Exemplo n.º 1
0
    /**
     * return RGB Image 
     */
    std::string getRGBImage(bool br) {
	       {
            ReadLock r_lock(myLock);
            stringstream emitter;
      	    emitter << "{RGBMap," << g_imageMD.XRes() << ","<< g_imageMD.YRes() << "}[";
            
            for(int i = 0; i < g_imageMD.XRes(); i++) {    
                  if(i>0 && br == true) emitter << "<BR>"; 
                  for(int j = 0; j < g_imageMD.YRes(); j++, pPixelPoint++) {
                       emitter << (int)(pPixelPoint->nRed) << ",";     
                       emitter << (int)(pPixelPoint->nGreen) << ",";
                       emitter << (int)(pPixelPoint->nBlue) << ";"; 
                  }      
            }
            
            emitter << "]";
            return emitter.str();      
        }
    }
Exemplo n.º 2
0
inline void getBGRImageFromMetaData( const xn::ImageMetaData& imageMetaData, cv::Mat& bgrImage )
{
    if( imageMetaData.PixelFormat() != XN_PIXEL_FORMAT_RGB24 )
        CV_Error( CV_StsUnsupportedFormat, "Unsupported format of grabbed image\n" );

    cv::Mat rgbImage( imageMetaData.YRes(), imageMetaData.XRes(), CV_8UC3 );
    const XnRGB24Pixel* pRgbImage = imageMetaData.RGB24Data();

    // CV_Assert( 3*sizeof(uchar) == sizeof(XnRGB24Pixel) );
    memcpy( rgbImage.data, pRgbImage, rgbImage.total()*sizeof(XnRGB24Pixel) );
    cv::cvtColor( rgbImage, bgrImage, CV_RGB2BGR );
}
Exemplo n.º 3
0
void SimKinect::DrawRGBMap(const xn::ImageMetaData& imd) {
	static bool bInitialized = false;
	static int width;
	static int height;
	static int width_step;
	static XnRGB24Pixel* g_pTexMap;

	if(!bInitialized) {
		width = video_size_width;
		height = video_size_height;
		g_pTexMap = (XnRGB24Pixel*)malloc(width * height * sizeof(XnRGB24Pixel));
		width_step = width*3;
		bInitialized = true;
	}

	const XnUInt8* pImage = imd.Data();
	const XnRGB24Pixel* pImageRow = imd.RGB24Data();
	XnRGB24Pixel* pTexRow = g_pTexMap + imd.YOffset() * width;
	
	for (XnUInt y = 0; y < imd.YRes(); ++y)
	{
		const XnRGB24Pixel* pImage = pImageRow;
		XnRGB24Pixel* pTex = pTexRow + imd.XOffset();

		for (XnUInt x = 0; x < imd.XRes(); ++x, ++pImage, ++pTex)
		{
			*pTex = *pImage;
		}

		pImageRow += imd.XRes();
		pTexRow += width;
	}

	//Draw rgb image
  XnRGB24Pixel* pix_ptr = g_pTexMap;
  
  for ( int i=0 ; i<height ; i++ ) {
		unsigned char* row_pointer = color_frame+i*width_step;
    for ( int j=0 ; j<width_step; j+=3,pix_ptr++ ) {
			row_pointer[j] = pix_ptr->nBlue;
      row_pointer[j+1]=pix_ptr->nGreen;
      row_pointer[j+2]=pix_ptr->nRed;
    }
  }
	//imshow("COLOR",color_img);
	
}
Exemplo n.º 4
0
int main ( int argc, char ** argv )
{
	// 
	// Initializing Calibration Related
	// 

	// ARTagHelper artagHelper	( colorImgWidth, colorImgHeight, ARTAG_CONFIG_FILE,		ARTAG_POS_FILE );
	ARTagHelper artagHelper		( colorImgWidth, colorImgHeight, ARTAG_CONFIG_A3_FILE,	ARTAG_POS_A3_FILE );

	ExtrCalibrator extrCalibrator ( 6, KINECT_INTR_FILE, KINECT_DIST_FILE );
	// unsigned char * kinectImgBuf = new unsigned char[colorImgWidth * colorImgHeight * 3];

	// 
	// Initializing OpenNI Settings
	// 

	int ctlWndKey = -1;

	XnStatus nRetVal = XN_STATUS_OK;
	xn::EnumerationErrors errors;

	// 
	// Initialize Context Object
	// 
	
	nRetVal = g_Context.InitFromXmlFile ( CONFIG_XML_PATH, g_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:\n%s\n", xnGetStatusString ( nRetVal ) );	
	
		system ( "pause" );
		return ( nRetVal );
	}

	// 
	// Handle the Depth Generator Node.
	// 
	
	nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_DEPTH, g_DepthGen );
	if ( nRetVal != XN_STATUS_OK )
	{
		printf ( "No Depth Node Exists! Please Check your XML.\n" );
		return ( nRetVal );
	}
	
	// 
	// Handle the Image Generator node
	// 
	
	nRetVal = g_Context.FindExistingNode ( XN_NODE_TYPE_IMAGE, g_ImageGen );
	if ( nRetVal != XN_STATUS_OK )
	{
		printf ( "No Image Node Exists! Please Check your XML.\n" );
		return ( nRetVal );
	}

	// g_DepthGen.GetAlternativeViewPointCap().SetViewPoint( g_ImageGen );

	g_DepthGen.GetMetaData ( g_DepthMD );
	g_ImageGen.GetMetaData ( g_ImageMD );

	assert ( g_ImageMD.PixelFormat() == XN_PIXEL_FORMAT_RGB24 );
	assert ( g_DepthMD.PixelFormat() == XN_PIXEL_FORMAT_GRAYSCALE_16_BIT );

	// 
	// Create OpenCV Showing Window and Related Data Structures
	// 

	cv::namedWindow ( IMAGE_WIN_NAME, CV_WINDOW_AUTOSIZE );
	cv::namedWindow ( DEPTH_WIN_NAME, CV_WINDOW_AUTOSIZE );

	cv::Mat depthImgMat  ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_16UC1 );
	cv::Mat depthImgShow ( g_DepthMD.YRes(), g_DepthMD.XRes(), CV_8UC3  );
	cv::Mat colorImgMat  ( g_ImageMD.YRes(), g_ImageMD.XRes(), CV_8UC3 );

#define ARTAG_DEBUG

#ifdef ARTAG_DEBUG
	
	cv::setMouseCallback ( IMAGE_WIN_NAME, ClickOnMouse, 0 );

#endif

	bool flipColor = true;

	// 
	// Start to Loop
	// 

	while ( ctlWndKey != ESC_KEY_VALUE ) 
	{
		// 
		// Try to Get New Frame From Kinect
		// 
	
		nRetVal = g_Context.WaitAnyUpdateAll ();

		g_DepthGen.GetMetaData ( g_DepthMD );
		g_ImageGen.GetMetaData ( g_ImageMD );

		assert ( g_DepthMD.FullXRes() == g_DepthMD.XRes() && g_DepthMD.FullYRes() == g_DepthMD.YRes() );
		assert ( g_ImageMD.FullXRes() == g_ImageMD.XRes() && g_ImageMD.FullYRes() == g_ImageMD.YRes() );

		GlobalUtility::CopyColorRawBufToCvMat8uc3 ( (const XnRGB24Pixel *)(g_ImageMD.Data()), colorImgMat );

#ifdef SHOW_DEPTH_WINDOW

		GlobalUtility::CopyDepthRawBufToCvMat16u  ( (const XnDepthPixel *)(g_DepthMD.Data()), depthImgMat );
		// GlobalUtility::ConvertDepthCvMat16uToYellowCvMat ( depthImgMat, depthImgShow );
		GlobalUtility::ConvertDepthCvMat16uToGrayCvMat ( depthImgMat, depthImgShow );

		cv::imshow ( DEPTH_WIN_NAME, depthImgShow );

#endif

		ctlWndKey = cvWaitKey ( 15 );

		if ( ctlWndKey == 'f' || ctlWndKey == 'F' ) 
		{
			artagHelper.Clear();

			artagHelper.FindMarkerCorners ( (unsigned char *)(g_ImageMD.Data()) );
			artagHelper.PrintMarkerCornersPos2dInCam ();
			extrCalibrator.ExtrCalib ( artagHelper );

			std::cout << "\nKinect Extr Matrix:" << std::endl;
			extrCalibrator.PrintMatrix ( extrCalibrator.GetMatrix ( ExtrCalibrator::EXTR ) );

			std::cout	<< "Reprojection ERROR = " 
						<< extrCalibrator.ComputeReprojectionErr ( artagHelper ) << std::endl
						// << extrCalibrator.ComputeReprojectionErr ( artagHelper.m_MarkerCornerPosCam2d, artagHelper.m_MarkerCornerPos3d, 24 ) << std::endl
						<< "Valid Marker Number = " << artagHelper.GetValidMarkerNumber() << std::endl
						<< std::endl;

			extrCalibrator.SaveMatrix ( ExtrCalibrator::EXTR, KINECT_EXTR_FILE );
		}
		if ( ctlWndKey == 's' || ctlWndKey == 'S' )
		{
			flipColor = !flipColor;
		}

		if ( flipColor ) { 
			cv::cvtColor ( colorImgMat, colorImgMat, CV_RGB2BGR );
		}

		artagHelper.DrawMarkersInCameraImage ( colorImgMat );
		cv::imshow ( IMAGE_WIN_NAME, colorImgMat );
	}

	g_Context.Release ();
	
	system	( "pause" );
	exit	( EXIT_SUCCESS );

}
Exemplo n.º 5
0
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 );
}