bool DataCapture::initialise()
{
context_.Shutdown();
XnStatus rc = context_.Init();
if( rc != XN_STATUS_OK )
{
std::cout << "Init: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = depthGen_.Create(context_);
if( rc != XN_STATUS_OK )
{
std::cout << "depthGen.Create: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = imageGen_.Create(context_);
if( rc != XN_STATUS_OK )
{
std::cout << "imageGen.Create: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = imageGen_.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
if( rc != XN_STATUS_OK )
{
std::cout << "SetPixelFormat: " << xnGetStatusString(rc) << std::endl;
return false;
}
XnMapOutputMode imgMode;
imgMode.nXRes = 640; // XN_VGA_X_RES
imgMode.nYRes = 480; // XN_VGA_Y_RES
imgMode.nFPS = 30;
rc = imageGen_.SetMapOutputMode(imgMode);
if( rc != XN_STATUS_OK )
{
std::cout << "image SetMapOutputMode: " << xnGetStatusString(rc) << std::endl;
return false;
}
rc = depthGen_.SetMapOutputMode(imgMode);
if( rc != XN_STATUS_OK )
{
std::cout << "depth SetMapOutputMode: " << xnGetStatusString(rc) << std::endl;
return false;
}
depthGen_.GetMetaData(depthMd_);
std::cout << "Depth offset " << depthMd_.XOffset() << " " << depthMd_.YOffset() << std::endl;
// set the depth image viewpoint
depthGen_.GetAlternativeViewPointCap().SetViewPoint(imageGen_);
// read off the depth camera field of view. This is the FOV corresponding to
// the IR camera viewpoint, regardless of the alternative viewpoint settings.
XnFieldOfView fov;
rc = depthGen_.GetFieldOfView(fov);
std::cout << "Fov: " << fov.fHFOV << " " << fov.fVFOV << std::endl;
pDepthData_ = new char [640 * 480];
pRgbData_ = new char [640 * 480 * 3];
return true;
}
int main ( int argc, char * argv[] )
{
//
// Initialize OpenNI Settings
//
XnStatus nRetVal = XN_STATUS_OK;
xn::ScriptNode scriptNode;
xn::EnumerationErrors errors;
//
// Initialize Context Object
//
nRetVal = g_Context.InitFromXmlFile ( CONFIG_XML_PATH, scriptNode, &errors );
if ( nRetVal == XN_STATUS_NO_NODE_PRESENT ) {
XnChar strError[1024];
errors.ToString(strError, 1024);
printf ( "XN_STATUS_NO_NODE_PRESENT:\n%s\n", strError );
system ( "pause" );
return ( nRetVal );
}
else if ( nRetVal != XN_STATUS_OK ) {
printf ( "Open failed: %s\n", xnGetStatusString(nRetVal) );
system ( "pause" );
return ( nRetVal );
}
//
// Handle Image & Depth Generator Node
//
bool colorFlag = true;
bool depthFlag = true;
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_DEPTH, g_DepthGen );
if ( nRetVal != XN_STATUS_OK ) {
printf("No depth node exists!\n");
depthFlag = false;
}
nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_IMAGE, g_ImageGen );
if ( nRetVal != XN_STATUS_OK ) {
printf("No image node exists!\n");
colorFlag = false;
}
// g_DepthGen.GetAlternativeViewPointCap().SetViewPoint( g_ImageGen );
if ( depthFlag ) {
g_DepthGen.GetMetaData ( g_DepthMD );
assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );
}
if ( colorFlag ) {
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
}
g_DepthImgShow = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC1 );
g_DepthImgMat = cv::Mat ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
g_ColorImgMat = cv::Mat ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3 );
//
// Start to Loop
//
bool flipColor = true;
int ctlWndKey = -1;
g_StartTickCount = GetTickCount();
g_HeadTrackingFrameCount = 0;
while ( ctlWndKey != ESC_KEY_VALUE )
{
nRetVal = g_Context.WaitOneUpdateAll ( g_DepthGen );
// nRetVal = g_Context.WaitAnyUpdateAll();
#ifdef HANDLING_IMAGE_DATA
if ( colorFlag )
{
g_ImageGen.GetMetaData ( g_ImageMD );
assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() );
assert ( g_ImageMD.FullYRes() == g_ImageMD.YRes() );
GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), g_ColorImgMat );
if ( ctlWndKey == 's' || ctlWndKey == 'S' ) { // Switch
flipColor = !flipColor;
}
if ( flipColor ) {
cv::cvtColor ( g_ColorImgMat, g_ColorImgMat, CV_RGB2BGR );
}
cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::imshow ( IMAGE_WIN_NAME, g_ColorImgMat );
}
#endif
#ifdef HANDLING_DEPTH_DATA
if ( depthFlag )
{
g_DepthGen.GetMetaData(g_DepthMD);
// assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() );
// assert ( g_DepthMD.FullYRes() == g_DepthMD.YRes() );
GlobalUtility::CopyDepthRawBufToCvMat16u ( (const XnDepthPixel *)(g_DepthMD.Data()), g_DepthImgMat );
GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( g_DepthImgMat, g_DepthImgShow );
/*
cv::putText(colorImgMat,
GlobalUtility::DoubleToString(g_ImageMD.FPS()) + " FPS",
cv::Point(10, 450),
cv::FONT_ITALIC,
0.7,
cv::Scalar(255, 255, 255, 0),
2,
8,
false);
*/
cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );
cv::imshow ( DEPTH_WIN_NAME, g_DepthImgShow );
}
#endif
XnFieldOfView fov;
g_DepthGen.GetFieldOfView( fov );
std::cout << "HFov = " << fov.fHFOV << std::endl
<< "VFov = " << fov.fVFOV << std::endl;
ctlWndKey = cvWaitKey ( 5 );
g_HeadTrackingFrameCount++;
g_CurrTickCount = GetTickCount();
std::cout << "FPS = "
<< 1000 / ( ( double )( g_CurrTickCount - g_StartTickCount ) / ( double )( g_HeadTrackingFrameCount ) )
<< std::endl;
}
g_Context.Release ();
exit ( EXIT_SUCCESS );
}