// 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;
}
void OpencvModule::DrawEdges(ImageMetaData& g_imageMD){
int key=0;
//for opencv Mat, accessing buffer
Mat rgb(480,640,CV_8UC3,(uchar*)g_imageMD.WritableData());
cvtColor(rgb,gray,CV_RGB2GRAY);
//EdgesRgb
Canny(gray,grayedge,fThresCanny1,fThresCanny2);
cvtColor(grayedge,rgbedge,CV_GRAY2BGR);
float aux=((float)g_imageMD.Timestamp())/1E6;
QVariant time_double(aux);
putText(rgbedge,"Time:", cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1);
putText(rgbedge,time_double.toString().toStdString(), cvPoint(535,30),6,0.6,cvScalar(255, 255, 255, 0),1,1);
imshow("Caremedia Kinect Viewer",rgbedge);
key = waitKey(5);
}
void OpencvModule::DrawRGB(ImageMetaData& g_imageMD){
int key=0;
Mat RGB(480,640,CV_8UC3,(uchar*)g_imageMD.WritableData());
cvtColor(RGB,image_BGR,CV_RGB2BGR);
float aux=((float)g_imageMD.Timestamp())/1E6;
QVariant time_double(aux);
putText(image_BGR,"Time:", cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1);
putText(image_BGR,time_double.toString().toStdString(), cvPoint(535,30),6,0.6,cvScalar(255, 255, 255, 0),1,1);
imshow("Caremedia Kinect Viewer",image_BGR);
key = waitKey(5);
}
