void XtionDepthDriverImpl::setDepthCameraResolution(const DepthResolution resolution)
{
_stream.stop();
VideoMode mode = _stream.getVideoMode();
if(resolution == DEPTH_RESOLUTION_320_240) {
mode.setResolution(320, 240);
} else if(resolution == DEPTH_RESOLUTION_640_480) {
mode.setResolution(640, 480);
} else {
_stream.start();
throw Exception("Invalid resolution");
}
Status rc = _stream.setVideoMode(mode);
if (rc != STATUS_OK) {
_stream.start();
throw Exception(std::string("Set the resolution failed with\n")
+ OpenNI::getExtendedError());
}
rc = _stream.start();
if(rc != STATUS_OK) {
// how handle this?!
close();
throw Exception("Unable to start the depth stream");
}
}
void TouchTracking::initializeVideo()
{
OpenNI::initialize();
if (device.open(ANY_DEVICE) != STATUS_OK)
{
throw std::runtime_error("could not open any device!");
}
if (!device.hasSensor(SENSOR_DEPTH))
{
throw std::runtime_error("sensor cannot receive depth!");
}
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
//std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
m_videoModes.push_back(modes[i]);
//std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
VideoMode mode;
mode.setFps(60);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
videoMode(mode);
stream.setMirroringEnabled(false);
}
int _tmain(int argc, _TCHAR* argv[])
{
DepthDetector detector(ThresholdMin, ThresholdMax);
ScanLineSegmenter segmenter;
OpenNI::initialize();
Device device;
if (device.open(ANY_DEVICE) != STATUS_OK)
{
std::cout << "could not open any device\r\n";
return 1;
}
if (device.hasSensor(SENSOR_DEPTH))
{
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
auto& mode = modes[i];
std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
}
VideoStream stream;
stream.create(device, SENSOR_DEPTH);
VideoMode mode;
mode.setFps(25);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
stream.setMirroringEnabled(true);
stream.setVideoMode(mode);
stream.start();
std::cout << "press any key to capture background\r\n";
std::cin.get();
VideoFrameRef frame;
stream.readFrame(&frame);
DepthImage image(320, 240);
copyFrameToImage(frame, image);
detector.background(image);
std::cout << "starting capture loop\r\n";
CenterPointExtractor centerPointExtractor(MinBlobSize);
std::chrono::high_resolution_clock timer;
auto startTime = timer.now();
int frameId = 0;
while (true)
{
stream.readFrame(&frame);
copyFrameToImage(frame, image);
detector.detect(image);
std::vector<LineSegment> segments;
segmenter.segment(detector.mask(), segments);
std::vector<std::pair<float, float>> centerPoints;
centerPointExtractor.extract(segments, centerPoints);
if (centerPoints.size())
{
std::cout << "point count: " << centerPoints.size();
std::cout << "\t points: ";
for (auto& point : centerPoints)
{
std::cout << "(" << point.first << ", " << point.second << ") ";
}
std::cout << "\r\n";
}
++frameId;
if (frameId % 64 == 0)
{
auto stopTime = timer.now();
auto elapsedTime = stopTime - startTime;
auto elapsedMilliseconds = std::chrono::duration_cast<std::chrono::milliseconds>(elapsedTime).count();
std::cout << "\t total frames: " << frameId << "\t fps: " << elapsedMilliseconds / 64 << std::endl;
startTime = stopTime;
}
}
openni::OpenNI::shutdown();
return 0;
}
int _tmain(int argc, _TCHAR* argv[])
{
sdl::Application app;
DepthDetector detector(ThresholdMin, ThresholdMax);
ScanLineSegmenter segmenter;
OpenNI::initialize();
Device device;
if (device.open(ANY_DEVICE) != STATUS_OK)
{
std::cout << "could not open any device\r\n";
return 1;
}
if (device.hasSensor(SENSOR_DEPTH))
{
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
auto& mode = modes[i];
std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
}
VideoStream stream;
stream.create(device, SENSOR_DEPTH);
VideoMode mode;
mode.setFps(25);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
stream.setMirroringEnabled(true);
stream.setVideoMode(mode);
stream.start();
std::cout << "press any key to capture background\r\n";
std::cin.get();
VideoFrameRef frame;
stream.readFrame(&frame);
DepthImage image(320, 240);
copyFrameToImage(frame, image);
detector.background(image);
std::cout << "starting capture loop\r\n";
sdl::GLContext::setVersion(4, 3);
ImageViewer viewer;
viewer.add(0, 0, 320, 240);
viewer.add(320, 0, 320, 240);
viewer.add(0, 240, 320, 240);
viewer.add(320, 240, 320, 240);
CenterPointExtractor centerPointExtractor(MinBlobSize);
MotionRecorder recorder;
while (true)
{
stream.readFrame(&frame);
copyFrameToImage(frame, image);
detector.detect(image);
std::vector<LineSegment> segments;
segmenter.segment(detector.mask(), segments);
std::vector<std::pair<float, float>> centerPoints;
centerPointExtractor.extract(segments, centerPoints);
recorder.track(centerPoints);
viewer.crosses.clear();
std::transform(begin(centerPoints), end(centerPoints), std::back_inserter(viewer.crosses), [](std::pair<float, float>& coord) {
return Cross{ coord.first, coord.second };
});
viewer.lines.clear();
std::transform(begin(recorder.motions()), end(recorder.motions()), std::back_inserter(viewer.lines), [](const Motion& motion) {
return Lines{ motion.points };
});
viewer[0].update(detector.mask());
viewer[1].update(image);
viewer[2].update(detector.background());
viewer[3].update(detector.difference());
viewer.update();
}
openni::OpenNI::shutdown();
return 0;
}
int main()
{
FILE *fptrI = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv","w");
fprintf(fptrI, "Classtype, Area, Perimeter, Circularity, Extent\n");
fclose(fptrI);
Mat input = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\Fingers.bmp", 1);
Mat input2 = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\NotFingers.bmp", 1);
Mat inputF = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\ImageFeaturesBinaryF.bmp", 1);
Mat gray(input.rows, input.cols, CV_8UC3);
Mat gray2(input.rows, input.cols, CV_8UC3);
Mat grayF(input.rows, input.cols, CV_8UC3);
cvtColor(input, gray, CV_BGR2GRAY);
cvtColor(input2, gray2, CV_BGR2GRAY);
cvtColor(inputF, grayF, CV_BGR2GRAY);
shapeFeatures(gray, input, 1);
shapeFeatures(gray2, input2, 2);
namedWindow("Image");
imshow("Image", input);
namedWindow("Image2");
imshow("Image2", input2);
//------------------------------------------------------
//--------[SVM]--------
// Read input data from file created above
double parameters[5];
vector<double> svmI, svmA, svmP, svmC, svmE;
int size = 1;
double index = 0; double area = 0; double perimeter = 0; double circularity = 0;
char buffer[1024];
char *record, *line;
FILE* fptrR = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv", "r");
fscanf(fptrR, "%*[^\n]\n", NULL);
svmI.resize(size); svmA.resize(size); svmP.resize(size); svmC.resize(size);
while((line=fgets(buffer, sizeof(buffer), fptrR))!=NULL)
{
size++;
svmI.resize(size);
svmA.resize(size);
svmP.resize(size);
svmC.resize(size);
svmE.resize(size);
record = strtok(line, ";");
for(int i = 0; i < 5; i++);
{
double value = atoi(record);
record = strtok(line,";");
}
char *lineCopy = record;
char *pch;
pch = strtok(lineCopy, ",");
parameters[0] = atoi(pch);
int j = 1;
while( j < 5 )
{
pch = strtok (NULL, ",");
parameters[j] = atof(pch);
j++;
}
svmI[size-1] = parameters[0];
svmA[size-1] = parameters[1];
svmP[size-1] = parameters[2];
svmC[size-1] = parameters[3];
svmE[size-1] = parameters[4];
}
fclose(fptrR);
//---------------------
// Data for visual representation
int width = 512, height = 512;
Mat image = Mat::zeros(height, width, CV_8UC3);
// Set up training data
//float labels[8] = {1.0, -1.0, -1.0, -1.0};
float labels[1000];
for(int i = 0; i < svmI.size()-1; i++)
{
labels[i] = svmI[i+1];
}
Mat labelsMat(1000, 1, CV_32FC1, labels);
float trainingData[1000][4];
for(int i = 0; i < svmE.size()-1; i++)
{
trainingData[i][0] = svmE[i+1];
trainingData[i][1] = svmC[i+1];
trainingData[i][2] = svmA[i+1];
trainingData[i][3] = svmP[i+1];
}
Mat trainingDataMat(1000, 4, CV_32FC1, trainingData);
// Set up SVM's parameters
CvSVMParams params;
params = SVMFinger.get_params();
//params.svm_type = CvSVM::C_SVC;
//params.kernel_type = CvSVM::LINEAR;
//params.term_crit = cvTermCriteria(CV_TERMCRIT_ITER, 100, 1e-6);
// Train the SVM
SVMFinger.train_auto(trainingDataMat, labelsMat, Mat(), Mat(), params);
// Mat sampleMat = (Mat_<float>(1,2) << 138.5, 57);
// float response = SVMFinger.predict(sampleMat);
waitKey();
destroyWindow("Image");
destroyWindow("Image2");
//------------------------------------------
OpenNI::initialize();
Device devAnyDevice;
devAnyDevice.open(ANY_DEVICE);
//----------------[Define Video Settings]-------------------
//Set Properties of Depth Stream
VideoMode mModeDepth;
mModeDepth.setResolution( 640, 480 );
mModeDepth.setFps( 30 );
mModeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_100_UM );
//Set Properties of Color Stream
VideoMode mModeColor;
mModeColor.setResolution( 640, 480 );
mModeColor.setFps( 30 );
mModeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
//----------------------------------------------------------
//----------------------[Initial Streams]---------------------
VideoStream streamInitDepth;
streamInitDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamInitColor;
streamInitColor.create( devAnyDevice, SENSOR_COLOR );
streamInitDepth.setVideoMode( mModeDepth );
streamInitColor.setVideoMode( mModeColor );
namedWindow( "Depth Image (Init)", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image (Init)", CV_WINDOW_AUTOSIZE );
//namedWindow( "Thresholded Image (Init)", CV_WINDOW_AUTOSIZE );
VideoFrameRef frameDepthInit;
VideoFrameRef frameColorInit;
streamInitDepth.start();
streamInitColor.start();
cv::Mat BackgroundFrame;
int avgDist = 0;
int iMaxDepthInit = streamInitDepth.getMaxPixelValue();
OutX.clear();
OutY.clear();
vector<int> OldOutX, OldOutY;
OldOutX.clear();
OldOutY.clear();
//------------------------------------------------------------
//--------------------[Initiation Process]--------------------
while( true )
{
streamInitDepth.readFrame( &frameDepthInit );
streamInitColor.readFrame( &frameColorInit );
const cv::Mat mImageDepth( frameDepthInit.getHeight(), frameDepthInit.getWidth(), CV_16UC1, (void*)frameDepthInit.getData());
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepthInit );
cv::imshow( "Depth Image (Init)", mScaledDepth );
const cv::Mat mImageRGB(frameColorInit.getHeight(), frameColorInit.getWidth(), CV_8UC3, (void*)frameColorInit.getData());
cv::Mat cImageBGR;
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
//--------------------[Get Average Distance]---------------------
int depthVal = 0;
int frameHeight = frameDepthInit.getHeight();
int frameWidth = frameDepthInit.getWidth();
//------------
//backgroundDepth.resize(frameHeight * frameWidth);
//---------------------------------------------------------------
int initCount = 0;
for(int i = 0; i < frameHeight; i++)
{
for(int j = 0; j < frameWidth; j++)
{
depthVal = mImageDepth.at<unsigned short>(i, j) + depthVal;
initCount++;
}
}
avgDist = depthVal / ((frameHeight) * (frameWidth));
cout << "Average Distance: " << avgDist << endl;
cv::imshow( "Color Image (Init)", cImageBGR );
if( cv::waitKey(1) == 'q')
{
mImageDepth.copyTo(BackgroundFrame);
break;
}
}
streamInitDepth.destroy();
streamInitColor.destroy();
destroyWindow( "Depth Image (Init)" );
destroyWindow( "Color Image (Init)" );
VideoStream streamDepth;
streamDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamColor;
streamColor.create( devAnyDevice, SENSOR_COLOR );
streamDepth.setVideoMode( mModeDepth );
streamColor.setVideoMode( mModeColor );
streamDepth.start();
streamColor.start();
namedWindow( "Depth Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Thresholded Image", CV_WINDOW_AUTOSIZE );
int iMaxDepth = streamDepth.getMaxPixelValue();
VideoFrameRef frameColor;
VideoFrameRef frameDepth;
OutX.clear();
OutY.clear();
//------------------------------------------------------------
//------------------------------------------------------------
//-----------------------[Main Process]-----------------------
while( true )
{
streamDepth.readFrame( &frameDepth );
streamColor.readFrame( &frameColor );
const cv::Mat mImageDepth( frameDepth.getHeight(), frameDepth.getWidth(), CV_16UC1, (void*)frameDepth.getData());
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
////////////////////////////////////////////////////////////////////////////////////////////
//---------------------[Downsampling]-------------------------------------------------------
double min;
double max;
cv::minMaxIdx(mImageDepth, &min, &max);
cv::Mat adjMap;
// expand your range to 0..255. Similar to histEq();
float scale = 255 / (max-min);
mImageDepth.convertTo(adjMap,CV_8UC1, scale, -min*scale);
// this is great. It converts your grayscale image into a tone-mapped one,
// much more pleasing for the eye
// function is found in contrib module, so include contrib.hpp
// and link accordingly
cv::Mat falseColorsMap;
applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_AUTUMN);
cv::imshow("Out", falseColorsMap);
//------------------------------------------------------------------------------------------
////////////////////////////////////////////////////////////////////////////////////////////
cv::imshow( "Depth Image", mScaledDepth );
cv::imshow( "Depth Image2", adjMap );
const cv::Mat mImageRGB(frameColor.getHeight(), frameColor.getWidth(), CV_8UC3, (void*)frameColor.getData());
cv::Mat cImageBGR;
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
//-------------[Threshold]-----------------
cv::Mat mImageThres( frameDepth.getHeight(), frameDepth.getWidth(), CV_8UC1 );
int backgroundPxlCount = 0;
for(int i = 0; i < 480; i++)
{
for(int j = 0; j < 640; j++)
{
int depthVal = mImageDepth.at<unsigned short>(i, j);
avgDist = BackgroundFrame.at<unsigned short>(i, j)-2;
if((depthVal > (avgDist-14)) && (depthVal <= (avgDist-7)))
{
//mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 255;
mImageThres.at<uchar>(i, j) = 255;
}
else
{
//mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 0;
mImageThres.at<uchar>(i, j) = 0;
}
backgroundPxlCount++;
}
}
GaussianBlur( mImageThres, mImageThres, Size(3,3), 0, 0 );
fingerDetection( mImageThres, cImageBGR, OldOutX, OldOutY);
cv::imshow("Thresholded Image", mImageThres);
//----------------------------------------
if( cv::waitKey(1) == 'q')
{
break;
}
//------------------------------------------------
cv::imshow( "Color Image", cImageBGR );
//----------------------------------
OldOutX.clear();
OldOutY.clear();
OldOutX = OutX;
OldOutY = OutY;
OutX.clear();
OutY.clear();
}
return 0;
}
void createVideoMode(VideoMode& m, int x, int y, int fps, PixelFormat format)
{
m.setResolution(x, y);
m.setFps(fps);
m.setPixelFormat(format);
}
int initializeOpenNIDevice(int deviceID ,const char * deviceName , Device &device , VideoStream &color , VideoStream &depth ,unsigned int width ,unsigned int height , unsigned int fps)
{
unsigned int openMode=OPENNI2_OPEN_REGULAR_ENUM; /* 0 = regular deviceID and enumeration*/
if (deviceName!=0)
{
//If our deviceName contains a .oni we assume that we have an oni file to open
if (strstr(deviceName,".oni")!=0)
{
fprintf(stderr,"Found an .ONI filename , trying to open it..\n");
openMode=OPENNI2_OPEN_USING_STRING;
} else
if (strlen(deviceName)>7)
{
fprintf(stderr,"deviceName is too long (%lu chars) , assuming it is a Device URI ..\n",strlen(deviceName));
openMode=OPENNI2_OPEN_USING_STRING;
}
}
switch (openMode)
{
//-------------------------------------------------------------------------------------
//If we have an ONI file to open just pass it as an argument to device.open(deviceName)
case OPENNI2_OPEN_USING_STRING :
if (device.open(deviceName) != STATUS_OK)
{
fprintf(stderr,"Could not open using given string ( %s ) : %s \n",deviceName,OpenNI::getExtendedError());
return 0;
}
break;
//-------------------------------------------------------------------------------------
//If we don't have a deviceName we assume deviceID points to the device we want to open so we will try to use
//the openNI enumerator to get the specific device URI for device with number deviceID and use this to device.open( devURI )
case OPENNI2_OPEN_REGULAR_ENUM :
default :
//We have to supply our own buffer to hold the uri device string , so we make one here
char devURIBuffer[512]={0};
if (device.open(getURIForDeviceNumber(deviceID,devURIBuffer,512)) != STATUS_OK)
{
fprintf(stderr,"Could not open an OpenNI device : %s \n",OpenNI::getExtendedError());
return 0;
}
break;
}
if (device.getSensorInfo(SENSOR_DEPTH) != NULL)
{
Status rc = depth.create(device, SENSOR_DEPTH);
if (rc == STATUS_OK)
{
VideoMode depthMode = depth.getVideoMode();
depthMode.setResolution(width,height);
depthMode.setFps(fps);
Status rc = depth.setVideoMode(depthMode);
if (rc != STATUS_OK) { fprintf(stderr,"Error getting color at video mode requested %u x %u @ %u fps\n%s\n",width,height,fps,OpenNI::getExtendedError()); }
if(depth.start()!= STATUS_OK)
{
fprintf(stderr,"Couldn't start the color stream: %s \n",OpenNI::getExtendedError());
return 0;
}
}
else
{
fprintf(stderr,"Couldn't create depth stream: %s \n",OpenNI::getExtendedError());
return 0;
}
}
if (device.getSensorInfo(SENSOR_COLOR) != NULL)
{
Status rc = color.create(device, SENSOR_COLOR);
if (rc == STATUS_OK)
{
VideoMode colorMode = color.getVideoMode();
colorMode.setResolution(width,height);
colorMode.setFps(fps);
Status rc = color.setVideoMode(colorMode);
if (rc != STATUS_OK) { fprintf(stderr,"Error getting depth at video mode requested %u x %u @ %u fps\n%s\n",width,height,fps,OpenNI::getExtendedError()); }
if(color.start() != STATUS_OK)
{
fprintf(stderr,"Couldn't start the color stream: %s \n",OpenNI::getExtendedError());
return 0;
}
}
else
{
fprintf(stderr,"Couldn't create depth stream: %s \n",OpenNI::getExtendedError());
OpenNI::getExtendedError();
return 0;
}
}
#if MOD_IR
if(device.getSensorInfo(SENSOR_IR) != NULL)
{
Status rc = ir.create(device, SENSOR_IR); // Create the VideoStream for IR
if (rc == STATUS_OK)
{
rc = ir.start(); // Start the IR VideoStream
}
else
{
fprintf(stderr,"Couldn't create IR stream: %s \n",OpenNI::getExtendedError());
OpenNI::getExtendedError();
return 0;
}
}
#endif // MOD_IR
//Mirroring is disabled
depth.setMirroringEnabled (false);
color.setMirroringEnabled (false);
fprintf(stdout,"Device Initialization Requested %u x %u @ %u fps \n",width,height,fps);
return 1;
}
void OpenniWrapperNode::initializeOpenni()
{
Status rc = OpenNI::initialize();
if (rc != STATUS_OK)
{
printf("Initialize failed\n%s\n", OpenNI::getExtendedError());
return 1;
} else {
cout<<"Openni initialized"<<endl;
}
OpenNI::addDeviceConnectedListener(&m_devicePrinter);
OpenNI::addDeviceDisconnectedListener(&m_devicePrinter);
OpenNI::addDeviceStateChangedListener(&m_devicePrinter);
openni::Array<openni::DeviceInfo> deviceList;
openni::OpenNI::enumerateDevices(&deviceList);
for (int i = 0; i < deviceList.getSize(); ++i)
{
printf("Device \"%s\" already connected\n", deviceList[i].getUri());
}
m_vDevice.resize(deviceList.getSize());
m_vColor.resize(deviceList.getSize());
m_vDepth.resize(deviceList.getSize());
cout<<"Number of devices connected "<<deviceList.getSize()<<endl;
for (size_t i=0; i<m_DevicesDefined;i++)
{
if (i+1>deviceList.getSize())
{
cout<<"Name "<<m_vCameraNamespace[i]<<" defined but the device is not connected."<<endl;
break;
}
m_vDevice[i] = new Device();
rc = m_vDevice[i]->open(deviceList[i].getUri());
if (rc != STATUS_OK)
{
printf("Couldn't open device\n%s\n", OpenNI::getExtendedError());
return 2;
} else {
cout<<"Opened device "<<deviceList[0].getUri()<<" namespace "<<m_vCameraNamespace[i]<<endl;
}
cout<<"This device supports the following sensors ";
bool sensor = m_vDevice[i]->hasSensor(SENSOR_IR); if (sensor) cout <<"IR ";
sensor = m_vDevice[i]->hasSensor(SENSOR_COLOR); if (sensor) cout <<"COLOR ";
sensor = m_vDevice[i]->hasSensor(SENSOR_DEPTH); if (sensor) cout <<"DEPTH ";
cout<<endl;
ImageRegistrationMode mode = IMAGE_REGISTRATION_DEPTH_TO_COLOR;
bool registrationSupported = m_vDevice[i]->getImageRegistrationMode();
if(registrationSupported)
{
cout<<"Image registration SUPPORTED"<<endl;
rc = m_vDevice[i]->setImageRegistrationMode(mode);
// handle ret
if (rc != STATUS_OK)
{
std::cout<<"Could not set the image registration on. Some error occured "<<rc<<std::endl;
}
} else {
cout<<"Image registration NOT SUPPORTED"<<endl;
}
rc = m_vDevice[i]->setDepthColorSyncEnabled(true);
// handle rc
if (rc != STATUS_OK)
{
std::cout<<"Could not set the depth-color sync. Some error occured"<<std::endl;
}
if (m_vDevice[i]->getSensorInfo(SENSOR_DEPTH) != NULL)
{
m_vDepth[i] = new VideoStream;
rc = m_vDepth[i]->create(*m_vDevice[i], SENSOR_DEPTH);
if (rc != STATUS_OK)
{
printf("Couldn't create depth stream\n%s\n", OpenNI::getExtendedError());
}
}
VideoMode depthVideoMode = m_vDepth[i]->getVideoMode();
depthVideoMode.setResolution(640,480);
rc = m_vDepth[i]->setVideoMode(depthVideoMode);
if (rc != STATUS_OK)
{
printf("Couldn't set increased resolution for depth stream\n%s\n", OpenNI::getExtendedError());
}
rc = m_vDepth[i]->start();
if (rc != STATUS_OK)
{
printf("Couldn't start the depth stream\n%s\n", OpenNI::getExtendedError());
}
char serialNumber[100];
m_vDevice[i]->getProperty(ONI_DEVICE_PROPERTY_SERIAL_NUMBER,&serialNumber);
std::cout<<"Device serial number "<<serialNumber<<std::endl;
// check if a calibration file exists
std::string home=getenv("HOME");
std::string calibrationFileDepth = home+"/.ros/camera_info/depth_"+serialNumber+".yaml";
std::string calibrationFileRGB = home+"/.ros/camera_info/rgb_"+serialNumber+".yaml";
ifstream idepthfile(calibrationFileDepth.c_str());
if (!idepthfile)
{
calibrationFileDepth = "";
}
idepthfile.close();
ifstream irgbfile(calibrationFileRGB.c_str());
if (!irgbfile)
{
calibrationFileRGB = "";
}
irgbfile.close();
cout<<"RGB calib "<<calibrationFileRGB<<endl;
cout<<"Depth calib "<<calibrationFileDepth<<endl;
ColorCallback* colorCB = new ColorCallback(m_nodeHandle, m_vCameraNamespace[i], true, false,calibrationFileRGB);
DepthCallback* depthCB = new DepthCallback(m_nodeHandle, m_vCameraNamespace[i], true, false,calibrationFileDepth);
m_vDepthCallback.push_back(depthCB);
m_vColorCallback.push_back(colorCB);
if (m_vDevice[i]->getSensorInfo(SENSOR_COLOR) != NULL)
{
m_vColor[i] = new VideoStream;
rc = m_vColor[i]->create(*m_vDevice[i], SENSOR_COLOR);
if (rc != STATUS_OK)
{
printf("Couldn't create color stream\n%s\n", OpenNI::getExtendedError());
}
CameraSettings* streamSettings = m_vColor[i]->getCameraSettings();
if (streamSettings->getAutoExposureEnabled())
{
std::cout<<"Stream has auto exposure enabled"<<std::endl;
} else {
std::cout<<"Stream doesn't have auto exposure enabled"<<std::endl;
}
if (streamSettings->getAutoWhiteBalanceEnabled())
{
std::cout<<"Stream has white balancing enabled"<<std::endl;
} else {
std::cout<<"Stream doesn't have white balancing enabled"<<std::endl;
}
// streamSettings->setAutoExposureEnabled(false);
// streamSettings->setGain(15000);
// streamSettings->setAutoWhiteBalanceEnabled(false);
}
VideoMode colorVideoMode = m_vColor[i]->getVideoMode();
colorVideoMode.setResolution(640,480);
rc = m_vColor[i]->setVideoMode(colorVideoMode);
if (rc != STATUS_OK)
{
printf("Couldn't set increased resolution for color stream\n%s\n", OpenNI::getExtendedError());
}
rc = m_vColor[i]->start();
if (rc != STATUS_OK)
{
printf("Couldn't start the color stream\n%s\n", OpenNI::getExtendedError());
}
// Register to new frame
m_vDepth[i]->addNewFrameListener(m_vDepthCallback[i]);
m_vColor[i]->addNewFrameListener(m_vColorCallback[i]);
}
}
int main (int argc, char* argv[])
{
using namespace openni;
bool outputIsLibrary = true;
if (argc > 1) {
if (!strcmp(argv[1], "test_data")) {
std::cout << "Capturing data for testing.." << std::endl;
outputIsLibrary = false;
} else std::cout << "Capturing data for library.." << std::endl;
} else std::cout << "Capturing data for library.." << std::endl;
CreateDirectory ("Output", NULL);
int frameGap = 0;
std::string outputAddress;
if (outputIsLibrary) {
CreateDirectory ("Output/image_library", NULL);
if (argc > 1 && argv[2] != '\0') {
//if(argv[2] != '\0'){
char folder[256];
sprintf(folder, "Output/image_library/%s", argv[2]);
CreateDirectory (folder, NULL);
sprintf(folder, "Output/image_library/%s/rgbd", argv[2]);
outputAddress = folder;
CreateDirectory (outputAddress.c_str(), NULL);
sprintf(folder, "Output/image_library/%s/rgbd/rgb", argv[2]);
CreateDirectory (folder, NULL);
sprintf(folder, "Output/image_library/%s/rgbd/depth", argv[2]);
CreateDirectory (folder, NULL);
//}
} else {
CreateDirectory ("Output/image_library/item", NULL);
outputAddress = "Output/image_library/item/rgbd";
CreateDirectory (outputAddress.c_str(), NULL);
CreateDirectory ("Output/image_library/item/rgbd/rgb", NULL);
CreateDirectory ("Output/image_library/item/rgbd/depth", NULL);
}
frameGap = 75;
} else {
outputAddress = "Output/test_data/";
CreateDirectory (outputAddress.c_str(), NULL);
CreateDirectory ("Output/test_data/rgb", NULL);
CreateDirectory ("Output/test_data/depth", NULL);
frameGap = 200;
}
OpenNI::initialize();
puts( "Kinect initialization..." );
Device device;
if ( device.open( openni::ANY_DEVICE ) != 0 )
{
puts( "Kinect not found !" );
return -1;
}
puts( "Kinect opened" );
VideoStream depthV, colorV;
colorV.create( device, SENSOR_COLOR );
colorV.start();
puts( "Camera ok" );
depthV.create( device, SENSOR_DEPTH );
depthV.start();
puts( "Depth sensor ok" );
VideoMode paramvideo;
paramvideo.setResolution( 640, 480 );
paramvideo.setFps( 30 );
paramvideo.setPixelFormat( PIXEL_FORMAT_DEPTH_100_UM );
depthV.setVideoMode( paramvideo );
paramvideo.setPixelFormat( PIXEL_FORMAT_RGB888 );
colorV.setVideoMode( paramvideo );
// If the depth/color synchronisation is not necessary, start is faster :
//device.setDepthColorSyncEnabled( false );
// Otherwise, the streams can be synchronized with a reception in the order of our choice :
device.setDepthColorSyncEnabled( true );
device.setImageRegistrationMode( openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR );
VideoStream** stream = new VideoStream*[2];
stream[0] = &depthV;
stream[1] = &colorV;
puts( "Kinect initialization completed" );
cv::Mat colorBuffer( cv::Size( 640, 480 ), CV_8UC3 );
cv::Mat depthBuffer( cv::Size( 640, 480 ), CV_16UC1 ), depthTemp, depthDisplay;
cv::namedWindow( "RGB", CV_WINDOW_AUTOSIZE );
cv::namedWindow( "Depth", CV_WINDOW_AUTOSIZE );
bool firstDepth = true, firstColor = true;
cv::Mat captureMat = cv::Mat::zeros(200, 200, CV_8UC3);
int rgbFrameCount = 0, outputFrameCount = 0, lastRgbFrameCount = -1;
for (;;)
{
cv::Mat color, depth, mask, depthShow;
if ( device.getSensorInfo( SENSOR_DEPTH ) != NULL ) {
VideoFrameRef depthFrame, colorFrame;
cv::Mat colorcv( cv::Size( 640, 480 ), CV_8UC3);
cv::Mat depthcv( cv::Size( 640, 480 ), CV_16UC1);
int changedIndex;
if( device.isValid() ) {
OpenNI::waitForAnyStream( stream, 2, &changedIndex );
switch ( changedIndex ) {
case 0:
depthV.readFrame( &depthFrame );
if ( depthFrame.isValid() ) {
if(firstDepth == true) firstDepth = false;
depthcv.data = (uchar*) depthFrame.getData();
//To show depth image using entire range of viewed depth instead of default scale.
//double min;
//double max;
//cv::minMaxIdx(depthcv, &min, &max);
//cv::Mat adjMap = depthcv * 5;
//cv::convertScaleAbs(depthcv, adjMap, 255 / max);
//depthBuffer = adjMap.clone();
cv::flip(depthcv, depthBuffer, 1);
depthBuffer *= 5;
depthBuffer.copyTo(depthTemp);
depthTemp = 65535 - depthTemp;
depthDisplay = cv::Mat::zeros(depthBuffer.size(), CV_16UC1);
cv::Mat depthMask = depthBuffer > 0;
depthTemp.copyTo(depthDisplay, depthMask);
cv::imshow( "Depth", depthDisplay);
}
break;
case 1:
colorV.readFrame( &colorFrame );
if ( colorFrame.isValid() ) {
if(firstColor == true) firstColor = false;
colorcv.data = (uchar*) colorFrame.getData();
cv::cvtColor( colorcv, colorcv, CV_BGR2RGB );
//colorBuffer = colorcv.clone();
cv::flip(colorcv, colorBuffer, 1);
cv::imshow( "RGB", colorBuffer );
rgbFrameCount++;
}
break;
default:
puts( "Error retrieving a stream" );
}
}
if (!firstDepth && !firstColor) {
if ((rgbFrameCount > 125) && (rgbFrameCount > lastRgbFrameCount)) {
if ((rgbFrameCount % frameGap) == 0) {
char rgbChar[256], depthChar[256];
if (argc > 2 && !strcmp(argv[1], "library")) {
//debugging inputs: [library] [item] [surface(AB, AC, BC)] [Upright?]
//if (!strcmp(argv[1], "library")) {
//if(argv[3] == '\0' || argv[4] == '\0'){
//}
sprintf(rgbChar, "%s/rgb/%s_%s_R%04d.png", outputAddress.c_str(), argv[3], argv[4], outputFrameCount);
sprintf(depthChar, "%s/depth/%s_%s_R%04d.png", outputAddress.c_str(), argv[3], argv[4], outputFrameCount);
//}
} else {
sprintf(rgbChar, "%s/rgb/%04d.png", outputAddress.c_str(), outputFrameCount);
sprintf(depthChar, "%s/depth/%04d.png", outputAddress.c_str(), outputFrameCount);
}
cv::imwrite(std::string(rgbChar), colorBuffer);
cv::imwrite(std::string(depthChar), depthBuffer);
printf("Frameset (%d) written to file..\n", outputFrameCount);
lastRgbFrameCount = rgbFrameCount;
outputFrameCount++;
}
if ((rgbFrameCount % frameGap) < 5) {
captureMat = cv::Scalar(0.0, 255.0, 0.0);
} else captureMat = cv::Scalar(0.0, 0.0, 255.0);
}
cv::imshow("ready", captureMat);
int key = cv::waitKey(10) % 255;
if (key == 27 || key == 'q') break;
}
}
}
cv::destroyWindow( "RGB" );
cv::destroyWindow( "Depth" );
depthV.stop();
depthV.destroy();
colorV.stop();
colorV.destroy();
device.close();
OpenNI::shutdown();
return 0;
}