int main(void) {
printf("Hello World!\n");
cv::Mat depthMat(cv::Size(640,480), CV_16UC1);
cv::Mat depthf(cv::Size(640,480), CV_8UC1);
cv::Mat rgbMat(cv::Size(640,480), CV_8UC3, cv::Scalar(0));
std::list<cv::Mat> images;
Freenect::Freenect freenect;
CvKinect& device = freenect.createDevice<CvKinect>(0);
device.startVideo();
cv::namedWindow("rgb", CV_WINDOW_AUTOSIZE);
cv::namedWindow("depth", CV_WINDOW_AUTOSIZE);
while (true) {
device.getVideo(rgbMat);
// if (images.size() > 0) {
// cv::imshow("rgb", images.front());
// } else {
cv::imshow("rgb", rgbMat);
// }
char key = cv::waitKey(5);
if (key == 'x') {
break;
} else if (key == 's') {
images.push_back(rgbMat.clone());
}
}
device.stopVideo();
std::cout << "Images: " << images.size() << std::endl;
for (std::list<cv::Mat>::iterator iter = images.begin(); iter != images.end(); ++iter) {
cv::imshow("rgb", *iter);
cv::Mat greyMat(cv::Size(640, 480), CV_8UC1, cv::Scalar(0));
cv::cvtColor(*iter, greyMat, CV_RGB2GRAY);
std::vector<cv::Point2f> corners;
bool found = cv::findChessboardCorners(greyMat, cv::Size(7, 7), corners);
std::cout << "Corners found: " << corners.size() << std::endl;
}
cv::destroyWindow("depth");
cv::destroyWindow("rgb");
std::cout << "Exit" << std::endl;
return 0;
}
void RGBDViewer::onSaveRGBDImage() {
CLOG(LTRACE) << name() << "::onSaveRGBDImage";
std::time_t rawtime;
std::tm* timeinfo;
char buffer [80];
// Generate time postfix.
std::time(&rawtime);
timeinfo = std::localtime(&rawtime);
std::strftime(buffer,80,"%Y-%m-%d-%H-%M-%S",timeinfo);
// Change compression to lowest.
vector<int> param;
param.push_back(CV_IMWRITE_PNG_COMPRESSION);
param.push_back(0); // MAX_MEM_LEVEL = 9
try {
// Save rgb image.
if (rgb_img.empty()) {
LOG(LWARNING) << name() << ": rgb image empty";
} else {
std::string tmp_name = std::string(dir) + std::string("/") + std::string(filename) + "_" + buffer + std::string("_rgb.png");
imwrite(tmp_name, rgb_img, param);
CLOG(LINFO) << "RGB image saved to file " << tmp_name <<std::endl;
}
// Save depth image.
if (depth_img.empty()) {
LOG(LWARNING) << name() << ": depth image empty";
} else {
std::string tmp_name = std::string(dir) + std::string("/") + std::string(filename) + "_" + buffer + std::string("_depth.png");
cv::Mat depthf (cv::Size(640,480),CV_16UC1);
depth_img.convertTo(depthf, CV_16UC1, 1);//255.0/2048.0);
imwrite(tmp_name, depthf);//, param);
CLOG(LINFO) << "Depth image saved to file " << tmp_name <<std::endl;
}
} catch (std::exception &ex) {
CLOG(LERROR) << "CvWindow::onSaveRGBDImage failed: " << ex.what() << "\n";
}
}
