&frame);
copyFrameToImage(frame, image);
detector.detect(image);
std::vector<LineSegment> segments;
segmenter.segment(detector.mask(), segments);
std::vector<std::pair<float, float>> centerPoints;
centerPointExtractor.extract(segments, centerPoints);
if (centerPoints.size())
{
std::cout << "point count: " << centerPoints.size();
std::cout << "\t points: ";
for (auto& point : centerPoints)
{
std::cout << "(" << point.first << ", " << point.second << ") ";
}
std::cout << "\r\n";
}
++frameId;
if (frameId % 64 == 0)
{
auto stopTime = timer.now();
auto elapsedTime = stopTime - startTime;
auto elapsedMilliseconds = std::chrono::duration_cast<std::chrono::milliseconds>(elapsedTime).count();
std::cout << "\t total frames: " << frameId << "\t fps: " << elapsedMilliseconds / 64 << std::endl;
startTime = stopTime;
}
}
openni::OpenNI::shutdown();
return 0;
}
void DepthCallback::onNewFrame(VideoStream& stream)
{
stream.readFrame(&m_frame);
analyzeFrame(m_frame);
}
int _tmain(int argc, _TCHAR* argv[])
{
sdl::Application app;
DepthDetector detector(ThresholdMin, ThresholdMax);
ScanLineSegmenter segmenter;
OpenNI::initialize();
Device device;
if (device.open(ANY_DEVICE) != STATUS_OK)
{
std::cout << "could not open any device\r\n";
return 1;
}
if (device.hasSensor(SENSOR_DEPTH))
{
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
auto& mode = modes[i];
std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
}
VideoStream stream;
stream.create(device, SENSOR_DEPTH);
VideoMode mode;
mode.setFps(25);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
stream.setMirroringEnabled(true);
stream.setVideoMode(mode);
stream.start();
std::cout << "press any key to capture background\r\n";
std::cin.get();
VideoFrameRef frame;
stream.readFrame(&frame);
DepthImage image(320, 240);
copyFrameToImage(frame, image);
detector.background(image);
std::cout << "starting capture loop\r\n";
sdl::GLContext::setVersion(4, 3);
ImageViewer viewer;
viewer.add(0, 0, 320, 240);
viewer.add(320, 0, 320, 240);
viewer.add(0, 240, 320, 240);
viewer.add(320, 240, 320, 240);
CenterPointExtractor centerPointExtractor(MinBlobSize);
MotionRecorder recorder;
while (true)
{
stream.readFrame(&frame);
copyFrameToImage(frame, image);
detector.detect(image);
std::vector<LineSegment> segments;
segmenter.segment(detector.mask(), segments);
std::vector<std::pair<float, float>> centerPoints;
centerPointExtractor.extract(segments, centerPoints);
recorder.track(centerPoints);
viewer.crosses.clear();
std::transform(begin(centerPoints), end(centerPoints), std::back_inserter(viewer.crosses), [](std::pair<float, float>& coord) {
return Cross{ coord.first, coord.second };
});
viewer.lines.clear();
std::transform(begin(recorder.motions()), end(recorder.motions()), std::back_inserter(viewer.lines), [](const Motion& motion) {
return Lines{ motion.points };
});
viewer[0].update(detector.mask());
viewer[1].update(image);
viewer[2].update(detector.background());
viewer[3].update(detector.difference());
viewer.update();
}
openni::OpenNI::shutdown();
return 0;
}
int main()
{
FILE *fptrI = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv","w");
fprintf(fptrI, "Classtype, Area, Perimeter, Circularity, Extent\n");
fclose(fptrI);
Mat input = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\Fingers.bmp", 1);
Mat input2 = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\NotFingers.bmp", 1);
Mat inputF = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\ImageFeaturesBinaryF.bmp", 1);
Mat gray(input.rows, input.cols, CV_8UC3);
Mat gray2(input.rows, input.cols, CV_8UC3);
Mat grayF(input.rows, input.cols, CV_8UC3);
cvtColor(input, gray, CV_BGR2GRAY);
cvtColor(input2, gray2, CV_BGR2GRAY);
cvtColor(inputF, grayF, CV_BGR2GRAY);
shapeFeatures(gray, input, 1);
shapeFeatures(gray2, input2, 2);
namedWindow("Image");
imshow("Image", input);
namedWindow("Image2");
imshow("Image2", input2);
//------------------------------------------------------
//--------[SVM]--------
// Read input data from file created above
double parameters[5];
vector<double> svmI, svmA, svmP, svmC, svmE;
int size = 1;
double index = 0; double area = 0; double perimeter = 0; double circularity = 0;
char buffer[1024];
char *record, *line;
FILE* fptrR = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv", "r");
fscanf(fptrR, "%*[^\n]\n", NULL);
svmI.resize(size); svmA.resize(size); svmP.resize(size); svmC.resize(size);
while((line=fgets(buffer, sizeof(buffer), fptrR))!=NULL)
{
size++;
svmI.resize(size);
svmA.resize(size);
svmP.resize(size);
svmC.resize(size);
svmE.resize(size);
record = strtok(line, ";");
for(int i = 0; i < 5; i++);
{
double value = atoi(record);
record = strtok(line,";");
}
char *lineCopy = record;
char *pch;
pch = strtok(lineCopy, ",");
parameters[0] = atoi(pch);
int j = 1;
while( j < 5 )
{
pch = strtok (NULL, ",");
parameters[j] = atof(pch);
j++;
}
svmI[size-1] = parameters[0];
svmA[size-1] = parameters[1];
svmP[size-1] = parameters[2];
svmC[size-1] = parameters[3];
svmE[size-1] = parameters[4];
}
fclose(fptrR);
//---------------------
// Data for visual representation
int width = 512, height = 512;
Mat image = Mat::zeros(height, width, CV_8UC3);
// Set up training data
//float labels[8] = {1.0, -1.0, -1.0, -1.0};
float labels[1000];
for(int i = 0; i < svmI.size()-1; i++)
{
labels[i] = svmI[i+1];
}
Mat labelsMat(1000, 1, CV_32FC1, labels);
float trainingData[1000][4];
for(int i = 0; i < svmE.size()-1; i++)
{
trainingData[i][0] = svmE[i+1];
trainingData[i][1] = svmC[i+1];
trainingData[i][2] = svmA[i+1];
trainingData[i][3] = svmP[i+1];
}
Mat trainingDataMat(1000, 4, CV_32FC1, trainingData);
// Set up SVM's parameters
CvSVMParams params;
params = SVMFinger.get_params();
//params.svm_type = CvSVM::C_SVC;
//params.kernel_type = CvSVM::LINEAR;
//params.term_crit = cvTermCriteria(CV_TERMCRIT_ITER, 100, 1e-6);
// Train the SVM
SVMFinger.train_auto(trainingDataMat, labelsMat, Mat(), Mat(), params);
// Mat sampleMat = (Mat_<float>(1,2) << 138.5, 57);
// float response = SVMFinger.predict(sampleMat);
waitKey();
destroyWindow("Image");
destroyWindow("Image2");
//------------------------------------------
OpenNI::initialize();
Device devAnyDevice;
devAnyDevice.open(ANY_DEVICE);
//----------------[Define Video Settings]-------------------
//Set Properties of Depth Stream
VideoMode mModeDepth;
mModeDepth.setResolution( 640, 480 );
mModeDepth.setFps( 30 );
mModeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_100_UM );
//Set Properties of Color Stream
VideoMode mModeColor;
mModeColor.setResolution( 640, 480 );
mModeColor.setFps( 30 );
mModeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
//----------------------------------------------------------
//----------------------[Initial Streams]---------------------
VideoStream streamInitDepth;
streamInitDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamInitColor;
streamInitColor.create( devAnyDevice, SENSOR_COLOR );
streamInitDepth.setVideoMode( mModeDepth );
streamInitColor.setVideoMode( mModeColor );
namedWindow( "Depth Image (Init)", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image (Init)", CV_WINDOW_AUTOSIZE );
//namedWindow( "Thresholded Image (Init)", CV_WINDOW_AUTOSIZE );
VideoFrameRef frameDepthInit;
VideoFrameRef frameColorInit;
streamInitDepth.start();
streamInitColor.start();
cv::Mat BackgroundFrame;
int avgDist = 0;
int iMaxDepthInit = streamInitDepth.getMaxPixelValue();
OutX.clear();
OutY.clear();
vector<int> OldOutX, OldOutY;
OldOutX.clear();
OldOutY.clear();
//------------------------------------------------------------
//--------------------[Initiation Process]--------------------
while( true )
{
streamInitDepth.readFrame( &frameDepthInit );
streamInitColor.readFrame( &frameColorInit );
const cv::Mat mImageDepth( frameDepthInit.getHeight(), frameDepthInit.getWidth(), CV_16UC1, (void*)frameDepthInit.getData());
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepthInit );
cv::imshow( "Depth Image (Init)", mScaledDepth );
const cv::Mat mImageRGB(frameColorInit.getHeight(), frameColorInit.getWidth(), CV_8UC3, (void*)frameColorInit.getData());
cv::Mat cImageBGR;
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
//--------------------[Get Average Distance]---------------------
int depthVal = 0;
int frameHeight = frameDepthInit.getHeight();
int frameWidth = frameDepthInit.getWidth();
//------------
//backgroundDepth.resize(frameHeight * frameWidth);
//---------------------------------------------------------------
int initCount = 0;
for(int i = 0; i < frameHeight; i++)
{
for(int j = 0; j < frameWidth; j++)
{
depthVal = mImageDepth.at<unsigned short>(i, j) + depthVal;
initCount++;
}
}
avgDist = depthVal / ((frameHeight) * (frameWidth));
cout << "Average Distance: " << avgDist << endl;
cv::imshow( "Color Image (Init)", cImageBGR );
if( cv::waitKey(1) == 'q')
{
mImageDepth.copyTo(BackgroundFrame);
break;
}
}
streamInitDepth.destroy();
streamInitColor.destroy();
destroyWindow( "Depth Image (Init)" );
destroyWindow( "Color Image (Init)" );
VideoStream streamDepth;
streamDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamColor;
streamColor.create( devAnyDevice, SENSOR_COLOR );
streamDepth.setVideoMode( mModeDepth );
streamColor.setVideoMode( mModeColor );
streamDepth.start();
streamColor.start();
namedWindow( "Depth Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Thresholded Image", CV_WINDOW_AUTOSIZE );
int iMaxDepth = streamDepth.getMaxPixelValue();
VideoFrameRef frameColor;
VideoFrameRef frameDepth;
OutX.clear();
OutY.clear();
//------------------------------------------------------------
//------------------------------------------------------------
//-----------------------[Main Process]-----------------------
while( true )
{
streamDepth.readFrame( &frameDepth );
streamColor.readFrame( &frameColor );
const cv::Mat mImageDepth( frameDepth.getHeight(), frameDepth.getWidth(), CV_16UC1, (void*)frameDepth.getData());
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
////////////////////////////////////////////////////////////////////////////////////////////
//---------------------[Downsampling]-------------------------------------------------------
double min;
double max;
cv::minMaxIdx(mImageDepth, &min, &max);
cv::Mat adjMap;
// expand your range to 0..255. Similar to histEq();
float scale = 255 / (max-min);
mImageDepth.convertTo(adjMap,CV_8UC1, scale, -min*scale);
// this is great. It converts your grayscale image into a tone-mapped one,
// much more pleasing for the eye
// function is found in contrib module, so include contrib.hpp
// and link accordingly
cv::Mat falseColorsMap;
applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_AUTUMN);
cv::imshow("Out", falseColorsMap);
//------------------------------------------------------------------------------------------
////////////////////////////////////////////////////////////////////////////////////////////
cv::imshow( "Depth Image", mScaledDepth );
cv::imshow( "Depth Image2", adjMap );
const cv::Mat mImageRGB(frameColor.getHeight(), frameColor.getWidth(), CV_8UC3, (void*)frameColor.getData());
cv::Mat cImageBGR;
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
//-------------[Threshold]-----------------
cv::Mat mImageThres( frameDepth.getHeight(), frameDepth.getWidth(), CV_8UC1 );
int backgroundPxlCount = 0;
for(int i = 0; i < 480; i++)
{
for(int j = 0; j < 640; j++)
{
int depthVal = mImageDepth.at<unsigned short>(i, j);
avgDist = BackgroundFrame.at<unsigned short>(i, j)-2;
if((depthVal > (avgDist-14)) && (depthVal <= (avgDist-7)))
{
//mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 255;
mImageThres.at<uchar>(i, j) = 255;
}
else
{
//mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 0;
mImageThres.at<uchar>(i, j) = 0;
}
backgroundPxlCount++;
}
}
GaussianBlur( mImageThres, mImageThres, Size(3,3), 0, 0 );
fingerDetection( mImageThres, cImageBGR, OldOutX, OldOutY);
cv::imshow("Thresholded Image", mImageThres);
//----------------------------------------
if( cv::waitKey(1) == 'q')
{
break;
}
//------------------------------------------------
cv::imshow( "Color Image", cImageBGR );
//----------------------------------
OldOutX.clear();
OldOutY.clear();
OldOutX = OutX;
OldOutY = OutY;
OutX.clear();
OutY.clear();
}
return 0;
}
void onNewFrame(VideoStream& stream)
{
stream.readFrame(&m_frame);
analyzeFrame(m_frame);
}
void DepthSource::onNewFrame(VideoStream& stream)
{
Status status = stream.readFrame(&videoFrameRef);
if (status != STATUS_OK)
{
ofLogError() << "DepthSource readFrame FAIL: " << OpenNI::getExtendedError();
}
const DepthPixel* oniDepthPixels = (const DepthPixel*)videoFrameRef.getData();
if (doRawDepth)
{
if (doDoubleBuffering)
{
backRawPixels->setFromPixels(oniDepthPixels, width, height, 1);
swap(backRawPixels,currentRawPixels);
}else
{
currentRawPixels->setFromPixels(oniDepthPixels, width, height, 1);
}
}
ofPixels* pixelBuffer = currentPixels;
if (doDoubleBuffering)
{
pixelBuffer = backPixels;
}
float max = 255;
unsigned char nearColor=255;
unsigned char farColor=20;
for (unsigned short y = 0; y < height; y++)
{
unsigned char * pixel = pixelBuffer->getPixels() + y * width * 4;
for (unsigned short x = 0; x < width; x++, oniDepthPixels++, pixel += 4)
{
unsigned char red = 0;
unsigned char green = 0;
unsigned char blue = 0;
unsigned char alpha = 255;
unsigned short col_index;
if( (*oniDepthPixels > nearClipping) && (*oniDepthPixels< farClipping) ){
unsigned char a = //(unsigned char)(((*oniDepthPixels) / ( deviceMaxDepth / max)));
ofMap(*oniDepthPixels, nearClipping, farClipping, nearColor, farColor, true);
red = a;
green = a;
blue = a;
pixel[0] = red;
pixel[1] = green;
pixel[2] = blue;
if (*oniDepthPixels == 0)
{
pixel[3] = 0;
} else
{
pixel[3] = alpha;
}
}else{
pixel[0] = 0;
pixel[1] = 0;
pixel[2] = 0;
pixel[3] = 255;
}
}
}
if (doDoubleBuffering)
{
swap(backPixels,currentPixels);
}
}
int main()
{
// 2. initialize OpenNI
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
return 1;
}
// 3. open a device
Device device;
rc = device.open(ANY_DEVICE);
if (rc != STATUS_OK)
{
printf("Couldn't open device\n%s\n", OpenNI::getExtendedError());
return 2;
}
// 4. create depth stream
VideoStream depth;
if (device.getSensorInfo(SENSOR_DEPTH) != NULL){
rc = depth.create(device, SENSOR_DEPTH);
if (rc != STATUS_OK){
printf("Couldn't create depth stream\n%s\n", OpenNI::getExtendedError());
return 3;
}
}
VideoStream color;
if (device.getSensorInfo(SENSOR_COLOR) != NULL){
rc = color.create(device, SENSOR_COLOR);
if (rc != STATUS_OK){
printf("Couldn't create color stream\n%s\n", OpenNI::getExtendedError());
return 4;
}
}
// 5. create OpenCV Window
cv::namedWindow("Depth Image", CV_WINDOW_AUTOSIZE);
cv::namedWindow("Color Image", CV_WINDOW_AUTOSIZE);
// 6. start
rc = depth.start();
if (rc != STATUS_OK)
{
printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
return 5;
}
rc = color.start();
if (rc != STATUS_OK){
printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
return 6;
}
VideoFrameRef colorframe;
VideoFrameRef depthframe;
int iMaxDepth = depth.getMaxPixelValue();
cv::Mat colorimageRGB;
cv::Mat colorimageBGR;
cv::Mat depthimage;
cv::Mat depthimageScaled;
// 7. main loop, continue read
while (!wasKeyboardHit())
{
// 8. check is color stream is available
if (color.isValid()){
if (color.readFrame(&colorframe) == STATUS_OK){
colorimageRGB = { colorframe.getHeight(), colorframe.getWidth(), CV_8UC3, (void*)colorframe.getData() };
cv::cvtColor(colorimageRGB, colorimageBGR, CV_RGB2BGR);
}
}
// 9. check is depth stream is available
if (depth.isValid()){
if (depth.readFrame(&depthframe) == STATUS_OK){
depthimage = { depthframe.getHeight(), depthframe.getWidth(), CV_16UC1, (void*)depthframe.getData() };
depthimage.convertTo(depthimageScaled, CV_8U, 255.0 / iMaxDepth);
}
}
cv::imshow("Color Image", colorimageBGR);
cv::imshow("Depth Image", depthimageScaled);
cv::waitKey(10);
}
color.stop();
depth.stop();
color.destroy();
depth.destroy();
device.close();
OpenNI::shutdown();
return 0;
}