int MediaSession::RecorderRecord(int recorderId,const char* filename)
{
//Get recorder
Recorders::iterator it = recorders.find(recorderId);
//If not found
if (it==recorders.end())
//Exit
return Error("Recorder not found\n");
//Get it
Recorder* recorder = it->second;
//create recording
if (!recorder->Create(filename))
//Error
return Error("-Could not create file");
//Start recording
return recorder->Record();
}
void OperatorControl(void)
{
GetWatchdog().SetEnabled(true);
printf("Entered OperatorControl\n");
while (IsOperatorControl())
{
GetWatchdog().Feed();
// use the trigger to start recording.. at the moment,
// it just gets ignored if you call it more than once
if (stick.GetTrigger())
recorder.StartRecording();
myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
// always call the recording routine
recorder.Record();
}
}
//----------------------------------------------------
// レコーダーの設定
//----------------------------------------------------
XnStatus setRecorder(Recorder recorder, XnStatus rc){
//XnStatus rc;
// レコーダーの作成
rc = recorder.Create(g_context);
if (rc != XN_STATUS_OK) {
cout << "error!" << endl;
throw std::runtime_error(xnGetStatusString(rc));
}
// 記録設定
rc = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, OUT_RECORDE_PATH);
if (rc != XN_STATUS_OK) {
cout << "error!" << endl;
throw std::runtime_error(xnGetStatusString(rc));
}
// イメージを記録対象に追加
rc = recorder.AddNodeToRecording(g_image, XN_CODEC_JPEG);
if (rc != XN_STATUS_OK) {
cout << "error!" << endl;
throw std::runtime_error(xnGetStatusString(rc));
}
// デプスを記録対象に追加
rc = recorder.AddNodeToRecording(g_depth, XN_CODEC_UNCOMPRESSED);
if (rc != XN_STATUS_OK) {
cout << "error!" << endl;
std::cout << __LINE__ << std::endl;
throw std::runtime_error(xnGetStatusString(rc));
}
// 記録開始(WaitOneUpdateAllのタイミングで記録される)
rc = recorder.Record();
if (rc != XN_STATUS_OK) {
cout << "error!" << endl;
throw std::runtime_error(xnGetStatusString(rc));
}
cout << "record set ok!" << endl;
return rc;
}
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;
}
int main()
{
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));
}
Context context;
nRetVal = context.Init();
CHECK_RC(nRetVal, "Init");
// create recorder
Recorder recorder;
nRetVal = recorder.Create(context);
CHECK_RC(nRetVal, "Create recorder");
nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, RECORDING_FILE_NAME);
CHECK_RC(nRetVal, "Set recorder destination file");
// Create mock raw node
MockRawGenerator rawGenerator;
nRetVal = rawGenerator.Create(context, "MockRaw");
CHECK_RC(nRetVal, "Create mock raw generator");
nRetVal = rawGenerator.SetStringProperty("Type", "ReverseT");
CHECK_RC(nRetVal, "Set property");
nRetVal = rawGenerator.SetIntProperty("X", 5);
CHECK_RC(nRetVal, "Set property");
nRetVal = recorder.AddNodeToRecording(rawGenerator);
CHECK_RC(nRetVal, "Add node to recording");
//Now we set one property after adding to recording
nRetVal = rawGenerator.SetIntProperty("Y", 8);
CHECK_RC(nRetVal, "Set property");
XnChar buff[20];
for (XnUInt32 i = 1; i <= 10; i++)
{
for (XnUInt32 j = 0; j < 20; j++)
{
buff[j] = (XnChar)i;
}
printf("Recording frame %d/10...\r", i);
nRetVal = rawGenerator.SetData(1000 * i, i, sizeof(buff), buff);
CHECK_RC(nRetVal, "Set raw node new data");
nRetVal = recorder.Record();
CHECK_RC(nRetVal, "Record");
}
nRetVal = recorder.RemoveNodeFromRecording(rawGenerator);
CHECK_RC(nRetVal, "Remove node from recording");
recorder.Release();
printf("\nDone recording.\n");
rawGenerator.Release();
Player player;
nRetVal = context.OpenFileRecording(RECORDING_FILE_NAME, player);
CHECK_RC(nRetVal, "Open file recording");
nRetVal = player.SetRepeat(FALSE);
CHECK_RC(nRetVal, "Turn repeat off");
nRetVal = context.GetProductionNodeByName("MockRaw", rawGenerator);
CHECK_RC(nRetVal, "Get raw node by name");
const XnChar* pData = NULL;
XnUInt32 nSize = 0;
printf("Reading Data:\n");
while ((nRetVal = context.WaitAnyUpdateAll()) != XN_STATUS_EOF)
{
CHECK_RC(nRetVal, "Read data from file");
pData = (const XnChar*)rawGenerator.GetData();
nSize = rawGenerator.GetDataSize();
for (XnUInt32 i = 0; i < nSize; i++)
{
printf("%d ", pData[i]);
}
printf("\n");
}
player.Release();
rawGenerator.Release();
recorder.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;
}