// Gets the colour and depth data from the Kinect sensor.
bool GetColorAndDepthImages(ColorImage& colorImage, DepthImage& depthImage)
{
XnStatus rc = XN_STATUS_OK;
// Read a new frame, blocking operation
rc = deviceContext.WaitAnyUpdateAll();
if (rc != XN_STATUS_OK)
{
/*LOGE("Read failed: %s\n", xnGetStatusString(rc));*/
throw rc;
}
// Get handles to new data
static ImageMetaData colorImageMetaData;
static DepthMetaData depthImageMetaData;
colorImageGenerator.GetMetaData(colorImageMetaData);
depthImageGenerator.GetMetaData(depthImageMetaData);
// Validate images
if (!depthImageGenerator.IsValid() || !colorImageGenerator.IsValid())
{
/*LOGE("Error: Color or depth image is invalid.");*/
throw 1;
}
if (colorImageMetaData.Timestamp() <= mostRecentRGB)
return false;
// Fetch pointers to data
const XnRGB24Pixel* pColorImage = colorImageMetaData.RGB24Data(); //g_depth.GetRGB24ImageMap()
const XnDepthPixel* pDepthImage = depthImageMetaData.Data();// g_depth.GetDepthMap();
// Copy data over to arrays
memcpy(colorImage.data, pColorImage, sizeof(colorImage.data));
memcpy(depthImage.data, pDepthImage, sizeof(depthImage.data));
colorImage.rows = colorImage.maxRows;
colorImage.cols = colorImage.maxCols;
depthImage.rows = depthImage.maxRows;
depthImage.cols = depthImage.maxCols;
mostRecentRGB = colorImageMetaData.Timestamp();
return true;
}
XnStatus prepare(char useScene, char useDepth, char useImage, char useIr, char useHistogram)
{
//TODO handle possible failures! Gotcha!
if (useDepth)
{
mDepthGen.GetMetaData(depthMD);
nXRes = depthMD.XRes();
nYRes = depthMD.YRes();
pDepth = depthMD.Data();
if (useHistogram)
{
calcHist();
// rewind the pointer
pDepth = depthMD.Data();
}
}
if (useScene)
{
mUserGen.GetUserPixels(0, sceneMD);
nXRes = sceneMD.XRes();
nYRes = sceneMD.YRes();
pLabels = sceneMD.Data();
}
if (useImage)
{
mImageGen.GetMetaData(imageMD);
nXRes = imageMD.XRes();
nYRes = imageMD.YRes();
pRGB = imageMD.RGB24Data();
// HISTOGRAM?????
}
if (useIr)
{
mIrGen.GetMetaData(irMD);
nXRes = irMD.XRes();
nYRes = irMD.YRes();
pIR = irMD.Data();
// HISTOGRAM????
}
}
void glutDisplay (void)
{
XnStatus rc = XN_STATUS_OK;
// Read a new frame
rc = g_context.WaitAnyUpdateAll();
if (rc != XN_STATUS_OK)
{
printf("Read failed: %s\n", xnGetStatusString(rc));
return;
}
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
const XnDepthPixel* pDepth = g_depthMD.Data();
const XnUInt8* pImage = g_imageMD.Data();
unsigned int nImageScale = GL_WIN_SIZE_X / g_depthMD.FullXRes();
// Copied from SimpleViewer
// Clear the OpenGL buffers
glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup the OpenGL viewpoint
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0);
// Calculate the accumulative histogram (the yellow display...)
xnOSMemSet(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
unsigned int nNumberOfPoints = 0;
for (XnUInt y = 0; y < g_depthMD.YRes(); ++y)
{
for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth)
{
if (*pDepth != 0)
{
g_pDepthHist[*pDepth]++;
nNumberOfPoints++;
}
}
}
for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
}
}
xnOSMemSet(g_pTexMap, 0, g_nTexMapX*g_nTexMapY*sizeof(XnRGB24Pixel));
// check if we need to draw image frame to texture
if (g_nViewState == DISPLAY_MODE_OVERLAY ||
g_nViewState == DISPLAY_MODE_IMAGE)
{
const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data();
XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX;
for (XnUInt y = 0; y < g_imageMD.YRes(); ++y)
{
const XnRGB24Pixel* pImage = pImageRow;
XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset();
for (XnUInt x = 0; x < g_imageMD.XRes(); ++x, ++pImage, ++pTex)
{
*pTex = *pImage;
}
pImageRow += g_imageMD.XRes();
pTexRow += g_nTexMapX;
}
}
// check if we need to draw depth frame to texture
if (g_nViewState == DISPLAY_MODE_OVERLAY ||
g_nViewState == DISPLAY_MODE_DEPTH)
{
const XnDepthPixel* pDepthRow = g_depthMD.Data();
XnRGB24Pixel* pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX;
for (XnUInt y = 0; y < g_depthMD.YRes(); ++y)
{
const XnDepthPixel* pDepth = pDepthRow;
XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset();
for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth, ++pTex)
{
if (*pDepth != 0)
{
int nHistValue = g_pDepthHist[*pDepth];
pTex->nRed = nHistValue;
pTex->nGreen = nHistValue;
pTex->nBlue = 0;
}
}
pDepthRow += g_depthMD.XRes();
pTexRow += g_nTexMapX;
}
}
// Create the OpenGL texture map
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_nTexMapX, g_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, g_pTexMap);
// Display the OpenGL texture map
glColor4f(1,1,1,1);
glBegin(GL_QUADS);
int nXRes = g_depthMD.FullXRes();
int nYRes = g_depthMD.FullYRes();
// upper left
glTexCoord2f(0, 0);
glVertex2f(0, 0);
// upper right
glTexCoord2f((float)nXRes/(float)g_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0);
// bottom right
glTexCoord2f((float)nXRes/(float)g_nTexMapX, (float)nYRes/(float)g_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y);
// bottom left
glTexCoord2f(0, (float)nYRes/(float)g_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y);
glEnd();
// Swap the OpenGL display buffers
glutSwapBuffers();
}
//----------------------------------------------------
// イメージ描画
//----------------------------------------------------
void drawImage(void){
switch(g_nViewState){
case DISPLAY_MODE_OVERLAY: // ノーマル描画モード
case DISPLAY_MODE_DEPTH:
case DISPLAY_MODE_IMAGE:
glMatrixMode(GL_PROJECTION); // 射影変換の行列の設定
glLoadIdentity(); // スタックのクリア
gluOrtho2D(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0); // ワールド座標系を正規化デバイス座標系に平行投影(left, right, buttom, top, near, far)
// ★平行投影する事によって，ポイントクラウドも平面に投影でき，クロマキーに最適
// Kinectの距離は約500〜9000まで使える(設定は10000)
glMatrixMode(GL_MODELVIEW); // モデルビュー変換の行列の設定
glLoadIdentity();
glEnable(GL_TEXTURE_2D); // テクスチャマッピングの有効化
// テクスチャパラメータの設定と定義
glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_nTexMapX, g_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, g_pTexMap); // イメージデータ貼り付け
// Display the OpenGL texture map
glColor4f(1,1,1,1);
// イメージデータの貼り付け
glBegin(GL_QUADS); // 四角形の描画を行う
{
int nXRes = g_depthMD.FullXRes();
int nYRes = g_depthMD.FullYRes();
// 左上
glTexCoord2f(0, 0);
glVertex2f(0, 0); // 座標指定
// 右上
glTexCoord2f((float)nXRes/(float)g_nTexMapX, 0);
glVertex2f(GL_WIN_SIZE_X, 0); // 座標指定
// 右下
glTexCoord2f((float)nXRes/(float)g_nTexMapX, (float)nYRes/(float)g_nTexMapY);
glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y); // 座標指定
// 左下
glTexCoord2f(0, (float)nYRes/(float)g_nTexMapY);
glVertex2f(0, GL_WIN_SIZE_Y); // 座標指定
}
glEnd();
glDisable(GL_TEXTURE_2D); // テクスチャマッピングの無効化
break;
case DISPLAY_MODE_CHROMA: // ポイントクラウド描画モード
case DISPLAY_MODE_POINT_CLOUD:
// 投影変換
glMatrixMode(GL_PROJECTION); // 射影変換の行列の設定
glLoadIdentity(); // スタックのクリア
glOrtho(0, KINECT_IMAGE_WIDTH,
KINECT_IMAGE_HEIGHT, 0,
-1.0, -KINECT_MAX_DEPTH - KINECT_VISIBLE_DELTA); // ワールド座標系を正規化デバイス座標系に平行投影(left, right, buttom, top, near, far)
// ★平行投影する事によって，ポイントクラウドも平面に投影でき，クロマキーに最適
// Kinectの距離は約500〜9000まで使える(設定は10000)
// 視野変換
gluLookAt(
g_lokEyeX, g_lokEyeY, g_lokEyeZ, // 視点の位置(初期位置：(0,0,-1))
g_lokDirX, g_lokDirY, g_lokDirZ, // 視点先の位置(初期位置：(0,0,-2))
0.0, 1.0, 0.0); // 向き
// モデリング変換
glMatrixMode(GL_MODELVIEW); // モデルビュー変換の行列の設定
glLoadIdentity(); // スタックのクリア
glEnable(GL_DEPTH_TEST); // 陰面処理の有効化
// ポイントクラウド表示
glPointSize(g_pointSize); // 点のサイズ
drawPointCloud(g_pBackTex, g_pBackDepth, g_pPoint); //背景画像表示
//drawPointCloud(g_imageMD.RGB24Data(), g_depthMD.Data(), 10, g_chromaThresh); // 人物抜き出し(距離の閾値)
drawPointCloudHuman(g_imageMD.RGB24Data(), g_depthMD.Data(), g_sceneMD.Data(), g_pPoint); // 人物抜き出し(動くものを検出)
glDisable(GL_DEPTH_TEST); // 陰面処理の無効化
break;
}
}
//----------------------------------------------------
// テクスチャの設定
//----------------------------------------------------
void setTexture(void){
xnOSMemSet(g_pTexMap, 0, g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); // g_pTexMapの全てに0を代入
// 描画モード1か3
if (g_nViewState == DISPLAY_MODE_OVERLAY || g_nViewState == DISPLAY_MODE_IMAGE){
const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); // g_imageMDのポインタ取得(画像データ取得)
XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX;
for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){
const XnRGB24Pixel* pImage = pImageRow;
XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset();
for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pImage, ++ pTex){
*pTex = *pImage;
}
pImageRow += g_imageMD.XRes();
pTexRow += g_nTexMapX;
}
}
// 描画モード1か2
if (g_nViewState == DISPLAY_MODE_OVERLAY || g_nViewState == DISPLAY_MODE_DEPTH){
const XnDepthPixel* pDepthRow = g_depthMD.Data();
XnRGB24Pixel* pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX;
const XnLabel* pLabel = g_sceneMD.Data();
for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){
const XnDepthPixel* pDepth = pDepthRow;
XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset();
for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pDepth, ++ pTex, ++ pLabel){
int nHistValue = g_pDepthHist[*pDepth];
if(*pLabel){ // 人物なら
*pTex = userColor[*pLabel];
}else if (*pDepth != 0){
if(*pDepth < 1000){
*pTex = xnRGB24Pixel(nHistValue, 0, 0); // red
}else if(*pDepth < 2000){
*pTex = xnRGB24Pixel(0, nHistValue, 0); // green
}else if(*pDepth < 3000){
*pTex = xnRGB24Pixel(0, 0, nHistValue); // blue
}else if(*pDepth < 4000){
*pTex = xnRGB24Pixel(nHistValue, nHistValue, 0); // 水色
}else if(*pDepth < 5000){
*pTex = xnRGB24Pixel(0, nHistValue, nHistValue); // yellow
}else{
*pTex = xnRGB24Pixel(nHistValue, 0, nHistValue); // 紫
}
}
}
pDepthRow += g_depthMD.XRes();
pTexRow += g_nTexMapX;
}
}
// 描画モード4
//if (g_nViewState == DISPLAY_MODE_CHROMA){
// // イメージデータ(カメラ映像)貼り付け
// const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); // g_imageMDのポインタ取得(画像データ取得)
// XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX;
// for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ // 480
// const XnRGB24Pixel* pImage = pImageRow;
// XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset();
// for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pImage, ++ pTex){ // 640
// *pTex = *pImage;
// }
// pImageRow += g_imageMD.XRes();
// pTexRow += g_nTexMapX;
// }
// // デプスデータを用いた人物抜き出し + 背景合成
// const XnDepthPixel* pDepthRow = g_depthMD.Data(); // デプスデータのポインタ取得
// pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX;
// GLuint g_backWidth = g_back.GetWidth(); // 背景の横幅の大きさ
// GLubyte* pBackData = g_back.GetData() + g_back.GetImageSize() - 3 * g_backWidth; // 背景のポインタ取得(最後から見ていく)
// for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ // 480
// const XnDepthPixel* pDepth = pDepthRow; // デプスデータのポインタ取得
// XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset();
// for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pDepth, ++ pTex){ // 640
// // 深さが0か閾値以上なら背景画像を描画（閾値以下ならその部分を残す）
// if (*pDepth == 0 || *pDepth >= g_chromaThresh){
// pTex->nRed = *pBackData;
// pTex->nGreen = *(pBackData + 1);
// pTex->nBlue = *(pBackData + 2);
// }
// pBackData += 3;
// }
// pDepthRow += g_depthMD.XRes();
// pTexRow += g_nTexMapX;
// pBackData -= 2 * 3 * g_backWidth;
// }
//}
}
int main(void) {
int sockfd = network_setup();
int framecount = 0;
// Initialize the Kinect
if(kinectInit() != XN_STATUS_OK) {
printf("Unexpected error: check that the device is connected.\n");
return 1;
}
uint32_t depthsize = sizeof(uint16_t)*640*480;
unsigned long rgbsize;
rgbsize = sizeof(uint8_t)*3*640*480;
uint8_t *compdepth = (uint8_t *) malloc(depthsize);
uint8_t *comprgb = (uint8_t *) malloc(rgbsize);
uint8_t * rgb_buf;
uint8_t * depth_buf;
uint8_t *image_data = (uint8_t *) malloc(rgbsize);
uint8_t *depth_data = (uint8_t *) malloc(depthsize);
uint32_t depthcompression;
//unsigned long *rgbcompression = (unsigned long *) malloc(sizeof(long));
unsigned long outsize;
setup_compression();
while(1) {
kinectUpdate();
//compress rgb
rgb_buf = (uint8_t *)g_imageMD.RGB24Data();
depth_buf = (uint8_t *)depthMD.Data();
memcpy(image_data, rgb_buf, rgbsize);
memcpy(depth_data, depth_buf, depthsize);
//comprgb = (uint8_t *)g_imageMD.RGB24Data();
//compression = rgbsize;
compress_frame(image_data, &comprgb, &outsize, 480, 640, 3);
//printf("compressed rgb to size %d\n", outsize);
//send size of compressed rgb frame
if((sendall(sockfd, (uint8_t *)&outsize, sizeof(uint32_t))) < 0) {
perror("sendallrgbsize");
exit(1);
}
if((sendall(sockfd, comprgb, outsize)) < 0) {
perror("sendallrgb");
exit(1);
}
//compress depth
depthcompression = compress_depth(depth_data, compdepth, depthsize);
//printf("compressed depth to size %d\n", depthcompression);
//send size of compressed rgb frame
if((sendall(sockfd, (uint8_t *)&depthcompression, sizeof(uint32_t))) < 0) {
perror("sendalldepthsize");
exit(1);
}
if((sendall(sockfd, compdepth, depthcompression)) < 0) {
perror("sendalldepth");
exit(1);
}
//printf("sent out frame %d\n", ++framecount);
}
}
void WorldRenderer::drawBackground()
{
m_rctx->orthoMatrix.PushMatrix();
{
//TODO: find out what this does
//m_rctx->orthoMatrix.Translate(
// float(m_rng.gaussian(0.6)) * currentIntensity * 0.01f,
// float(m_rng.gaussian(0.6)) * currentIntensity * 0.01f,
// 0);
// setup shader
m_rctx->shaderMan->UseStockShader(GLT_SHADER_SHADED, m_rctx->orthoMatrix.GetMatrix());
// get depth buffer
DepthMetaData dmd;
m_depthGen->GetMetaData(dmd);
const XnDepthPixel* dp = dmd.Data();
// get image buffer
ImageMetaData imd;
m_imageGen->GetMetaData(imd);
const XnRGB24Pixel* ip = imd.RGB24Data();
// get working buffers
M3DVector3f* vp = m_vertexBuf;
M3DVector4f* cp = m_colorBuf;
XnUInt32 numPoints = getNumPoints();
// setup henshin-related information
const float Z_SCALE = 10.0f;
XnUserID userID = 0;
const XnLabel* lp = NULL;
XV3 headCenter, headDirection;
getHenshinData(&userID, &lp, &headCenter, &headDirection);
float lightRadius = 900.0f;
bool isTracked = userID && lp;
const int NUM_BALLS = 3;
XV3 ball_centers[NUM_BALLS];
bool ball_enabled_flags[NUM_BALLS];
float ball_radius[3];
float ball_core_radius[3];
float ball_core_radius2[3];
//get the ball centres and transform into projective coords
//Also calculate an appropriate radius to make the ball scale as it moves away from the camera
for (int j=0; j< NUM_BALLS; j++) {
m_ball_manager->GetBallInfo(j, &ball_enabled_flags[j],&ball_centers[j]);
if(!ball_enabled_flags[j]) continue;
XV3 ball_top(ball_centers[j]); //copy the ball center before transformation
m_depthGen->ConvertRealWorldToProjective(1, &ball_centers[j], &ball_centers[j]);
normalizeProjective(&ball_centers[j]);
//this is probably a clunky way to transform the radius into projectiev coods but it seems to work ok
ball_top.Y +=lightRadius;
m_depthGen->ConvertRealWorldToProjective(1, &ball_top, &ball_top);
normalizeProjective(&ball_top);
ball_radius[j] = fabs(ball_top.Y-ball_centers[j].Y);
ball_core_radius[j] = ball_radius[j]*0.1f;
ball_core_radius2[j] = square(ball_core_radius[j]);
}
XnUInt32 ix = 0, iy = 0;
float nearZ = PERSPECTIVE_Z_MIN + m_depthAdjustment;
for (XnUInt32 i = 0; i < numPoints; i++, dp++, ip++, vp++, cp++, lp++, ix++) {
if (ix == m_width) {
ix = 0;
iy++;
}
// (*vp)[0] (x) is already set
// (*vp)[1] (y) is already set
(*vp)[2] = (*dp) ? getNormalizedDepth(*dp, nearZ, PERSPECTIVE_Z_MAX) : Z_INFINITE;
setRGB(cp, *ip);
//highlight the tracked user
if(isTracked) {
if(*lp == userID) {
(*cp)[0] *= 1.2f;
(*cp)[1] *= 1.2f;
(*cp)[2] *= 1.2f;
}
}
// draw balls
for(int j=0; j < NUM_BALLS; j++) {
if(!ball_enabled_flags[j]) continue;
XV3& lightCenter = ball_centers[j];
//float ball_depth = (*dp) ? getNormalizedDepth(ball_radius[j], nearZ, PERSPECTIVE_Z_MAX) : 0;
if((*vp)[2] < (lightCenter.Z - 0.001*ball_radius[j])) continue; //don't draw obscured pixels
{
// TODO: Should we use 3D object?
XV3 flatCoords(*vp);
flatCoords.Z = lightCenter.Z;
float flatDistance2 = lightCenter.distance2(flatCoords);
if (flatDistance2 < ball_core_radius2[j]) {
float r = (1.0f - sqrt(flatDistance2) / ball_core_radius[j]) * (1.0f + 0.8f * ball_radius[j]);
float r2 = r * r;
float a = (r <= 1.0f) ? (2 * r2 - r2 * r2) : 1.0f;
(*cp)[0] *= 1.2;
(*cp)[1] *= 1.2;
(*cp)[2] *= 1.2;
//assuming we only have three balls cycle through red,green and blue for each one
(*cp)[j] = interpolate((*cp)[j], 1.0f, a);
//(*cp)[1] = interpolate((*cp)[1], 1.0f, a);
//(*cp)[2] = interpolate((*cp)[2], 1.0f, a);
}
}
}
}
glEnable(GL_POINT_SIZE);
glPointSize(getPointSize());
m_batch.draw(m_vertexBuf, m_colorBuf);
}
m_rctx->orthoMatrix.PopMatrix();
}
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;
}
