bool CvCapture_OpenNI::setDepthGeneratorProperty( int propIdx, double propValue )
{
bool isSet = false;
CV_Assert( depthGenerator.IsValid() );
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_REGISTRATION:
{
if( propValue != 0.0 ) // "on"
{
// if there isn't image generator (i.e. ASUS XtionPro doesn't have it)
// then the property isn't avaliable
if( imageGenerator.IsValid() )
{
if( !depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) )
{
if( depthGenerator.GetAlternativeViewPointCap().IsViewPointSupported(imageGenerator) )
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
isSet = true;
}
else
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : Unsupported viewpoint." << std::endl;
}
else
isSet = true;
}
}
else // "off"
{
XnStatus status = depthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
if( status != XN_STATUS_OK )
std::cerr << "CvCapture_OpenNI::setDepthGeneratorProperty : " << xnGetStatusString(status) << std::endl;
else
isSet = true;
}
}
break;
default:
{
std::stringstream ss;
ss << "Depth generator does not support such parameter (propIdx=" << propIdx << ") for setting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return isSet;
}
void changeRegistration(int nValue)
{
if (!g_DepthGenerator.IsValid() || !g_DepthGenerator.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
{
return;
}
if(!nValue)
{
g_DepthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
}
else if (g_ImageGenerator.IsValid())
{
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
}
}
XnStatus ConfigureGenerators(const RecConfiguration& config, xn::Context& context, xn::DepthGenerator& depthGenerator, xn::ImageGenerator& imageGenerator)
{
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
// Configure the depth, if needed
if (config.bRecordDepth)
{
nRetVal = context.CreateAnyProductionTree(XN_NODE_TYPE_DEPTH, NULL, depthGenerator, &errors);
CHECK_RC_ERR(nRetVal, "Create Depth", errors);
nRetVal = depthGenerator.SetMapOutputMode(*config.pDepthMode);
CHECK_RC(nRetVal, "Set Mode");
if (config.bMirrorIndicated && depthGenerator.IsCapabilitySupported(XN_CAPABILITY_MIRROR))
{
depthGenerator.GetMirrorCap().SetMirror(config.bMirror);
}
// Set Hole Filter
depthGenerator.SetIntProperty("HoleFilter", TRUE);
}
// Configure the image, if needed
if (config.bRecordImage)
{
nRetVal = context.CreateAnyProductionTree(XN_NODE_TYPE_IMAGE, NULL, imageGenerator, &errors);
CHECK_RC_ERR(nRetVal, "Create Image", errors);
nRetVal = imageGenerator.SetMapOutputMode(*config.pImageMode);
CHECK_RC(nRetVal, "Set Mode");
if (config.bMirrorIndicated && imageGenerator.IsCapabilitySupported(XN_CAPABILITY_MIRROR))
{
imageGenerator.GetMirrorCap().SetMirror(config.bMirror);
}
}
// Configuration for when there are both streams
if (config.bRecordDepth && config.bRecordImage)
{
// Registration
if (config.bRegister && depthGenerator.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
{
nRetVal = depthGenerator.GetAlternativeViewPointCap().SetViewPoint(imageGenerator);
CHECK_RC(nRetVal, "Registration");
}
// Frame Sync
if (config.bFrameSync && depthGenerator.IsCapabilitySupported(XN_CAPABILITY_FRAME_SYNC))
{
if (depthGenerator.GetFrameSyncCap().CanFrameSyncWith(imageGenerator))
{
nRetVal = depthGenerator.GetFrameSyncCap().FrameSyncWith(imageGenerator);
CHECK_RC(nRetVal, "Frame sync");
}
}
}
return XN_STATUS_OK;
}
double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
{
double propValue = 0;
if( !depthGenerator.IsValid() )
return propValue;
XnMapOutputMode mode;
switch( propIdx )
{
case CV_CAP_PROP_OPENNI_GENERATOR_PRESENT :
CV_DbgAssert( depthGenerator.IsValid() );
propValue = 1.;
break;
case CV_CAP_PROP_FRAME_WIDTH :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nXRes;
break;
case CV_CAP_PROP_FRAME_HEIGHT :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nYRes;
break;
case CV_CAP_PROP_FPS :
if( depthGenerator.GetMapOutputMode(mode) == XN_STATUS_OK )
propValue = mode.nFPS;
break;
case CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH :
propValue = depthGenerator.GetDeviceMaxDepth();
break;
case CV_CAP_PROP_OPENNI_BASELINE :
propValue = baseline;
break;
case CV_CAP_PROP_OPENNI_FOCAL_LENGTH :
propValue = (double)depthFocalLength_VGA;
break;
case CV_CAP_PROP_OPENNI_REGISTRATION :
propValue = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) ? 1.0 : 0.0;
break;
case CV_CAP_PROP_POS_MSEC :
propValue = depthGenerator.GetTimestamp();
break;
case CV_CAP_PROP_POS_FRAMES :
propValue = depthGenerator.GetFrameID();
break;
default :
{
std::stringstream ss;
ss << "Depth generator does not support such parameter (propIdx=" << propIdx << ") for getting.\n";
CV_Error( CV_StsBadArg, ss.str().c_str() );
}
}
return propValue;
}
void InitialKinect()
{
//1. Initial Context
mContext.Init();
// 2. Set Map_mode (建構函數已定義)
mapMode.nXRes = 640;
mapMode.nYRes = 480;
mapMode.nFPS = 30;
// 3.a Create Depth_Generator
mDepthGenerator.Create( mContext );
mDepthGenerator.SetMapOutputMode( mapMode );
// 3.b Create Image_Generator
mImageGenerator.Create( mContext );
mImageGenerator.SetMapOutputMode( mapMode );
// 4. Correct view port
mDepthGenerator.GetAlternativeViewPointCap().SetViewPoint( mImageGenerator );
std::cout << "正確：KinectSensor Intial Correct!" << std::endl;
}
bool DataCapture::initialise()
{
context_.Shutdown();
XnStatus rc = context_.Init();
if( rc != XN_STATUS_OK )
{
std::cout << "Init: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = depthGen_.Create(context_);
if( rc != XN_STATUS_OK )
{
std::cout << "depthGen.Create: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = imageGen_.Create(context_);
if( rc != XN_STATUS_OK )
{
std::cout << "imageGen.Create: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = imageGen_.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
if( rc != XN_STATUS_OK )
{
std::cout << "SetPixelFormat: " << xnGetStatusString(rc) << std::endl;
return false;
}
XnMapOutputMode imgMode;
imgMode.nXRes = 640; // XN_VGA_X_RES
imgMode.nYRes = 480; // XN_VGA_Y_RES
imgMode.nFPS = 30;
rc = imageGen_.SetMapOutputMode(imgMode);
if( rc != XN_STATUS_OK )
{
std::cout << "image SetMapOutputMode: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = depthGen_.SetMapOutputMode(imgMode);
if( rc != XN_STATUS_OK )
{
std::cout << "depth SetMapOutputMode: " << xnGetStatusString(rc) << std::endl;
return false;
}
depthGen_.GetMetaData(depthMd_);
std::cout << "Depth offset " << depthMd_.XOffset() << " " << depthMd_.YOffset() << std::endl;
// set the depth image viewpoint
depthGen_.GetAlternativeViewPointCap().SetViewPoint(imageGen_);
// read off the depth camera field of view. This is the FOV corresponding to
// the IR camera viewpoint, regardless of the alternative viewpoint settings.
XnFieldOfView fov;
rc = depthGen_.GetFieldOfView(fov);
std::cout << "Fov: " << fov.fHFOV << " " << fov.fVFOV << std::endl;
pDepthData_ = new char [640 * 480];
pRgbData_ = new char [640 * 480 * 3];
return true;
}
int main(int argc, char **argv)
{
XnStatus rc = XN_STATUS_OK;
rc = g_Context.InitFromXmlFile(SAMPLE_XML_PATH);
CHECK_RC(rc, "InitFromXml");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_DepthGenerator);
CHECK_RC(rc, "Find depth generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_ImageGenerator);
CHECK_RC(rc, "Find Image generator");
rc = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
CHECK_RC(rc, "Find user generator");
// Check if Registration is done for Depth and RGB Images - Brandyn, Sravanthi
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
//g_DepthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON) ||
!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("User generator doesn't support either skeleton or pose detection.\n");
return XN_STATUS_ERROR;
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
rc = g_Context.StartGeneratingAll();
CHECK_RC(rc, "StartGenerating");
XnCallbackHandle hUserCBs, hCalibrationCBs, hPoseCBs;
g_UserGenerator.RegisterUserCallbacks(NewUser, LostUser, NULL, hUserCBs);
g_UserGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(CalibrationStarted, CalibrationEnded, NULL, hCalibrationCBs);
g_UserGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(PoseDetected, NULL, NULL, hPoseCBs);
#ifdef USE_GLUT
// Check if Registration is done for Depth and RGB Images - Brandyn, Sravanthi
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
//g_DepthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
glInit(&argc, argv);
glutMainLoop();
#else
if (!opengles_init(GL_WIN_SIZE_X, GL_WIN_SIZE_Y, &display, &surface, &context))
{
printf("Error initing opengles\n");
CleanupExit();
}
glDisable(GL_DEPTH_TEST);
// glEnable(GL_TEXTURE_2D);
glEnableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
while ((!_kbhit()) && (!g_bQuit))
{
glutDisplay();
eglSwapBuffers(display, surface);
}
opengles_shutdown(display, surface, context);
CleanupExit();
#endif
}
// this function is called each frame
void glutDisplay (void)
{
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
// Check if Registration is done for Depth and RGB Images - Brandyn, Sravanthi
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
// g_DepthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
xn::SceneMetaData sceneMD;
xn::DepthMetaData depthMD;
xn::ImageMetaData imageMD;
g_DepthGenerator.GetMetaData(depthMD);
g_ImageGenerator.GetMetaData(imageMD);
#ifdef USE_GLUT
glOrtho(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
#else
glOrthof(0, depthMD.XRes(), depthMD.YRes(), 0, -1.0, 1.0);
#endif
glDisable(GL_TEXTURE_2D);
if (!g_bPause)
{
// Read next available data
g_Context.WaitAndUpdateAll();
}
// Process the data
//DRAW
// Check if Registration is done for Depth and RGB Images - Brandyn, Sravanthi
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_ImageGenerator);
// g_DepthGenerator.GetAlternativeViewPointCap().ResetViewPoint();
g_DepthGenerator.GetMetaData(depthMD);
g_ImageGenerator.GetMetaData(imageMD);
g_UserGenerator.GetUserPixels(0, sceneMD);
DrawDepthMap(depthMD, imageMD, sceneMD, g_nPlayer);
if (g_nPlayer != 0)
{
XnPoint3D com;
g_UserGenerator.GetCoM(g_nPlayer, com);
if (com.Z == 0)
{
g_nPlayer = 0;
FindPlayer();
}
}
#ifdef USE_GLUT
glutSwapBuffers();
#endif
}
bool OpenNIVideo::init() {
//open the video
//if you are using a device, you can open the device
//if you are using video streaming, you can initialize the connection
//if you are using video files, you can read the configuration, cache the data, etc.
xn::EnumerationErrors errors;
int resolutionX = 640;
int resolutionY = 480;
unsigned int FPS = 30;
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = context.Init();
CHECK_RC(nRetVal, "context global init");
//xn::NodeInfoList list;
//nRetVal = context.EnumerateProductionTrees(XN_NODE_TYPE_DEVICE, NULL, list, &errors);
//CHECK_RC(nRetVal, "enumerate production tree");
// HandsGenerator hands;
//UserGenerator user;
//GestureGenerator gesture;
//SceneAnalyzer scene;
nRetVal = depth_generator.Create(context);
CHECK_RC(nRetVal, "creating depth generator");
nRetVal = image_generator.Create(context);
CHECK_RC(nRetVal, "creating image generator");
if(depth_generator.IsCapabilitySupported(XN_CAPABILITY_ALTERNATIVE_VIEW_POINT))
{
nRetVal = depth_generator.GetAlternativeViewPointCap().SetViewPoint(image_generator);
CHECK_RC(nRetVal, "creating registered image/depth generator");
}
else
{
printf("WARNING: XN_CAPABILITY_ALTERNATIVE_VIEW_POINT not supported");
}
if (depth_generator.IsCapabilitySupported(XN_CAPABILITY_FRAME_SYNC))
{
if( depth_generator.GetFrameSyncCap().CanFrameSyncWith(image_generator)) {
//nRetVal=depth.GetFrameSyncCap().FrameSyncWith(image);
//CHECK_RC(nRetVal, "creating frame sync image/depth generator");
}
}
else
{
printf("WARNING: XN_CAPABILITY_FRAME_SYNC not supported");
}
XnMapOutputMode mode = {resolutionX,resolutionY,FPS};
nRetVal = depth_generator.SetMapOutputMode(mode);
CHECK_RC(nRetVal, "set output mode");
//NOT NEEDED IF SYNCHRO
nRetVal = image_generator.SetMapOutputMode(mode);
CHECK_RC(nRetVal, "set output mode");
_depthBufferShort=new unsigned short[resolutionX*resolutionY];
_depthBufferByte=new unsigned char[resolutionX*resolutionY];
//we need to create one video stream
_videoStreamList.push_back(new osgART::VideoStream());
_videoStreamList[0]->allocateImage(resolutionX,resolutionY, 1, GL_RGB, GL_UNSIGNED_BYTE);
//we need to create one video stream
_videoStreamList.push_back(new osgART::VideoStream());
// _videoStreamList[1]->allocateImage(resolutionX,resolutionY, 1, GL_LUMINANCE, GL_FLOAT);
_videoStreamList[1]->allocateImage(resolutionX,resolutionY, 1, GL_LUMINANCE, GL_UNSIGNED_BYTE);
//_videoStreamList[1]->allocateImage(resolutionX,resolutionY, 1, GL_LUMINANCE, GL_UNSIGNED_SHORT);
//_videoStreamList[1]->allocateImage(w, h, 1, GL_DEPTHCOMPONENT16, GL_UNSIGNED_BYTE);
if (m_flip_vertical)
{
_videoStreamList[0]->flipVertical();
_videoStreamList[1]->flipVertical();
}
if (m_flip_horizontal)
{
_videoStreamList[0]->flipHorizontal();
_videoStreamList[1]->flipHorizontal();
}
return true;
}