int main() { XnStatus nRetVal = XN_STATUS_OK; Context context; nRetVal = context.Init(); CHECK_RC(nRetVal, "Initialize context"); DepthGenerator depth; nRetVal = depth.Create(context); CHECK_RC(nRetVal, "Create depth generator"); nRetVal = context.StartGeneratingAll(); CHECK_RC(nRetVal, "StartGeneratingAll"); DepthMetaData depthMD; while (!xnOSWasKeyboardHit()) { nRetVal = context.WaitOneUpdateAll(depth); if (nRetVal != XN_STATUS_OK) { printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal)); continue; } depth.GetMetaData(depthMD); const XnDepthPixel* pDepthMap = depthMD.Data(); printf("Frame %d Middle point is: %u.\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2)); } context.Shutdown(); return 0; }
int OpencvModule::DrawDepth(DepthMetaData& g_depthMD){ if (!cvGetWindowHandle("Caremedia Kinect Viewer")) // if(window has been closed) { if (windowopened) {windowopened=false; return 0; } else windowopened = true; } int key=0; //for opencv Mat, accessing buffer Mat depth16(480,640,CV_16UC1,(unsigned short*)g_depthMD.WritableData()); depth16.convertTo(depth8,CV_8U,-255/4096.0,255); Pseudocolor->pseudocolor(depth8,rgbdepth); //CvFont font; //cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0, 0, 1, CV_AA); float aux=((float)g_depthMD.Timestamp())/1E6; QVariant time_double(aux); QTime t = videostarttime.addSecs((int)aux).addMSecs((int)(aux - (int)aux ) * 1000); float percent = (float)100*(float)g_depthMD.FrameID() / (float)NumFrames; QString a; putText(rgbdepth,"Time:"+t.toString().toStdString(), cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1); putText(rgbdepth, a.setNum(percent,'f',2).append("%").toStdString(), cvPoint(5,30),6,0.6,cvScalar(255, 255, 255, 0),1,1); imshow("Caremedia Kinect Viewer",rgbdepth); key = waitKey(5); }
// ----------------------------------------------------------------------------------------------------- // generateFrame // ----------------------------------------------------------------------------------------------------- bool CameraDevice::generateFrame(IplImage* imgRGB, IplImage* imgDepth) { XnStatus nRetVal = XN_STATUS_OK; const XnDepthPixel* pDepthMap = NULL; const XnRGB24Pixel* pImageMap = NULL; xnFPSMarkFrame(&g_xnFPS); nRetVal = g_context.WaitAndUpdateAll(); if (nRetVal==XN_STATUS_OK) { g_depth.GetMetaData(g_depthMD); g_image.GetMetaData(g_imageMD); pDepthMap = g_depthMD.Data(); pImageMap = g_image.GetRGB24ImageMap(); printf("Frame %02d (%dx%d) Depth at middle point: %u. FPS: %f\r", g_depthMD.FrameID(), g_depthMD.XRes(), g_depthMD.YRes(), g_depthMD(g_depthMD.XRes()/2, g_depthMD.YRes()/2), xnFPSCalc(&g_xnFPS)); // convert to OpenCV buffers convertImageRGB(pImageMap, imgRGB); convertImageDepth(pDepthMap, imgDepth); return true; } return false; }
int main() { XnStatus nRetVal = XN_STATUS_OK; Context context; EnumerationErrors errors; nRetVal = context.InitFromXmlFile(SAMPLE_XML_PATH, &errors); if (nRetVal == XN_STATUS_NO_NODE_PRESENT) { XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return (nRetVal); } else if (nRetVal != XN_STATUS_OK) { printf("Open failed: %s\n", xnGetStatusString(nRetVal)); return (nRetVal); } DepthGenerator depth; nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth); CHECK_RC(nRetVal, "Find depth generator"); XnFPSData xnFPS; nRetVal = xnFPSInit(&xnFPS, 180); CHECK_RC(nRetVal, "FPS Init"); DepthMetaData depthMD; while (!xnOSWasKeyboardHit()) { nRetVal = context.WaitOneUpdateAll(depth); if (nRetVal != XN_STATUS_OK) { printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal)); continue; } xnFPSMarkFrame(&xnFPS); depth.GetMetaData(depthMD); const XnDepthPixel* pDepthMap = depthMD.Data(); printf("Frame %d Middle point is: %u. FPS: %f\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2), xnFPSCalc(&xnFPS)); } context.Shutdown(); return 0; }
int main() { XnStatus nRetVal = XN_STATUS_OK; Context context; ScriptNode scriptNode; EnumerationErrors errors; const char *fn = NULL; if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH; else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL; else { printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL); return XN_STATUS_ERROR; } printf("Reading config from: '%s'\n", fn); nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors); if (nRetVal == XN_STATUS_NO_NODE_PRESENT) { XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return (nRetVal); } else if (nRetVal != XN_STATUS_OK) { printf("Open failed: %s\n", xnGetStatusString(nRetVal)); return (nRetVal); } DepthGenerator depth; nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth); CHECK_RC(nRetVal, "Find depth generator"); XnFPSData xnFPS; nRetVal = xnFPSInit(&xnFPS, 180); CHECK_RC(nRetVal, "FPS Init"); DepthMetaData depthMD; while (!xnOSWasKeyboardHit()) { nRetVal = context.WaitOneUpdateAll(depth); if (nRetVal != XN_STATUS_OK) { printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal)); continue; } xnFPSMarkFrame(&xnFPS); depth.GetMetaData(depthMD); printf("Frame %d Middle point is: %u. FPS: %f\n", depthMD.FrameID(), depthMD(depthMD.XRes() / 2, depthMD.YRes() / 2), xnFPSCalc(&xnFPS)); } depth.Release(); scriptNode.Release(); context.Release(); return 0; }
int main(int argc, char* argv[]) { XnStatus nRetVal = XN_STATUS_OK; nRetVal = xnLogInitFromXmlFile(SAMPLE_XML_PATH); if (nRetVal != XN_STATUS_OK) { printf("Log couldn't be opened: %s. Running without log", xnGetStatusString(nRetVal)); } if (argc < 3) { printf("usage: %s <inputFile> <outputFile>\n", argv[0]); return -1; } const char* strInputFile = argv[1]; const char* strOutputFile = argv[2]; Context context; nRetVal = context.Init(); CHECK_RC(nRetVal, "Init"); // open input file Player player; nRetVal = context.OpenFileRecording(strInputFile, player); CHECK_RC(nRetVal, "Open input file"); // Get depth node from recording DepthGenerator depth; nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth); CHECK_RC(nRetVal, "Find depth generator"); // Create mock node based on depth node from recording MockDepthGenerator mockDepth; nRetVal = mockDepth.CreateBasedOn(depth); CHECK_RC(nRetVal, "Create mock depth node"); // create recorder Recorder recorder; nRetVal = recorder.Create(context); CHECK_RC(nRetVal, "Create recorder"); nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, strOutputFile); CHECK_RC(nRetVal, "Set recorder destination file"); // add depth node to recorder nRetVal = recorder.AddNodeToRecording(mockDepth); CHECK_RC(nRetVal, "Add node to recording"); nRetVal = player.SetRepeat(FALSE); XN_IS_STATUS_OK(nRetVal); XnUInt32 nNumFrames = 0; nRetVal = player.GetNumFrames(depth.GetName(), nNumFrames); CHECK_RC(nRetVal, "Get player number of frames"); DepthMetaData depthMD; while ((nRetVal = depth.WaitAndUpdateData()) != XN_STATUS_EOF) { CHECK_RC(nRetVal, "Read next frame"); // Get depth meta data depth.GetMetaData(depthMD); //-----------------------------------------------// // Transform depth! This is the interesting part // //-----------------------------------------------// /* Enable the depth data to be modified. This is done implicitly by depthMD.WritableDepthMap(), but we're calling it just to be clear. */ nRetVal = depthMD.MakeDataWritable(); CHECK_RC(nRetVal, "Make depth data writable"); transformDepthMD(depthMD); // Pass the transformed data to the mock depth generator nRetVal = mockDepth.SetData(depthMD); CHECK_RC(nRetVal, "Set mock node new data"); /* We need to call recorder.Record explicitly because we're not using WaitAndUpdateAll(). */ nRetVal = recorder.Record(); CHECK_RC(nRetVal, "Record"); printf("Recorded: frame %u out of %u\r", depthMD.FrameID(), nNumFrames); } printf("\n"); return 0; }
// ----------------------------------------------------------------------------------------------------- // saveHistogramImage // ----------------------------------------------------------------------------------------------------- int saveHistogramImage( const XnRGB24Pixel* pImageMap, const XnDepthPixel* pDepthMap, IplImage* pImgDepth, int frameID) { static float depthHistogram[MAX_DEPTH_HISTOGRAM]; // Calculate the accumulative histogram (the yellow display...) const XnDepthPixel* pDepth = g_depthMD.Data(); xnOSMemSet(depthHistogram, 0, MAX_DEPTH_HISTOGRAM*sizeof(float)); unsigned int nNumberOfPoints = 0; // count depth values for (XnUInt y = 0; y < g_depthMD.YRes(); ++y) { for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth) { if (*pDepth != 0) { depthHistogram[*pDepth]++; nNumberOfPoints++; } } } // cumulative sum for (int nIndex=1; nIndex<MAX_DEPTH_HISTOGRAM; nIndex++) { depthHistogram[nIndex] += depthHistogram[nIndex-1]; } // rescale to 0..256 if (nNumberOfPoints) { for (int nIndex=1; nIndex<MAX_DEPTH_HISTOGRAM; nIndex++) { depthHistogram[nIndex] = (unsigned int)(256 * (1.0f - (depthHistogram[nIndex] / nNumberOfPoints))); } } // generate histogram depth image int i = 0; pDepth = g_depthMD.Data(); for (XnUInt y = 0; y < g_depthMD.YRes(); ++y) { for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth, ++i) { unsigned char nHistValue = 0; if (*pDepth != 0) nHistValue = depthHistogram[*pDepth]; // yellow pixels pImgDepth->imageData[3*i+0] = 0; //Blue pImgDepth->imageData[3*i+1] = nHistValue; //Green pImgDepth->imageData[3*i+2] = nHistValue; //Red } } if (frameID<0) frameID = g_depthMD.FrameID(); // use ID given by Kinect char bufFilename[256]; sprintf(bufFilename,"%s/frame_%d_histo.bmp", Config::_PathFrameSequence.c_str(), frameID); cvSaveImage(bufFilename, pImgDepth); }
int main() { XnStatus nRetVal = XN_STATUS_OK; Context context; ScriptNode scriptNode; EnumerationErrors errors; XnUInt32 min_z1, min_z2, min_z3, maxGrad, distVal; const char *fn = NULL; if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH; else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL; else { printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL); return XN_STATUS_ERROR; } printf("Reading config from: '%s'\n", fn); nRetVal = context.InitFromXmlFile(fn, scriptNode, &errors); if (nRetVal == XN_STATUS_NO_NODE_PRESENT) { XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return (nRetVal); } else if (nRetVal != XN_STATUS_OK) { printf("Open failed: %s\n", xnGetStatusString(nRetVal)); return (nRetVal); } DepthGenerator depth; nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth); CHECK_RC(nRetVal, "Find depth generator"); XnFPSData xnFPS; nRetVal = xnFPSInit(&xnFPS, 180); CHECK_RC(nRetVal, "FPS Init"); DepthMetaData depthMD; //Initialize WiringPi if(wiringPiSetup() == -1) exit(1); //Enable SoftPWM on pin 1,2 and 3 softPwmCreate(1, 0, RANGE); softPwmCreate(2, 0, RANGE); softPwmCreate(3, 0, RANGE); while (!xnOSWasKeyboardHit()) { nRetVal = context.WaitOneUpdateAll(depth); if (nRetVal != XN_STATUS_OK) { printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal)); continue; } xnFPSMarkFrame(&xnFPS); depth.GetMetaData(depthMD); const XnDepthPixel* pDepthMap = depthMD.Data(); int XRes = depthMD.XRes(); int YRes = depthMD.YRes(); //To find closest pixel value in Zone 1, Zone 2 and Zone 3 min_z1 = getClosestPixel( 0 , 0, (XRes / 2) , YRes, depthMD); min_z2 = getClosestPixel( (XRes / 4), 0, (3 * XRes / 4), YRes, depthMD); min_z3 = getClosestPixel( (XRes / 2), 0, XRes , YRes, depthMD); double in_low = 600; double in_high = 2000; double in_diff = in_high - in_low; double out_low = 51; double out_high = 973; double out_diff = out_high - out_low; distVal = min_z1; XnUInt32 pwm_val1 = ( (out_diff) / ((in_diff)*(in_diff)*(in_diff)) ) * ((in_high - distVal) * (in_high - distVal) * (in_high - distVal)) + out_low; distVal = min_z2; XnUInt32 pwm_val2 = ( (out_diff) / ((in_diff)*(in_diff)*(in_diff)) ) * ((in_high - distVal) * (in_high - distVal) * (in_high - distVal)) + out_low; distVal = min_z3; XnUInt32 pwm_val3 = ( (out_diff) / ((in_diff)*(in_diff)*(in_diff)) ) * ((in_high - distVal) * (in_high - distVal) * (in_high - distVal)) + out_low; // Zone 1 - Left side (pin ) if (pwm_val1 < out_low) pwm_val1 = 0; // if object too far, set DUTY CYCLE to 0 if (min_z1 == 9000.0) pwm_val1 = out_high; //if object too close, set DUTY CYCLE to max (here, 95%) if (min_z1 < 600) pwm_val1 = out_high; // Zone 2 - Center (pin ) if (pwm_val2 < out_low) pwm_val2 = 0; // if object too far, set DUTY CYCLE to 0 if (min_z2 == 9000.0) pwm_val2 = out_high; //if object too close, set DUTY CYCLE to max (here, 95%) if (min_z2 < 600) pwm_val2 = out_high; // Zone 3 - Right side (pin ) if (pwm_val3 < out_low) pwm_val3 = 0; // if object too far, set DUTY CYCLE to 0 if (min_z3 == 9000.0) pwm_val3 = out_high; //if object too close, set DUTY CYCLE to max (here, 95%) if (min_z3 < 600) pwm_val3 = out_high; pwm_val1 = ((pwm_val1 - out_low) / (1.0 * out_diff)) * 100.0; pwm_val2 = ((pwm_val2 - out_low) / (1.0 * out_diff)) * 100.0; pwm_val3 = ((pwm_val3 - out_low) / (1.0 * out_diff)) * 100.0; softPwmWrite(1,(int)pwm_val1); softPwmWrite(2,(int)pwm_val2); softPwmWrite(3,(int)pwm_val3); if ( (depthMD.FrameID() % 30) == 0) { printf("Frame %d", depthMD.FrameID()); printf("\n"); printf("Zone 1 value is %u \t", pwm_val1); printf("Zone 2 value is %u \t", pwm_val2); printf("Zone 3 value is %u \n", pwm_val3); printf("Zone1 min_dis %u \t", min_z1); printf("Zone2 min_dis %u \t", min_z2); printf("Zone3 min_dis %u \n", min_z3); //To find a gradient value for the floor //maxGrad = getGradient( 5, 0, (YRes/2) + 1, depthMD.XRes(), depthMD.YRes(), depthMD); //printf("Frame %d max gradient for Floor is: %u. FPS: %f\n\n", depthMD.FrameID(), maxGrad, xnFPSCalc(&xnFPS)); } } softPwmWrite(1,0); softPwmWrite(2,0); softPwmWrite(3,0); //release the nodes depth.Release(); scriptNode.Release(); context.Release(); return 0; }
int main(int argc, char* argv[]) { XnStatus nRetVal = XN_STATUS_OK; nRetVal = xnLogInitFromXmlFile(SAMPLE_XML_PATH); if (nRetVal != XN_STATUS_OK) { printf("Log couldn't be opened: %s. Running without log", xnGetStatusString(nRetVal)); } if (argc < 3) { printf("usage: %s <inputFile> <outputFile>\n", argv[0]); return -1; } const char* strInputFile = argv[1]; const char* strOutputFile = argv[2]; Context context; nRetVal = context.Init(); CHECK_RC(nRetVal, "Init"); // open input file Player player; nRetVal = context.OpenFileRecording("/media/6B58CB581C0AACF6/7.oni", player); CHECK_RC(nRetVal, "Open input file"); // Get depth node from recording DepthGenerator depth; nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth); CHECK_RC(nRetVal, "Find depth generator"); // Create mock node based on depth node from recording MockDepthGenerator mockDepth; nRetVal = mockDepth.CreateBasedOn(depth); CHECK_RC(nRetVal, "Create mock depth node"); ImageGenerator image; nRetVal = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image); CHECK_RC(nRetVal, "Find depth generator"); // Create mock node based on depth node from recording MockImageGenerator mockImage; nRetVal = mockImage.CreateBasedOn(image); CHECK_RC(nRetVal, "Create mock depth node"); // create recorder Recorder recorder; nRetVal = recorder.Create(context); CHECK_RC(nRetVal, "Create recorder"); nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, "/home/shaghayegh/up.oni"); CHECK_RC(nRetVal, "Set recorder destination file"); // add depth node to recorder nRetVal = recorder.AddNodeToRecording(mockDepth); CHECK_RC(nRetVal, "Add node to recording"); // nRetVal = recorder.AddNodeToRecording(mockImage); // CHECK_RC(nRetVal, "Add node to recording"); nRetVal = player.SetRepeat(FALSE); XN_IS_STATUS_OK(nRetVal); XnUInt32 nNumFrames = 0; nRetVal = player.GetNumFrames(depth.GetName(), nNumFrames); CHECK_RC(nRetVal, "Get player number of frames"); DepthMetaData depthMD; ImageMetaData imageMD; int frameNum = 0; String path = "/media/6B58CB581C0AACF6/ebook/Articles/activity_recognition/data1/0512164529/"; while ((nRetVal = depth.WaitAndUpdateData()) != XN_STATUS_EOF) { ++frameNum; CHECK_RC(nRetVal, "Read next frame"); // Get depth meta data depth.GetMetaData(depthMD); image.GetMetaData(imageMD); //-----------------------------------------------// // Transform depth! This is the interesting part // //-----------------------------------------------// /* Enable the depth data to be modified. This is done implicitly by depthMD.WritableDepthMap(), but we're calling it just to be clear. */ nRetVal = depthMD.MakeDataWritable(); CHECK_RC(nRetVal, "Make depth data writable"); // nRetVal = imageMD.MakeDataWritable(); // CHECK_RC(nRetVal, "Make depth data writable"); String ficheroActualRGB; // ficheroActualRGB = path +"RGB_" + boost::to_string(frameNum) + ".png"; String ficheroActualDepth = path +"Depth_"+ boost::to_string(frameNum) + ".png"; // Mat matFrameImage = imread(ficheroActualRGB, 1); // resize(matFrameImage, matFrameImage, Size(640, 480), 0, 0, INTER_CUBIC); Mat matFrameDepth = imread(ficheroActualDepth,1); resize(matFrameDepth, matFrameDepth, Size(480, 640), 0, 0, INTER_CUBIC); transformDepthMD(matFrameDepth,depthMD); // transformImageMD(matFrameImage,imageMD); // Pass the transformed data to the mock depth generator nRetVal = mockDepth.SetData(depthMD); CHECK_RC(nRetVal, "Set mock node new data"); // nRetVal = mockImage.SetData(imageMD); // CHECK_RC(nRetVal, "Set mock node new data"); /* We need to call recorder.Record explicitly because we're not using WaitAndUpdateAll(). */ nRetVal = recorder.Record(); CHECK_RC(nRetVal, "Record"); printf("Recorded: frame %u out of %u\r", depthMD.FrameID(), nNumFrames); } printf("\n"); return 0; }