bool VideoSourceKinect::getNextFrame(int* pnStatus_){
Status nRetVal = STATUS_OK;
unsigned int time_stamp_c;
{
openni::VideoStream* streams[] = { &_depth, &_color };
int changedIndex = -1;
//_colorFrame.release();
while (nRetVal == STATUS_OK /*|| !_colorFrame.isValid() || !_depthFrame.isValid()*/) //if any one of the frames are not loaded properly, then loop to try to load them
{
nRetVal = openni::OpenNI::waitForAnyStream(streams, 2, &changedIndex, 0);
if (nRetVal == openni::STATUS_OK)
{
switch (changedIndex)
{
case 0:
_depth.readFrame(&_depthFrame); break;
case 1:
_color.getCameraSettings()->setExposure(_exposure);
_color.readFrame(&_colorFrame);
time_stamp_c = _colorFrame.getTimestamp();
cout << " time stamp: " << time_stamp_c - time_stamp << endl;
time_stamp = time_stamp_c;
break;
default:
printf("Error in wait\n");
}
}
}
}
//load color image to
if (!_colorFrame.isValid() || !_depthFrame.isValid()) return false;
cv::Mat cvmRGB(__aRGBH[_uResolution], __aRGBW[_uResolution], CV_8UC3, (unsigned char*)_colorFrame._getFrame()->data);
cv::Mat cvmDep(__aDepthH[_uResolution], __aDepthW[_uResolution], CV_16UC1, (unsigned short*)_depthFrame._getFrame()->data);
cvmRGB.copyTo(_cvmRGB);
int avg_n = 30;
if (_nTotalFrameToAccumulate < avg_n){
Mat RGB;
_cvmRGB.convertTo(RGB, CV_32SC3);
Mat cvmBGR; cv::cvtColor(_cvmRGB, cvmBGR, CV_RGB2BGR);
ostringstream Convert;
Convert << "..//" << _serial_number << "//" << _color.getCameraSettings()->getExposure() << "." << _nTotalFrameToAccumulate << ".png";
if (!imwrite(Convert.str(), cvmBGR))return false;
{
ostringstream Convert;
Convert << "..//" << _serial_number << "//depth//" << _color.getCameraSettings()->getExposure() << ".depth." << _nTotalFrameToAccumulate << ".png";
if (!imwrite(Convert.str(), cvmDep))return false;
}
_nTotalFrameToAccumulate++;
}
else if (_nTotalFrameToAccumulate == avg_n)
{
cout << _color.getCameraSettings()->getExposure() << endl;
_nTotalFrameToAccumulate = 0;
if (_exposure == 0){
_exposure = 3;
} else {
_exposure <<= 1;
}
}
return true;
}
void CKinectCapturer::getNextFrameRGB(cv::Mat& cvmRGB_){
const XnRGB24Pixel* _pRGBMap = _cRGBGen.GetRGB24ImageMap();
cv::Mat cvmRGB(480,640,CV_8UC3,(uchar*)_pRGBMap);
cv::cvtColor(cvmRGB,cvmRGB_, CV_BGR2RGB);
}
