IplImage* knt_get_image_IR_color(kinect_t *k){
XnStatus nRetVal = XN_STATUS_OK;
//Creamos una imagen de profundidad de 8 bits y 3 canales
IplImage* imgk = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
XnIRPixel* pIRMapColor;
int i = 0, j = 0;
//Esperamos a que nos devuelva los datos
nRetVal = xnWaitOneUpdateAll(k->pContext, k->Node_Image);
if(nRetVal != XN_STATUS_OK){
printf("Error actualizando información: %s\n", xnGetStatusString(nRetVal));
}
//Obtenemos la información
pIRMapColor = xnGetIRMap(k->Node_Image);
for( i = 0; i < 480; i++)
for( j = 0; j < 640; j++){
*pIRMapColor=(*pIRMapColor>>4);
((uchar *)(imgk->imageData + i*imgk->widthStep))[j*imgk->nChannels+0] = (((*pIRMapColor>>6)&0x02)<<6)|0x2D;
((uchar *)(imgk->imageData + i*imgk->widthStep))[j*imgk->nChannels+1] = (((*pIRMapColor>>3)&0x03)<<5)|0x1D;
((uchar *)(imgk->imageData + i*imgk->widthStep))[j*imgk->nChannels+2] = (((*pIRMapColor)&0x03)<<5)|0x1D;
++pIRMapColor;
}
return imgk;
}
IplImage* knt_get_image_RGB(kinect_t *k){
XnStatus nRetVal = XN_STATUS_OK;
//Creamos una imagen de profundidad de 8 bits y 3 canales
IplImage* imgk = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3);
XnRGB24Pixel* pImghMap;
int i = 0, j = 0;
//Esperamos a que nos devuelva los datos
nRetVal = xnWaitOneUpdateAll(k->pContext, k->Node_Image);
if(nRetVal != XN_STATUS_OK){
printf("Error actualizando información: %s\n", xnGetStatusString(nRetVal));
}
//Obtenemos la información
pImghMap = xnGetRGB24ImageMap(k->Node_Image);
for( i = 0; i < 480; i++)
for( j = 0; j < 640; j++){
((uchar *)(imgk->imageData + i*imgk->widthStep))[j*imgk->nChannels+0] = pImghMap->nBlue;
((uchar *)(imgk->imageData + i*imgk->widthStep))[j*imgk->nChannels+1] = pImghMap->nGreen;
((uchar *)(imgk->imageData + i*imgk->widthStep))[j*imgk->nChannels+2] = pImghMap->nRed;
++pImghMap;
}
return imgk;
}
IplImage* knt_get_image_IR(kinect_t *k){
XnStatus nRetVal = XN_STATUS_OK;
//Creamos una imagen de profundidad de 8 bits y un canal
IplImage* imgk = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 1);
XnIRPixel* pIRMap;
int i = 0, j = 0;
//Esperamos a que nos devuelva los datos
nRetVal = xnWaitOneUpdateAll(k->pContext, k->Node_Image);
if(nRetVal != XN_STATUS_OK){
printf("Error actualizando información de IR: %s\n", xnGetStatusString(nRetVal));
}
//Obtenemos la información
pIRMap = xnGetIRMap( k->Node_Image);
for( i = 0; i < 480; i++)
for( j = 0; j < 640; j++){
((uchar *)(imgk->imageData + i*imgk->widthStep))[j] = (*pIRMap)>>4;
++pIRMap;
}
cvNormalize(imgk, imgk, 255, 0, CV_MINMAX);
return imgk;
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
XnContext* pContext;
XnEnumerationErrors* pErrors;
XnNodeHandle hDepth;
XnDepthMetaData* pDepthMD;
const XnDepthPixel* pDepthMap;
XnDepthPixel middlePoint;
nRetVal = xnEnumerationErrorsAllocate(&pErrors);
CHECK_RC(nRetVal, "Allocate errors object");
nRetVal = xnInitFromXmlFile(SAMPLE_XML_PATH, &pContext, pErrors);
CHECK_RC(nRetVal, "Init context");
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
xnEnumerationErrorsToString(pErrors, strError, 1024);
printf("%s\n", strError);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
return (nRetVal);
}
nRetVal = xnFindExistingNodeByType(pContext, XN_NODE_TYPE_DEPTH, &hDepth);
CHECK_RC(nRetVal, "Find depth generator");
pDepthMD = xnAllocateDepthMetaData();
while (!xnOSWasKeyboardHit())
{
nRetVal = xnWaitOneUpdateAll(pContext, hDepth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnGetDepthMetaData(hDepth, pDepthMD);
pDepthMap = pDepthMD->pData;
middlePoint = pDepthMap[pDepthMD->pMap->Res.X * pDepthMD->pMap->Res.Y/2 + pDepthMD->pMap->Res.X/2];
printf("Frame %d Middle point is: %u\n", pDepthMD->pMap->pOutput->nFrameID, middlePoint);
}
xnShutdown(pContext);
return 0;
}
int main()
{
XnStatus nRetVal = XN_STATUS_OK;
XnContext* pContext;
XnNodeHandle hScriptNode;
XnEnumerationErrors* pErrors;
XnNodeHandle hDepth;
XnDepthMetaData* pDepthMD;
const XnDepthPixel* pDepthMap;
XnDepthPixel middlePoint;
const char *fn = NULL;
nRetVal = xnEnumerationErrorsAllocate(&pErrors);
CHECK_RC(nRetVal, "Allocate errors object");
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = xnInitFromXmlFileEx(fn, &pContext, pErrors, &hScriptNode);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
xnEnumerationErrorsToString(pErrors, strError, 1024);
printf("%s\n", strError);
xnEnumerationErrorsFree(pErrors);
return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
xnEnumerationErrorsFree(pErrors);
return (nRetVal);
}
xnEnumerationErrorsFree(pErrors);
nRetVal = xnFindExistingRefNodeByType(pContext, XN_NODE_TYPE_DEPTH, &hDepth);
CHECK_RC(nRetVal, "Find depth generator");
pDepthMD = xnAllocateDepthMetaData();
while (!xnOSWasKeyboardHit())
{
nRetVal = xnWaitOneUpdateAll(pContext, hDepth);
if (nRetVal != XN_STATUS_OK)
{
printf("UpdateData failed: %s\n", xnGetStatusString(nRetVal));
continue;
}
xnGetDepthMetaData(hDepth, pDepthMD);
pDepthMap = pDepthMD->pData;
middlePoint = pDepthMap[pDepthMD->pMap->Res.X * pDepthMD->pMap->Res.Y/2 + pDepthMD->pMap->Res.X/2];
printf("Frame %d Middle point is: %u\n", pDepthMD->pMap->pOutput->nFrameID, middlePoint);
}
xnFreeDepthMetaData(pDepthMD);
xnProductionNodeRelease(hDepth);
xnProductionNodeRelease(hScriptNode);
xnContextRelease(pContext);
return 0;
}
