bool buildFrame(libfreenect2::Frame* lf2Frame)
{
if (!running)
return false;
OniFrame* oniFrame = getServices().acquireFrame();
oniFrame->frameIndex = frame_id++;
oniFrame->timestamp = lf2Frame->timestamp;
oniFrame->videoMode = video_mode;
oniFrame->width = video_mode.resolutionX;
oniFrame->height = video_mode.resolutionY;
if (cropping.enabled)
{
oniFrame->height = cropping.height;
oniFrame->width = cropping.width;
oniFrame->cropOriginX = cropping.originX;
oniFrame->cropOriginY = cropping.originY;
oniFrame->croppingEnabled = true;
}
else
{
oniFrame->cropOriginX = 0;
oniFrame->cropOriginY = 0;
oniFrame->croppingEnabled = false;
}
int width = std::min(oniFrame->width, (int)lf2Frame->width);
int height = std::min(oniFrame->height, (int)lf2Frame->height);
populateFrame(lf2Frame, oniFrame->cropOriginX, oniFrame->cropOriginY, oniFrame, 0, 0, width, height);
raiseNewFrame(oniFrame);
getServices().releaseFrame(oniFrame);
return false;
}
void Mainloop()
{
int frameId = 1;
int xdir = 1;
int ydir = 1;
struct {int x, y;} center = {0,0};
while (m_running)
{
// printf("Tick");
OniFrame* pFrame = getServices().acquireFrame();
if (pFrame == NULL) {printf("Didn't get frame...\n"); continue;}
// Fill frame
xnOSMemSet(pFrame->data, 0, pFrame->dataSize);
OniDepthPixel* pDepth = (OniDepthPixel*)pFrame->data;
for (int y1 = XN_MAX(center.y-10, 0); y1 < XN_MIN(center.y+10, OZ_RESOLUTION_Y); ++y1)
for (int x1 = XN_MAX(center.x-10, 0); x1 < XN_MIN(center.x+10, OZ_RESOLUTION_X); ++x1)
if ((x1-center.x)*(x1-center.x)+(y1-center.y)*(y1-center.y) < 70)
pDepth[singleRes(x1, y1)] = OniDepthPixel(1000+(x1-y1)*3);
// pDepth[singleRes(center.x, center.y)] = 1000;
center.x += xdir;
center.y += ydir;
if (center.x < abs(xdir) || center.x > OZ_RESOLUTION_X-1-abs(xdir)) xdir*=-1;
if (center.y < abs(ydir) || center.y > OZ_RESOLUTION_Y-1-abs(ydir)) ydir*=-1;
for (int i = 0; i < OZ_RESOLUTION_X; ++i) pDepth[i] = 2000;
pDepth[0] = 2000;
// Fill metadata
pFrame->frameIndex = frameId;
pFrame->videoMode.pixelFormat = ONI_PIXEL_FORMAT_DEPTH_1_MM;
pFrame->videoMode.resolutionX = OZ_RESOLUTION_X;
pFrame->videoMode.resolutionY = OZ_RESOLUTION_Y;
pFrame->videoMode.fps = 30;
pFrame->width = OZ_RESOLUTION_X;
pFrame->height = OZ_RESOLUTION_Y;
pFrame->cropOriginX = pFrame->cropOriginY = 0;
pFrame->croppingEnabled = FALSE;
pFrame->sensorType = ONI_SENSOR_DEPTH;
pFrame->stride = OZ_RESOLUTION_X*sizeof(OniDepthPixel);
pFrame->timestamp = frameId*33000;
raiseNewFrame(pFrame);
getServices().releaseFrame(pFrame);
frameId++;
xnOSSleep(33);
}
}
void buildFrame(void* data, uint32_t timestamp)
{
if (!running)
return;
OniFrame* frame = getServices().acquireFrame();
frame->frameIndex = frame_id++;
frame->videoMode = video_mode;
frame->width = video_mode.resolutionX;
frame->height = video_mode.resolutionY;
// Handle overflow, input timestamp comes from a 60MHz clock and overflows
// in ~70s
if (timestamp < prev_timestamp)
{
uint32_t prev_int = static_cast<uint32_t>(prev_timestamp);
uint64_t temp_delta = std::abs(timestamp - prev_int);
prev_timestamp += temp_delta;
} else {
prev_timestamp = timestamp;
}
// OpenNI wants the value in microseconds
frame->timestamp = prev_timestamp / 60;
populateFrame(data, frame);
raiseNewFrame(frame);
getServices().releaseFrame(frame);
}
void Mainloop()
{
m_running = true;
while (m_running)
{
OniFrame* pFrame = getServices().acquireFrame();
BuildFrame(pFrame);
raiseNewFrame(pFrame);
}
}
void buildFrame(void* data, uint32_t timestamp) {
if (!running)
return;
OniFrame* frame = getServices().acquireFrame();
frame->frameIndex = frame_id++;
frame->timestamp = timestamp;
frame->videoMode = video_mode;
frame->width = video_mode.resolutionX;
frame->height = video_mode.resolutionY;
populateFrame(data, frame);
raiseNewFrame(frame);
getServices().releaseFrame(frame);
}
void Mainloop()
{
int frameId = 1;
while (m_running)
{
m_osEvent.Wait(XN_WAIT_INFINITE);
m_osEvent.Reset();
OniFrame* pFrame = getServices().acquireFrame();
if (pFrame == NULL) {printf("Didn't get frame...\n"); continue;}
// Fill frame
xnOSMemSet(pFrame->data, 0, pFrame->dataSize);
pFrame->frameIndex = frameId;
pFrame->videoMode.pixelFormat = ONI_PIXEL_FORMAT_RGB888;
pFrame->videoMode.resolutionX = DEPTHSENSE_COLOR_RESOLUTION_X;
pFrame->videoMode.resolutionY = DEPTHSENSE_COLOR_RESOLUTION_Y;
pFrame->videoMode.fps = 30;
pFrame->width = DEPTHSENSE_COLOR_RESOLUTION_X;
pFrame->height = DEPTHSENSE_COLOR_RESOLUTION_Y;
xnOSMemCopy( pFrame->data, &m_data[0], m_data.size() );
pFrame->cropOriginX = pFrame->cropOriginY = 0;
pFrame->croppingEnabled = FALSE;
pFrame->sensorType = ONI_SENSOR_COLOR;
pFrame->stride = DEPTHSENSE_COLOR_RESOLUTION_X*sizeof(OniDepthPixel);
pFrame->timestamp = frameId * 33000;
raiseNewFrame(pFrame);
getServices().releaseFrame(pFrame);
frameId++;
}
}
void Mainloop()
{
int frameId = 1;
int xdir = -3;
int ydir = 1;
struct {int x, y;} center = {160,120};
while (m_running)
{
xnOSSleep(33);
// printf("Tick");
OniFrame* pFrame = getServices().acquireFrame();
if (pFrame == NULL) {printf("Didn't get frame...\n"); continue;}
// Fill frame
xnOSMemSet(pFrame->data, 0, pFrame->dataSize);
OniRGB888Pixel* pImage = (OniRGB888Pixel*)pFrame->data;
for (int y = XN_MAX(center.y-10, 0); y < XN_MIN(center.y+10, OZ_RESOLUTION_Y); ++y)
for (int x = XN_MAX(center.x-10, 0); x < XN_MIN(center.x+10, OZ_RESOLUTION_X); ++x)
if ((x-center.x)*(x-center.x)+(y-center.y)*(y-center.y) < 70)
{
pImage[singleRes(x, y)].r = (char)(255*(x/(double)OZ_RESOLUTION_X));
pImage[singleRes(x, y)].g = (char)(255*(y/(double)OZ_RESOLUTION_Y));
pImage[singleRes(x, y)].b = (char)(255*((OZ_RESOLUTION_X-x)/(double)OZ_RESOLUTION_X));
}
// pImage[singleRes(center.x, center.y)].r = 255;
center.x += xdir;
center.y += ydir;
if (center.x < abs(xdir) || center.x > OZ_RESOLUTION_X-1-abs(xdir)) xdir*=-1;
if (center.y < abs(ydir) || center.y > OZ_RESOLUTION_Y-1-abs(ydir)) ydir*=-1;
pImage[0].b = (unsigned char)255;
// for (int y = 0; y < OZ_RESOLUTION_Y; ++y)
// {
// pDepth[y*OZ_RESOLUTION_X+(OZ_RESOLUTION_Y-y)] = pDepth[y*OZ_RESOLUTION_X+(y)] = 500+y;
// }
// Fill metadata
pFrame->frameIndex = frameId;
pFrame->videoMode.pixelFormat = ONI_PIXEL_FORMAT_RGB888;
pFrame->videoMode.resolutionX = OZ_RESOLUTION_X;
pFrame->videoMode.resolutionY = OZ_RESOLUTION_Y;
pFrame->videoMode.fps = 30;
pFrame->width = OZ_RESOLUTION_X;
pFrame->height = OZ_RESOLUTION_Y;
pFrame->cropOriginX = pFrame->cropOriginY = 0;
pFrame->croppingEnabled = FALSE;
pFrame->sensorType = ONI_SENSOR_COLOR;
pFrame->stride = OZ_RESOLUTION_X*3;
pFrame->timestamp = frameId*33000;
raiseNewFrame(pFrame);
getServices().releaseFrame(pFrame);
frameId++;
}
}
