ImageProvider::ImageProvider(Context* pContext) : AbstractImageStreamProvider(pContext)
{
CALL_XN( pContext->FindExistingNode(XN_NODE_TYPE_IMAGE, m_imageGen) );
ImageMetaData md;
m_imageGen.GetMetaData(md);
CHECK_ERROR(md.PixelFormat() == XN_PIXEL_FORMAT_RGB24, "This camera's data format is not supported.");
CHECK_ERROR(md.XRes() == 640 && md.YRes() == 480, "This camera's resolution is not supported.");
}
// -----------------------------------------------------------------------------------------------------
// convertImageRGB
// -----------------------------------------------------------------------------------------------------
void convertImageRGB(const XnRGB24Pixel* pImageMap, IplImage* pImgRGB)
{
// Convert from OpenNI buffer to IplImage 24 bit, 3 channels
for(unsigned int i=0; i<g_imageMD.XRes()*g_imageMD.YRes(); i++)
{
pImgRGB->imageData[3*i+0]=pImageMap[i].nBlue;
pImgRGB->imageData[3*i+1]=pImageMap[i].nGreen;
pImgRGB->imageData[3*i+2]=pImageMap[i].nRed;
}
}
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 takePhoto() {
static int index = 1;
char fname[256] = {0,};
sprintf(fname, "kinect%03d.txt", index++);
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
int const nx = g_depthMD.XRes();
int const ny = g_depthMD.YRes();
assert(nx == g_imageMD.XRes());
assert(ny == g_imageMD.YRes());
const XnDepthPixel* pDepth = g_depthMD.Data();
const XnUInt8* pImage = g_imageMD.Data();
FILE * file = fopen(fname, "wb");
fprintf(file, "%d\n%d\n\n", nx, ny);
for (int y = 0, di = 0, ri = 0, gi = 1, bi = 2; y < ny; y++) {
for (int x = 0; x < nx; x++, di++, ri += 3, gi += 3, bi += 3) {
int const r = pImage[ri];
int const g = pImage[gi];
int const b = pImage[bi];
int const d = pDepth[di];
assert(r >= 0);
assert(g >= 0);
assert(b >= 0);
assert(d >= 0);
assert(r <= 0xFF);
assert(g <= 0xFF);
assert(b <= 0xFF);
assert(d <= 0xFFFF);
fprintf(file, "%3d %3d %3d %5d\n", r, g, b, d);
}
fprintf(file, "\n");
}
fflush(file);
fclose(file);
}
void transformImageMD(Mat FrameImage,ImageMetaData& imageMD)
{
RGB24Map& imageMap = imageMD.WritableRGB24Map();
for (XnUInt32 y = 0; y < imageMD.YRes(); y++)
{
for (XnUInt32 x = 0; x <imageMD.XRes(); x++)
{
cout<<" x "<<x<<" y "<<y<<endl;
XnRGB24Pixel imagePixel;
imagePixel.nBlue=FrameImage.at<Vec3b>(y,x)[0];
imagePixel.nGreen=FrameImage.at<Vec3b>(y,x)[1];
imagePixel.nRed=FrameImage.at<Vec3b>(y,x)[2];
imageMap(x,y) = imagePixel;
cout<<" 76 "<<endl;
}
}
}
void captureRGB(unsigned char* g_ucImageBuffer)
{
ImageMetaData imd;
_image.GetMetaData(imd);
unsigned int nValue = 0;
unsigned int nX = 0;
unsigned int nY = 0;
XnUInt16 g_nXRes = imd.XRes();
XnUInt16 g_nYRes = imd.YRes();
const XnRGB24Pixel * pImageMap = _image.GetRGB24ImageMap();
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++)
{
((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+0] = pImageMap[nY*g_nXRes+nX].nBlue;
((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+1] = pImageMap[nY*g_nXRes+nX].nGreen;
((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+2] = pImageMap[nY*g_nXRes+nX].nRed;
((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+3] = 0x00;
}
}
}
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();
}
int main(int argc, char* argv[]) {
markerSize.width = -1; markerSize.height = -1;
EnumerationErrors errors;
switch (XnStatus rc = niContext.InitFromXmlFile(KINECT_CONFIG_FILENAME, &errors)) {
case XN_STATUS_OK:
break;
case XN_STATUS_NO_NODE_PRESENT:
XnChar strError[1024]; errors.ToString(strError, 1024);
printf("%s\n", strError);
return rc; break;
default:
printf("Open failed: %s\n", xnGetStatusString(rc));
return rc;
}
capture = new Camera(CAPTURE_SIZE, CAMERA_PARAMS_FILENAME);
RegistrationParams = scaleParams(capture->getParameters(), double(REGISTRATION_SIZE.width)/double(CAPTURE_SIZE.width));
osg_init(calcProjection(RegistrationParams, capture->getDistortion(), REGISTRATION_SIZE));
loadKinectParams(KINECT_PARAMS_FILENAME, &kinectParams, &kinectDistort);
kinectDistort =0;
kinectParams->data.db[2]=320.0; kinectParams->data.db[5]=240.0;
niContext.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
niContext.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
g_depth.GetMirrorCap().SetMirror(false);
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
kinectReg = new RegistrationOPIRA(new OCVSurf());
kinectReg->addResizedMarker(MARKER_FILENAME, 400);
//physics
m_world = new KCRPhysicsWorld();
ground_grid = new float[19200];
for (int i =0;i < 19200; i++) {
ground_grid[i] = 0;
}
#ifdef SIM_PARTICLES
voxel_grid = new float[1200];
for (int i =0;i < 1200; i++) {
voxel_grid[i] = 0;
}
#endif
//controls
KeyboardController *kc = new KeyboardController(m_world);
XboxController *xc = new XboxController(m_world);
loadKinectTransform(KINECT_TRANSFORM_FILENAME);
#ifdef USE_ARMM_VRPN
m_Connection = new vrpn_Connection_IP();
ARMM_server = new ARMM_Communicator(m_Connection );
cout << "Created VRPN server." << endl;
#endif
#ifdef USE_SKIN_SEGMENTATION //Skin color look up
_HandRegion.LoadSkinColorProbTable();
#endif
#ifdef USE_OPTICAL_FLOW
prev_colourIm = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
#endif
/////////////////////////////////////////////Main Loop////////////////////////////////////////////////
while (running) {
if (XnStatus rc = niContext.WaitAnyUpdateAll() != XN_STATUS_OK) {
printf("Read failed: %s\n", xnGetStatusString(rc));
return rc;
}
g_depth.GetMetaData(niDepthMD);
g_image.GetMetaData(niImageMD);
colourIm = cvCreateImage(cvSize(niImageMD.XRes(), niImageMD.YRes()), IPL_DEPTH_8U, 3);
memcpy(colourIm->imageData, niImageMD.Data(), colourIm->imageSize); cvCvtColor(colourIm, colourIm, CV_RGB2BGR);
cvFlip(colourIm, colourIm, 1);
depthIm = cvCreateImage(cvSize(niDepthMD.XRes(), niDepthMD.YRes()), IPL_DEPTH_16U, 1);
transDepth160 = cvCreateImage(cvSize(MESH_SIZE.width, MESH_SIZE.height), IPL_DEPTH_32F, 1);
transDepth320 = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_32F, 1);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
cvShowImage("Kinect View", colourIm);
IplImage *arImage = capture->getFrame();
cvWaitKey(1);
kc->check_input(); xc->check_input();
#ifdef USE_OPTICAL_FLOW
if(RunOnce) SceneOpticalFlowLK(prev_colourIm, colourIm);
#endif
if(kinectTransform) { // kinect transform as cvmat* for use
if( counter >= 4) {
inpaintDepth(&niDepthMD, true);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
TransformDepth(depthIm, transDepth160, MARKER_DEPTH, MESH_SIZE);
GenerateTrimeshGroundFromDepth(transDepth160, MARKER_DEPTH); /*Trimesh generation*/
m_world->updateTrimeshRefitTree(ground_grid);//opencl?
osg_UpdateHeightfieldTrimesh(ground_grid);//opencl?
#ifdef SIM_PARTICLES
/*World spheres simulation*/
// GenerateVoxelFromDepth(depthIm, MARKER_DEPTH);
// m_world->updateWorldSphereTransform(voxel_grid);
// osgUpdateWorldSphereTransform(voxel_grid);
#endif
counter = 0;
} else {
#ifdef USE_SKIN_SEGMENTATION /*Skin color segmentation*/ // may be reduce resolution first as well as cut off depth make processing faster
TransformDepth(depthIm, transDepth320, MARKER_DEPTH, CV_OP_SIZE);
IplImage* depthTmp = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_8U, 1);
IplImage* colourImResized = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_8U, 3);
gray = cvCreateImage(cvSize(colourImResized->width, colourImResized->height),IPL_DEPTH_8U,1);
hand_region = cvCreateImage(cvSize(colourImResized->width, colourImResized->height),IPL_DEPTH_8U,1);
IplImage* colourIm640 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
// cvCmpS(transDepth, 0, depthTmp, CV_CMP_LT);//dst must b 8U
cvThreshold(transDepth320, depthTmp, 1, 255, CV_THRESH_BINARY_INV); //thres at 1cm above marker
cvResize(colourIm, colourImResized, CV_INTER_NN);//use nearest neighbor interpolation
// removeNoise( depthTmp, 100 );
// cvSet(colourImResized, cvScalar(0), depthTmp);
cvShowImage ("Marker Thresh", colourImResized);
cvResize(colourImResized, colourIm640,CV_INTER_NN);
cvShowImage ("Marker Thresh 640", colourIm640);
cvCopyImage( _HandRegion.GetHandRegion( colourImResized, gray), hand_region );
// removeNoise( hand_region, 20 );
cvThreshold(hand_region, depthTmp, 0, 255, CV_THRESH_BINARY_INV);
// removeNoise( depthTmp, 100 );
// cvShowImage ("depthTmp", depthTmp);
// cvShowImage ("hand_region", hand_region);
cvSet(colourImResized, cvScalar(0), depthTmp);
// cvShowImage ("Skin Color", colourImResized);
// cvDilate(colourImResized,colourImResized,CV_SHAPE_RECT,1);
// cvErode(colourImResized,colourImResized,CV_SHAPE_RECT,1);
// cvMorphologyEx(colourImResized,colourImResized,NULL,CV_SHAPE_RECT,CV_MOP_OPEN,1);
cvResize(colourImResized, colourIm640,CV_INTER_NN);
cvShowImage ("Color Skin Color 640", colourIm640);
cvReleaseImage(&depthTmp);
cvReleaseImage(&colourImResized);
cvReleaseImage(&colourIm640);
#endif
#ifdef USE_PARTICLES
/*
IplImage* depthTmp1 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_32F, 1);
IplImage* depthTmp2 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_8U, 1);
cvConvertScale(depthIm, depthTmp1, 1);
// cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO_INV);//thresh 5mm above marker
cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-10, 255, CV_THRESH_TOZERO);
//cvCmpS(depthTmp1, MARKER_DEPTH, depthTmp2, CV_CMP_GT);
// cvShowImage("DEPTH640", depthTmp2);
// IplImage* colourTmp = cvCreateImage(cvSize(colourIm->width, colourIm->height), IPL_DEPTH_8U, 3);
// cvCopyImage(colourIm, colourTmp);
// cvSet(colourTmp, cvScalar(0), depthTmp2);
// cvShowImage ("Color640", colourTmp);
cvSet(depthTmp1, cvScalar(0), depthTmp2);
cvShowImage("DEPTH640_32F", depthTmp1);
*/
inpaintDepth(&niDepthMD, true);
// TransformDepth(depthTmp1, transDepth, MARKER_DEPTH);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
TransformDepth(depthIm, transDepth, MARKER_DEPTH);
IplImage* depthTmp3 = cvCreateImage(cvSize(TRACKING_SIZE.width, TRACKING_SIZE.height), IPL_DEPTH_8U, 1);
cvThreshold(transDepth, depthTmp3, 0.5, 255, CV_THRESH_BINARY_INV);
// cvThreshold(transDepth, depthTmp3, 0, 255, CV_THRESH_TOZERO);
// cvConvertScale(transDepth, depthTmp3, 1);
cvShowImage("DEPTH160", transDepth);
IplImage* colourImResized = cvCreateImage(cvSize(TRACKING_SIZE.width, TRACKING_SIZE.height), IPL_DEPTH_8U, 3);
cvResize(colourIm, colourImResized, CV_INTER_NN);//use nearest neighbor interpolation
cvSet(colourImResized, cvScalar(0), depthTmp3);
cvShowImage ("Color160", colourImResized);
// cvReleaseImage(&depthTmp1);
// cvReleaseImage(&depthTmp2);
// cvReleaseImage(&colourTmp);
cvReleaseImage(&depthTmp3);
cvReleaseImage(&colourImResized);
/*
IplImage* depthTmp1 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_32F, 1);
IplImage* depthTmp2 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_8U, 1);
cvConvertScale(depthIm, depthTmp1, 1);
// cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO_INV);//thresh 5mm above marker
cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO);
//cvCmpS(depthTmp1, MARKER_DEPTH, depthTmp2, CV_CMP_GT);
cvShowImage("TMP_DEPTH", depthTmp2);
IplImage* colourTmp = cvCreateImage(cvSize(colourIm->width, colourIm->height), IPL_DEPTH_8U, 3);
cvCopyImage(colourIm, colourTmp);
cvSet(colourTmp, cvScalar(0), depthTmp2);
cvShowImage ("Basic Thresh", colourTmp);
cvReleaseImage(&depthTmp1);
cvReleaseImage(&depthTmp2);
*/
#endif
counter++;
// } else {
// counter++;
}
//do hand pose recognition
m_world->Update();
RenderScene(arImage, capture);
}
#ifdef USE_ARMM_VRPN
ARMM_server->mainloop();
m_Connection->mainloop();
#endif
#ifdef USE_OPTICAL_FLOW
if(!RunOnce) RunOnce = true;
cvCopyImage(colourIm, prev_colourIm);
memcpy(prev_colourIm->imageData, niImageMD.Data(), prev_colourIm->imageSize);
cvCvtColor(prev_colourIm, prev_colourIm, CV_RGB2BGR);
#endif
cvReleaseImage(&arImage);
cvReleaseImage(&depthIm); cvReleaseImage(&colourIm);
cvReleaseImage(&transDepth320);cvReleaseImage(&transDepth160);
#ifdef USE_SKIN_SEGMENTATION
cvReleaseImage(&gray); cvReleaseImage(&hand_region);
#endif
}
cvReleaseImage(&prev_colourIm);
osg_uninit();
delete m_world;
delete kinectReg;
cvReleaseMat(&RegistrationParams);
delete kc;
return 0;
}
//////////////////// Entry point ////////////////////
int main(int argc, char* argv[])
{
depthmask_for_mesh = cvCreateImage(MESH_SIZE, IPL_DEPTH_8U, 1);
markerSize.width = -1;
markerSize.height = -1;
//init OpenNI
EnumerationErrors errors;
switch (XnStatus rc = niContext.InitFromXmlFile(KINECT_CONFIG_FILENAME, &errors)) {
case XN_STATUS_OK:
break;
case XN_STATUS_NO_NODE_PRESENT:
XnChar strError[1024]; errors.ToString(strError, 1024);
printf("%s\n", strError);
return rc; break;
default:
printf("Open failed: %s\n", xnGetStatusString(rc));
return rc;
}
//set camera parameter
capture = new Camera(0, CAPTURE_SIZE, CAMERA_PARAMS_FILENAME);
RegistrationParams = scaleParams(capture->getParameters(), double(REGISTRATION_SIZE.width)/double(CAPTURE_SIZE.width));
//init parameter for rendering
osg_init(calcProjection(RegistrationParams, capture->getDistortion(), REGISTRATION_SIZE));
//for Kinect view
loadKinectParams(KINECT_PARAMS_FILENAME, &kinectParams, &kinectDistort);
kinectDistort =0;
kinectParams->data.db[2]=320.0;
kinectParams->data.db[5]=240.0;
//setting kinect context
niContext.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
niContext.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
g_depth.GetMirrorCap().SetMirror(false);
g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image);
//registration
kinectReg = new RegistrationOPIRA(new OCVSurf());
kinectReg->addResizedMarker(MARKER_FILENAME, 400);
//physics
m_world = new bt_ARMM_world();
ground_grid = new float[GRID_SIZE];
for (int i =0;i < GRID_SIZE; i++) {
ground_grid[i] = 0;
}
#ifdef SIM_PARTICLES
voxel_grid = new float[1200];
for (int i =0;i < 1200; i++) {
voxel_grid[i] = 0;
}
#endif
//controls
KeyboardController *kc = new KeyboardController(m_world);
XboxController *xc = new XboxController(m_world);
loadKinectTransform(KINECT_TRANSFORM_FILENAME);
#ifdef USE_ARMM_VRPN
//----->Server part
m_Connection = new vrpn_Connection_IP();
ARMM_server = new ARMM_Communicator(m_Connection );
//Open the imager server and set up channel zero to send our data.
//if ( (ARMM_img_server = new vrpn_Imager_Server("ARMM_Image", m_Connection, MESH_SIZE.width, MESH_SIZE.height)) == NULL) {
// fprintf(stderr, "Could not open imager server\n");
// return -1;
//}
//if ( (channel_id = ARMM_img_server->add_channel("Grid")) == -1) {
// fprintf(stderr, "Could not add channel\n");
// return -1;
//}
ARMM_server->SetObjectsData(&(m_world->Objects_Body));
ARMM_server->SetHandsData(&(m_world->HandObjectsArray));
cout << "Created VRPN server." << endl;
//<-----
#ifdef USE_ARMM_VRPN_RECEIVER //----->Receiver part
ARMM_sever_receiver = new vrpn_Tracker_Remote (ARMM_CLIENT_IP);
ARMM_sever_receiver->register_change_handler(NULL, handle_object);
#endif //<-----
#endif
#ifdef USE_SKIN_SEGMENTATION //Skin color look up
_HandRegion.LoadSkinColorProbTable();
#endif
#ifdef USE_OPTICAL_FLOW
prev_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1);
curr_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1);
flow_capture = new FlowCapture();
flow_capture->Init();
#endif
/////////////////////////////////////////////Main Loop////////////////////////////////////////////////
while (running) {
//start kinect
if (XnStatus rc = niContext.WaitAnyUpdateAll() != XN_STATUS_OK) {
printf("Read failed: %s\n", xnGetStatusString(rc));
return rc;
}
//get image and depth data from Kinect
g_depth.GetMetaData(niDepthMD);
g_image.GetMetaData(niImageMD);
colourIm = cvCreateImage(cvSize(niImageMD.XRes(), niImageMD.YRes()), IPL_DEPTH_8U, 3);
memcpy(colourIm->imageData, niImageMD.Data(), colourIm->imageSize); cvCvtColor(colourIm, colourIm, CV_RGB2BGR);
cvFlip(colourIm, colourIm, 1);
depthIm = cvCreateImage(cvSize(niDepthMD.XRes(), niDepthMD.YRes()), IPL_DEPTH_16U, 1);
transDepth160 = cvCreateImage(cvSize(MESH_SIZE.width, MESH_SIZE.height), IPL_DEPTH_32F, 1);
transDepth320 = cvCreateImage(cvSize(SKIN_SEGM_SIZE.width, SKIN_SEGM_SIZE.height), IPL_DEPTH_32F, 1);
transColor320 = cvCreateImage(cvSize(SKIN_SEGM_SIZE.width, SKIN_SEGM_SIZE.height), IPL_DEPTH_8U, 3);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
//cvCircle(colourIm, cvPoint(marker_origin.x,marker_origin.y), 5, CV_BLUE, 3);
cvShowImage("Kinect View", colourIm);
IplImage *arImage = capture->getFrame();
cvWaitKey(1);
//check input device
input_key = kc->check_input();
#ifdef USE_ARMM_VRPN_RECEIVER
if( pass_key != 0){
kc->check_input(pass_key);
pass_key = 0;
}
#endif
xc->check_input();
if(kinectTransform) { // kinect transform as cvmat* for use
if( counter >= SIM_FREQUENCY) {
#ifdef UPDATE_TRIMESH
inpaintDepth(&niDepthMD, true);
memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize);
TransformImage(depthIm, transDepth160, MARKER_DEPTH, MESH_SIZE, true);
GenerateTrimeshGroundFromDepth(transDepth160, MARKER_DEPTH); /*Trimesh generation*/
m_world->updateTrimeshRefitTree(ground_grid);//opencl?
osg_UpdateHeightfieldTrimesh(ground_grid);//opencl?
#endif
#ifdef SIM_PARTICLES
/*World spheres simulation*/
// GenerateVoxelFromDepth(depthIm, MARKER_DEPTH);
// m_world->updateWorldSphereTransform(voxel_grid);
// osgUpdateWorldSphereTransform(voxel_grid);
#endif
counter = 0;
} else {
#ifdef USE_SKIN_SEGMENTATION /*Skin color segmentation*/ // may be reduce resolution first as well as cut off depth make processing faster
// (2)Sphere representation
FindHands(depthIm, colourIm);
UpdateAllHands();
#endif
#ifdef USE_PARTICLES
//XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
#endif
counter++;
}
//do hand pose recognition
m_world->Update();
//(B)normal client only rendering
RenderScene(arImage, capture);
}
// TickCountAverageEnd();
#ifdef USE_ARMM_VRPN
//Send Car position+orientation
ARMM_server->mainloop();
#ifdef USE_ARMM_VRPN_RECEIVER
ARMM_sever_receiver->mainloop();
#endif
////Copy depth info
//for (int i = 0; i < GRID_SIZE;i++) {
// ARMM_img_buffer[i] = ground_grid[i];
//}
//Send depth grid info
//ARMM_img_server->send_begin_frame(0, MESH_SIZE.width-1, 0, MESH_SIZE.height-1);
// ARMM_img_server->mainloop();
// int nRowsPerRegion= ((int) vrpn_IMAGER_MAX_REGIONf32)/ MESH_SIZE.width;
// for(int y=0; y<MESH_SIZE.height; y+=nRowsPerRegion) {
// ARMM_img_server->send_region_using_base_pointer(channel_id,0,MESH_SIZE.width-1,y,min(MESH_SIZE.width,y+nRowsPerRegion)-1, ARMM_img_buffer, 1, MESH_SIZE.width, MESH_SIZE.height);
// ARMM_img_server->mainloop();
// }
// ARMM_img_server->send_end_frame(0, MESH_SIZE.width-1, 0, MESH_SIZE.height-1);
// ARMM_img_server->mainloop();
//Exec data transmission
m_Connection->mainloop();
#endif
#ifdef USE_OPTICAL_FLOW
if(!RunOnce) RunOnce = true;
cvCopyImage(curr_gray, prev_gray);
#endif
cvReleaseImage(&arImage);
cvReleaseImage(&depthIm);
cvReleaseImage(&colourIm);
cvReleaseImage(&transDepth160);
#ifdef USE_SKIN_SEGMENTATION
cvReleaseImage(&transDepth320);
cvReleaseImage(&transColor320);
#endif
}
#ifdef USE_OPTICAL_FLOW
cvReleaseImage(&prev_gray); cvReleaseImage(&curr_gray);
#endif
//memory release
osg_uninit();
delete m_world;
delete kinectReg;
cvReleaseMat(&RegistrationParams);
delete kc;
delete xc;
return 0;
}
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;
}
