int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
// FIXME: this is disabled for OpenCV QT compatibility.
// QApplication app (argc, argv);
// QDir::setCurrent(QApplication::applicationDirPath());
// Prepare body event listeners.
MyBodyListener body_event_listener;
BodyEventDetector detector;
detector.addListener(&body_event_listener);
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver, opt::kinect_id());
grabber.setBodyEventDetector(&detector);
// High resolution 1280x1024 RGB Image.
if (opt::high_resolution())
grabber.setHighRgbResolution(true);
// Start the grabber.
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
namedWindow("depth");
namedWindow("color");
namedWindow("users");
while (true)
{
// Wait for a new frame, get a local copy and postprocess it.
grabber.waitForNextFrame();
grabber.copyImageTo(image);
post_processor.processImage(image);
// Get the last hand point position.
cv::Point3f handpoint = body_event_listener.getLastHandPosInImage();
ntk_dbg_print(handpoint, 1);
// Prepare the depth view, with skeleton and handpoint.
cv::Mat1b debug_depth_img = normalize_toMat1b(image.depth());
if (image.skeleton())
image.skeleton()->drawOnImage(debug_depth_img);
circle(debug_depth_img, Point(handpoint.x, handpoint.y), 5, Scalar(0, 255, 255));
// Prepare the color view, with skeleton and handpoint.
cv::Mat3b debug_color_img;
image.mappedRgb().copyTo(debug_color_img);
if (image.skeleton())
image.skeleton()->drawOnImage(debug_color_img);
circle(debug_color_img, Point(handpoint.x, handpoint.y), 5, Scalar(0, 255, 255));
// Prepare the user mask view as colors.
cv::Mat3b debug_users;
image.fillRgbFromUserLabels(debug_users);
imshow("depth", debug_depth_img);
imshow("color", debug_color_img);
imshow("users", debug_users);
cv::waitKey(10);
}
// return app.exec();
}
int main(int argc, char **argv)
{
// Parse command line options.
arg_base::set_help_option("-h");
arg_parse(argc, argv);
// Set debug level to 1.
ntk::ntk_debug_level = 1;
// Set current directory to application directory.
// This is to find Nite config in config/ directory.
QApplication app (argc, argv);
QDir::setCurrent(QApplication::applicationDirPath());
// Declare the global OpenNI driver. Only one can be instantiated in a program.
OpenniDriver ni_driver;
// Declare the frame grabber.
OpenniGrabber grabber(ni_driver, opt::kinect_id());
// High resolution 1280x1024 RGB Image.
if (opt::high_resolution())
grabber.setHighRgbResolution(true);
// Use mirrored images.
grabber.setMirrored(true);
// Start the grabber.
grabber.connectToDevice();
grabber.start();
// Holder for the current image.
RGBDImage image;
// Image post processor. Compute mappings when RGB resolution is 1280x1024.
OpenniRGBDProcessor post_processor;
namedWindow("depth");
namedWindow("color");
namedWindow("users");
char last_c = 0;
while (true && (last_c != 27))
{
// Wait for a new frame, get a local copy and postprocess it.
grabber.waitForNextFrame();
grabber.copyImageTo(image);
post_processor.processImage(image);
// Prepare the depth view, with skeleton and handpoint.
cv::Mat1b debug_depth_img = normalize_toMat1b(image.depth());
if (image.skeleton())
image.skeleton()->drawOnImage(debug_depth_img);
// Prepare the color view (mapped to depth frame), with skeleton and handpoint.
cv::Mat3b debug_color_img;
image.mappedRgb().copyTo(debug_color_img);
if (image.skeleton())
image.skeleton()->drawOnImage(debug_color_img);
// Prepare the user mask view as colors.
cv::Mat3b debug_users;
image.fillRgbFromUserLabels(debug_users);
imshow("depth", debug_depth_img);
imshow("color", debug_color_img);
imshow("users", debug_users);
last_c = (cv::waitKey(10) & 0xff);
}
}