void foo1()
{
PXCSession *session;
PXCSession_Create(&session);
// session is a PXCSession instance
PXCSession::ImplDesc desc1;
memset(&desc1,0,sizeof(desc1));
desc1.group=PXCSession::IMPL_GROUP_SENSOR;
desc1.subgroup=PXCSession::IMPL_SUBGROUP_AUDIO_CAPTURE;
vector<std::wstring> deviceNames;
for (int m=0;;m++) {
PXCSession::ImplDesc desc2;
if (session->QueryImpl(&desc1,m,&desc2)<PXC_STATUS_NO_ERROR) break;
PXCSmartPtr<PXCCapture> capture;
if (session->CreateImpl<PXCCapture>(&desc2,&capture)<PXC_STATUS_NO_ERROR) continue;
for (int d=0;;d++) {
PXCCapture::DeviceInfo dinfo;
if (capture->QueryDevice(d,&dinfo)<PXC_STATUS_NO_ERROR) break;
std::wstring dname(dinfo.name);
deviceNames.push_back(dname);
}
}
// display devices and require a selection
int deviceNum = deviceNames.size();
int selectedDeviceId = 0;
wprintf_s(L"Device list:\n");
for (int i = 0; i < deviceNum; i++)
{
wprintf_s(L"Device[%d]: %s\n",i,deviceNames[i].c_str());
}
if (deviceNum > 0)
{
while (true)
{
wprintf_s(L"Please select a device from [0]~[%d]\n", deviceNum-1);
cin >> selectedDeviceId;
if (selectedDeviceId > -1 && selectedDeviceId < deviceNum)
{
wprintf_s(L"You selected device: [%d]%s\n", selectedDeviceId, deviceNames[selectedDeviceId].c_str());
break;
}
}
}
else
{
pxcStatus CaptureRecording::CreateDevice(pxcU32 didx, Device **device) {
PXCCapture::Device *device2=0;
pxcStatus sts=capture->CreateDevice(didx,&device2);
if (sts>=PXC_STATUS_NO_ERROR) {
*device=new CaptureRecording::DeviceRecording(device2,scheduler,types);
if (!(*device)) sts=PXC_STATUS_ALLOC_FAILED;
}
return sts;
}
bool IntelPerCStreamBase::initDevice(PXCSession *session)
{
if (NULL == session)
return false;
pxcStatus sts = PXC_STATUS_NO_ERROR;
PXCSession::ImplDesc templat;
memset(&templat,0,sizeof(templat));
templat.group = PXCSession::IMPL_GROUP_SENSOR;
templat.subgroup= PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
for (int modidx = 0; PXC_STATUS_NO_ERROR <= sts; modidx++)
{
PXCSession::ImplDesc desc;
sts = session->QueryImpl(&templat, modidx, &desc);
if (PXC_STATUS_NO_ERROR > sts)
break;
PXCSmartPtr<PXCCapture> capture;
sts = session->CreateImpl<PXCCapture>(&desc, &capture);
if (!capture.IsValid())
continue;
/* enumerate devices */
for (int devidx = 0; PXC_STATUS_NO_ERROR <= sts; devidx++)
{
PXCSmartPtr<PXCCapture::Device> device;
sts = capture->CreateDevice(devidx, &device);
if (PXC_STATUS_NO_ERROR <= sts)
{
m_device = device.ReleasePtr();
return true;
}
}
}
return false;
}
int _tmain(int argc, _TCHAR* argv[])
{
//Initializing objects for analysis
//Creating the session
PXCSmartPtr<PXCSession> session;
PXCSession_Create(&session);
//Creating face analysis object
PXCFaceAnalysis *face=0;
session->CreateImpl(PXCFaceAnalysis::CUID,(void**)&face);
//Initializing profile info
PXCFaceAnalysis::ProfileInfo pinfo;
face->QueryProfile(0,&pinfo);
//Starting capture
UtilCapture capture(session);
capture.LocateStreams(&pinfo.inputs);
face->SetProfile(&pinfo);
//Creating face detection module
PXCFaceAnalysis::Detection *det=face->DynamicCast<PXCFaceAnalysis::Detection>();
PXCFaceAnalysis::Detection::ProfileInfo dinfo = {0};
det->QueryProfile(0,&dinfo);
det->SetProfile(&dinfo);
//Creating landmark module
PXCFaceAnalysis::Landmark *landmark=face->DynamicCast<PXCFaceAnalysis::Landmark>();
PXCFaceAnalysis::Landmark::ProfileInfo linfo = {0};
landmark->QueryProfile(1,&linfo);
landmark->SetProfile(&linfo);
PXCFaceAnalysis::Landmark::LandmarkData ldata[7];
//Declaring Detection and Landmark data objects for analysis
PXCFaceAnalysis::Detection::Data data;
PXCFaceAnalysis::Landmark::PoseData pdata;
//Storage containers for images
PXCImage* mcImage;
PXCImage::ImageData mCImageData; //Color Image data
PXCSmartArray<PXCImage> images;
PXCSmartSPArray sps(2);
UtilPipeline pipeline;
pipeline.EnableImage(PXCImage::COLOR_FORMAT_RGB24,640,480);
pipeline.EnableImage(PXCImage::COLOR_FORMAT_DEPTH,320,240); //depth resolution 320,240
pipeline.Init();
UtilRender color_render(L"Color Stream");
UtilRender depth_render(L"Depth Stream");
///////////// OPENCV
IplImage *image=0;
CvSize gab_size;
gab_size.height=480;
gab_size.width=640;
image=cvCreateImage(gab_size,8,3);
PXCImage::ImageData idata;
unsigned char *rgb_data;//=new unsigned char[];
PXCImage::ImageInfo rgb_info;
Mat colorMat;
namedWindow("Test");
namedWindow("Test2");
///////
for (;;) {
capture.ReadStreamAsync(images.ReleaseRefs(),sps.ReleaseRef(0));
face->ProcessImageAsync(images,sps.ReleaseRef(1));
sps.SynchronizeEx();
if (!pipeline.AcquireFrame(true)) break;
PXCImage *color_image=pipeline.QueryImage(PXCImage::IMAGE_TYPE_COLOR);
color_image->AcquireAccess(PXCImage::ACCESS_READ_WRITE,PXCImage::COLOR_FORMAT_RGB24,&idata);
rgb_data=idata.planes[0];
for(int y=0; y<480; y++)
{
for(int x=0; x<640; x++)
{
for(int k=0; k<3 ; k++)
{
image->imageData[y*640*3+x*3+k]=rgb_data[y*640*3+x*3+k];
}
}
}
color_image->ReleaseAccess(&idata);
/*
cvShowImage("rgb_cv", image);
cvShowImage("depth_cv2", depth);
*/
colorMat = image;
//imshow("ShaurinSucks", colorMat);
// Tracking or recognition results are ready
pxcUID fid; pxcU64 ts;
//cout << "QUERY FACE" << endl;
if (face->QueryFace(0,&fid,&ts)<PXC_STATUS_NO_ERROR) continue;
landmark->QueryLandmarkData(fid, linfo.labels, &ldata[0]);
landmark->QueryPoseData(fid, &pdata);
det->QueryData(fid,&data);
//cout << "DATA " << data.confidence << " " << data.viewAngle << " " << data.rectangle.x << " " << data.rectangle.y << endl;
//cout << "PDATA " << pdata.pitch << " " << pdata.roll << " " << pdata.yaw << endl;
//cout << "LDATA ";
for (int j = 0; j < 7; j++){
//cout << ldata[j].position.x << " " << ldata[j].position.y << " " << ldata[j].position.z << endl;
}
//Point center( ldata[6].position.x, ldata[6].position.y);
//ellipse(colorMat, center, Size( 10, 10), 0, 0, 360, Scalar(255, 0, 255), 4, 8, 0);
cout << ldata[0].position.x << " " << ldata[0].position.y << " | " << ldata[1].position.x << " " << ldata[1].position.y << endl;
//Point2f start1(ldata[0].position.x, ldata[0].position.y);
//Point2f end1(ldata[1].position.x, ldata[1].position.y);
//Point2f start2(ldata[2].position.x, ldata[2].position.y);
//Point2f end2(ldata[3].position.x, ldata[3].position.y);
//int rad = abs((ldata[0].position.x+ldata[1].position.x)/2 - ldata[0].position.x);
//Point2f mid1((ldata[0].position.x+ldata[1].position.x)/2, (ldata[0].position.y+ldata[1].position.y)/2);
//ellipse(colorMat, mid1, Size( 50, 50), 0, 0, 360, Scalar(255, 0, 255), 4, 8, 0);
Point2f corner1(ldata[0].position.x, ldata[0].position.y+10);
Point2f corner2(ldata[1].position.x, ldata[1].position.y-10);
//rectangle(colorMat, corner1, corner2, Scalar(0, 255, 255), 2, 8);
Rect temp(corner1, corner2);
//colorMat(temp);
//line(colorMat, start1, end1, Scalar(255,0,255), 2, 8);
//line(colorMat, start2, end2, Scalar(255,0,255), 2, 8);
imshow("Test", colorMat);
Mat frame_gray;
cvtColor(colorMat, frame_gray, CV_BGR2GRAY);
equalizeHist(frame_gray, frame_gray);
Mat faceROI = frame_gray(temp);
imshow("Test2", faceROI);
if( cvWaitKey(10) >= 0 )
break;
//IF THIS IS AFTER. THEN THE STREAM STOPS IF FACE ISNT IN THERE
pipeline.ReleaseFrame();
}
cvReleaseImage(&image);
pipeline.Close();
return 0;
}
pxcStatus UtilCapture::LocateStreams(std::vector<PXCCapture::VideoStream::DataDesc*> &vinputs,std::vector<PXCCapture::AudioStream::DataDesc*> &ainputs) {
UtilTrace trace(L"UtilCapture::LocateStreams(video)", m_session_service);
if (vinputs.empty() && ainputs.empty()) return PXC_STATUS_ITEM_UNAVAILABLE;
PXCCapture::AudioStream::DataDesc ainput;
if (!ConsolidateAudioRequests(ainputs,&ainput)) return PXC_STATUS_ITEM_UNAVAILABLE;
int n1=CalculateNumFormats(vinputs);
pxcStatus sts;
m_desc_filter.group=PXCSession::IMPL_GROUP_SENSOR;
m_desc_filter.subgroup=(vinputs.size()>0?PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE:0)|(ainputs.size()>0?PXCSession::IMPL_SUBGROUP_AUDIO_CAPTURE:0);
for (int module_idx=0;;module_idx++) {
sts = CreateCapture(module_idx, m_capture.ReleaseRef());
if (sts == PXC_STATUS_ITEM_UNAVAILABLE) break;
if (sts < PXC_STATUS_NO_ERROR) continue;
PXCCapture::DeviceInfo dinfo;
for (int device_idx=0;;device_idx++) {
sts=m_capture->QueryDevice(device_idx,&dinfo);
if (sts<PXC_STATUS_NO_ERROR) break;
if (m_session_service) m_session_service->TraceParam(L"Locating stream(s) on device ", dinfo.name);
if (m_name_filter) if (!wcsstr(dinfo.name,m_name_filter)) continue;
sts=m_capture->CreateDevice(device_idx,m_device.ReleaseRef());
if (sts<PXC_STATUS_NO_ERROR) continue;
/* Match image formats */
ClearMaps(vinputs);
int n2=0;
bool am=(ainputs.size()>0)?false:true;
for (int stream_idx=0;;stream_idx++) {
PXCCapture::Device::StreamInfo sinfo;
sts=m_device->QueryStream(stream_idx, &sinfo);
if (sts<PXC_STATUS_NO_ERROR) break;
if (sinfo.cuid==PXCCapture::VideoStream::CUID && n2<n1) {
PXCSmartPtr<PXCCapture::VideoStream> vstream;
sts=m_device->CreateStream(stream_idx,PXCCapture::VideoStream::CUID,(void**)&vstream);
if (sts<PXC_STATUS_NO_ERROR) break;
std::list<PXCCapture::VideoStream::ProfileInfo> profiles;
ScanProfiles(profiles,sinfo.imageType,vstream);
int n3=MatchProfiles(vinputs,sinfo,profiles,(int)m_vstreams.size());
if (n3==0) continue;
FindBestProfile(vinputs,profiles,(int)m_vstreams.size());
sts=vstream->SetProfile(&*profiles.begin());
if (sts<PXC_STATUS_NO_ERROR) break;
m_vstreams.push_back(vstream.ReleasePtr());
n2+=n3;
}
if (sinfo.cuid==PXCCapture::AudioStream::CUID && !am) {
sts=m_device->CreateStream(stream_idx, PXCCapture::AudioStream::CUID, (void**)m_astream.ReleaseRef());
if (sts<PXC_STATUS_NO_ERROR) continue;
for (int profile_idx=0;;profile_idx++) {
PXCCapture::AudioStream::ProfileInfo pinfo;
sts=m_astream->QueryProfile(profile_idx,&pinfo);
if (sts<PXC_STATUS_NO_ERROR) break;
if (ainput.info.nchannels>0 && ainput.info.nchannels!=pinfo.audioInfo.nchannels) continue;
if (ainput.info.sampleRate>0 && ainput.info.sampleRate!=pinfo.audioInfo.sampleRate) continue;
if (ainput.info.bufferSize>0 && ainput.info.bufferSize!=pinfo.audioInfo.bufferSize) continue;
if (ainput.info.channelMask>0 && ainput.info.channelMask!=pinfo.audioInfo.channelMask) continue;
sts=m_astream->SetProfile(&pinfo);
if (sts<PXC_STATUS_NO_ERROR) break;
for (int i=0;i<(int)ainputs.size();i++) {
memcpy_s(&ainputs[i]->info,sizeof(ainputs[i]->info),&pinfo.audioInfo,sizeof(pinfo.audioInfo));
ainputs[i]->options=pinfo.audioOptions;
}
am=true;
break;
}
if (sts<PXC_STATUS_NO_ERROR) m_astream.ReleaseRef();
}
if (sts>=PXC_STATUS_NO_ERROR && n2>=n1 && am) break;
}
if (sts>=PXC_STATUS_NO_ERROR && n2>=n1 && am)
if (RecordProperties(vinputs)) break;
DeleteStreams();
m_device.ReleaseRef();
}
if (sts>=PXC_STATUS_NO_ERROR)
{
if (m_session_service) m_session_service->TraceParam(L"Successfully located streams on device ", dinfo.name);
// update actual image size
for (int i = 0; i < (int)vinputs.size() && i < (int)m_maps.size(); i++)
{
for (int c = 0; c < PXCCapture::VideoStream::STREAM_LIMIT; c++)
{
PXCCapture::VideoStream::ProfileInfo info;
if (m_maps[i][c]<0) break;
PXCCapture::VideoStream* vstream = m_vstreams[m_maps[i][c]];
if (!vstream) break;
if (vstream->QueryProfile(&info) >= PXC_STATUS_NO_ERROR)
{
vinputs[i]->streams[c].sizeMin.width = info.imageInfo.width;
vinputs[i]->streams[c].sizeMin.height = info.imageInfo.height;
vinputs[i]->streams[c].sizeMax.width = info.imageInfo.width;
vinputs[i]->streams[c].sizeMax.height = info.imageInfo.height;
}
}
}
break;
}
m_capture.ReleaseRef();
}
return sts;
}
void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
{
UInt64 *MXadress;
if(nrhs==0)
{
printf("Close failed: Give Pointer to intel camera as input\n");
mexErrMsgTxt("Intel camera error");
}
MXadress = (UInt64*)mxGetData(prhs[0]);
if(MXadress[0]==0)
{
return;
}
UtilPipeline* utilPipelineP = (UtilPipeline*)MXadress[0];
UtilPipeline& utilPipeline = utilPipelineP[0];
PXCImage *rgbImage = utilPipeline.QueryImage(PXCImage::IMAGE_TYPE_COLOR);
PXCImage::ImageData rgbImageData;
rgbImage->AcquireAccess(PXCImage::ACCESS_READ,&rgbImageData);
//if(depthImageData.format != PXCImage::COLOR_FORMAT_DEPTH)
//{
// mexErrMsgTxt("COLOR_FORMAT_DEPTH error");
//}
if(rgbImageData.type != PXCImage::SURFACE_TYPE_SYSTEM_MEMORY)
{
mexErrMsgTxt("SURFACE_TYPE_SYSTEM_MEMORY error");
}
PXCImage::ImageInfo rgbInfo;
rgbImage->QueryInfo(&rgbInfo);
printf("RGB Image : Width %d, Height %d \r\n",rgbInfo.width,rgbInfo.height);
mwSize dimsRGB[3];
dimsRGB[0]=3;
dimsRGB[1]=rgbInfo.width;
dimsRGB[2]=rgbInfo.height;
unsigned char *Iout;
plhs[0] = mxCreateNumericArray(3, dimsRGB, mxUINT8_CLASS, mxREAL);
Iout = (unsigned char*)mxGetData(plhs[0]);
memcpy (Iout,rgbImageData.planes[0],dimsRGB[0]*dimsRGB[1]*dimsRGB[2]);
rgbImage->ReleaseAccess(&rgbImageData);
if(nlhs>1)
{
UtilCapture *capture = utilPipeline.QueryCapture();
if(!capture)
{
printf("No valid capture object\n");
return;
}
PXCCapture::Device *device = capture->QueryDevice();
if(!device)
{
printf("No valid device object\n");
return;
}
// Get Camera Projection Data
PXCSession *session = utilPipeline.QuerySession();
pxcUID pid;
device->QueryPropertyAsUID(PXCCapture::Device::PROPERTY_PROJECTION_SERIALIZABLE,&pid);
PXCSmartPtr<PXCProjection> projection;
PXCMetadata *metadata = session->DynamicCast<PXCMetadata>();
metadata->CreateSerializable<PXCProjection>( pid, &projection );
if(!projection)
{
printf("No valid projection data\n");
return;
}
pxcU32 npoints = (pxcU32) dimsRGB[1]*(pxcU32)dimsRGB[2];
PXCPointF32 *posc = new PXCPointF32[npoints];
PXCPointF32 *posd = new PXCPointF32[npoints];
int i=0;
for (int y=0;y< dimsRGB[2];y++)
{
for (int x=0;x< dimsRGB[1];x++)
{
posc[i].x=(pxcF32)x,
posc[i].y=(pxcF32)y;
i++;
}
}
projection->MapColorCoordinatesToDepth(npoints,posc,posd);
//projection->Release();
mwSize dimsM[3];
dimsM[0]=2;
dimsM[1]=dimsRGB[1];
dimsM[2]=dimsRGB[2];
plhs[1] = mxCreateNumericArray(3, dimsM, mxSINGLE_CLASS, mxREAL);
float* Mout = (float*)mxGetData(plhs[1]);
memcpy (Mout,posd,dimsM[0]*dimsM[1]*dimsM[2]*sizeof(float));
delete(posc);
delete(posd);
}
}
////////////////////////////////////////////////////////////////////////////////
// protected member functions
////////////////////////////////////////////////////////////////////////////////
int IntelCamera::InitCamera(int device_num)
{
// create a session
pxcStatus sts = PXCSession_Create(&session);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a session\n");
return -1;
}
// create a video capture
PXCSession::ImplDesc desc;
memset(&desc, 0, sizeof(desc));
desc.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
PXCSmartPtr<PXCCapture> capture;
sts = session->CreateImpl(&desc, PXCCapture::CUID, (void**)&capture);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a capture\n");
return -1;
}
// create a device
PXCSmartPtr<PXCCapture::Device> device;
sts = capture->CreateDevice(device_num, &device);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a device\n");
return -1;
}
// create color stream: 640x480
sts = device->CreateStream(0, PXCCapture::VideoStream::CUID, (void**)&pColorStream);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to create color stream\n");
return -1;
}
PXCCapture::VideoStream::ProfileInfo pinfoColor;
sts = pColorStream->QueryProfile(0, &pinfoColor);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get color stream profile\n");
return -1;
}
// set for less error on depth image : because of sync color/depth
pinfoColor.frameRateMax.denominator = 0;
pinfoColor.frameRateMax.numerator = 60;
pinfoColor.frameRateMin.denominator = 0;
pinfoColor.frameRateMin.numerator = 60;
sts = pColorStream->SetProfile(&pinfoColor);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get color stream profile\n");
return -1;
}
// create depth streams: 320x240
sts = device->CreateStream(1, PXCCapture::VideoStream::CUID, (void**)&pDepthStream);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to create depth stream\n");
return -1;
}
PXCCapture::VideoStream::ProfileInfo pinfoDepth;
sts = pDepthStream->QueryProfile(0, &pinfoDepth);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get depth stream profile\n");
return -1;
}
// set for less error on depth image
pinfoDepth.frameRateMax.denominator = 1;
pinfoDepth.frameRateMax.numerator = 60;
pinfoDepth.frameRateMin.denominator = 1;
pinfoDepth.frameRateMin.numerator = 60;
sts = pDepthStream->SetProfile(&pinfoDepth);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get depth stream profile\n");
return -1;
}
// read streams
pColorStream->ReadStreamAsync(&images[0], &sps[0]);
pDepthStream->ReadStreamAsync(&images[1], &sps[1]);
// get constant values
pxcUID prj_value;
device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_SMOOTHING, 1); // depth smoothing
device->QueryPropertyAsUID(PXCCapture::Device::PROPERTY_PROJECTION_SERIALIZABLE, &prj_value);
device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, &no_confidence);
device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_SATURATION_VALUE , &depth_saturation);
// get projection instance
sts = session->DynamicCast<PXCMetadata>()->CreateSerializable<PXCProjection>(prj_value, &projection);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a projection\n");
return -1;
}
return 1;
}