void GeneratePointCloud(DepthGenerator& rDepthGen, const XnDepthPixel* pDepth, VISION_DATA &pData) { DepthMetaData mDepthMD; rDepthGen.GetMetaData(mDepthMD); pData.timeStamp = mDepthMD.Timestamp(); unsigned int uPointNum = mDepthMD.FullXRes() * mDepthMD.FullYRes(); XnPoint3D* pDepthPointSet = new XnPoint3D[uPointNum]; unsigned int i, j, idxshift, idx; for( j = 0; j < mDepthMD.FullYRes(); ++j) { idxshift = j * mDepthMD.FullXRes(); for(i = 0; i < mDepthMD.FullXRes(); ++i) { idx = idxshift + i; pDepthPointSet[idx].X = i; pDepthPointSet[idx].Y = j; pDepthPointSet[idx].Z = pDepth[idx]; } } XnPoint3D* p3DPointSet = new XnPoint3D[uPointNum]; rDepthGen.ConvertProjectiveToRealWorld(uPointNum, pDepthPointSet, p3DPointSet); memcpy(pData.pointCloud, p3DPointSet, uPointNum*3*sizeof(float)); delete[] pDepthPointSet; delete[] p3DPointSet; }
//-------------------------------------------------------------- void testApp::setup(){ XnStatus rc; EnumerationErrors errors; rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors); if (rc == XN_STATUS_NO_NODE_PRESENT) { XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return ; } else if (rc != XN_STATUS_OK) { printf("Open failed: %s\n", xnGetStatusString(rc)); return; } rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth); if (rc != XN_STATUS_OK) { printf("No depth node exists! Check your XML."); return; } g_depth.GetMetaData(g_depthMD); // Texture map init g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512; g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512; g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); std::cout << " w:" << g_depthMD.FullXRes() << " h:" << g_depthMD.FullYRes() << std::endl; pixels = (unsigned char*)malloc(640*480*3*sizeof(unsigned char)); tex.allocate(640, 480, GL_RGB); }
void glutDisplay (void) { XnStatus rc = XN_STATUS_OK; // Read a new frame rc = g_context.WaitAnyUpdateAll(); if (rc != XN_STATUS_OK) { printf("Read failed: %s\n", xnGetStatusString(rc)); return; } g_depth.GetMetaData(g_depthMD); g_image.GetMetaData(g_imageMD); const XnDepthPixel* pDepth = g_depthMD.Data(); const XnUInt8* pImage = g_imageMD.Data(); unsigned int nImageScale = GL_WIN_SIZE_X / g_depthMD.FullXRes(); // Copied from SimpleViewer // Clear the OpenGL buffers glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // Setup the OpenGL viewpoint glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity(); glOrtho(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0, -1.0, 1.0); // Calculate the accumulative histogram (the yellow display...) xnOSMemSet(g_pDepthHist, 0, MAX_DEPTH*sizeof(float)); unsigned int nNumberOfPoints = 0; for (XnUInt y = 0; y < g_depthMD.YRes(); ++y) { for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth) { if (*pDepth != 0) { g_pDepthHist[*pDepth]++; nNumberOfPoints++; } } } for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++) { g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1]; } if (nNumberOfPoints) { for (int nIndex=1; nIndex<MAX_DEPTH; nIndex++) { g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints))); } } xnOSMemSet(g_pTexMap, 0, g_nTexMapX*g_nTexMapY*sizeof(XnRGB24Pixel)); // check if we need to draw image frame to texture if (g_nViewState == DISPLAY_MODE_OVERLAY || g_nViewState == DISPLAY_MODE_IMAGE) { const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX; for (XnUInt y = 0; y < g_imageMD.YRes(); ++y) { const XnRGB24Pixel* pImage = pImageRow; XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset(); for (XnUInt x = 0; x < g_imageMD.XRes(); ++x, ++pImage, ++pTex) { *pTex = *pImage; } pImageRow += g_imageMD.XRes(); pTexRow += g_nTexMapX; } } // check if we need to draw depth frame to texture if (g_nViewState == DISPLAY_MODE_OVERLAY || g_nViewState == DISPLAY_MODE_DEPTH) { const XnDepthPixel* pDepthRow = g_depthMD.Data(); XnRGB24Pixel* pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX; for (XnUInt y = 0; y < g_depthMD.YRes(); ++y) { const XnDepthPixel* pDepth = pDepthRow; XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset(); for (XnUInt x = 0; x < g_depthMD.XRes(); ++x, ++pDepth, ++pTex) { if (*pDepth != 0) { int nHistValue = g_pDepthHist[*pDepth]; pTex->nRed = nHistValue; pTex->nGreen = nHistValue; pTex->nBlue = 0; } } pDepthRow += g_depthMD.XRes(); pTexRow += g_nTexMapX; } } // Create the OpenGL texture map glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_nTexMapX, g_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, g_pTexMap); // Display the OpenGL texture map glColor4f(1,1,1,1); glBegin(GL_QUADS); int nXRes = g_depthMD.FullXRes(); int nYRes = g_depthMD.FullYRes(); // upper left glTexCoord2f(0, 0); glVertex2f(0, 0); // upper right glTexCoord2f((float)nXRes/(float)g_nTexMapX, 0); glVertex2f(GL_WIN_SIZE_X, 0); // bottom right glTexCoord2f((float)nXRes/(float)g_nTexMapX, (float)nYRes/(float)g_nTexMapY); glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y); // bottom left glTexCoord2f(0, (float)nYRes/(float)g_nTexMapY); glVertex2f(0, GL_WIN_SIZE_Y); glEnd(); // Swap the OpenGL display buffers glutSwapBuffers(); }
int main(int argc, char* argv[]) { XnStatus rc; EnumerationErrors errors; rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, &errors); if (rc == XN_STATUS_NO_NODE_PRESENT) { XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return (rc); } else if (rc != XN_STATUS_OK) { printf("Open failed: %s\n", xnGetStatusString(rc)); return (rc); } rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth); rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image); g_depth.GetMetaData(g_depthMD); g_image.GetMetaData(g_imageMD); // Hybrid mode isn't supported in this sample if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes()) { printf ("The device depth and image resolution must be equal!\n"); return 1; } // RGB is the only image format supported. if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24) { printf("The device image format must be RGB24\n"); return 1; } // Texture map init g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes()-1) / 512) + 1) * 512; g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes()-1) / 512) + 1) * 512; g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); // OpenGL init glutInit(&argc, argv); glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH); glutInitWindowSize(GL_WIN_SIZE_X, GL_WIN_SIZE_Y); glutCreateWindow ("OpenNI Simple Viewer"); glutFullScreen(); glutSetCursor(GLUT_CURSOR_NONE); glutKeyboardFunc(glutKeyboard); glutDisplayFunc(glutDisplay); glutIdleFunc(glutIdle); glDisable(GL_DEPTH_TEST); glEnable(GL_TEXTURE_2D); // Per frame code is in glutDisplay glutMainLoop(); return 0; }
//---------------------------------------------------- // イメージ描画 //---------------------------------------------------- void drawImage(void){ switch(g_nViewState){ case DISPLAY_MODE_OVERLAY: // ノーマル描画モード case DISPLAY_MODE_DEPTH: case DISPLAY_MODE_IMAGE: glMatrixMode(GL_PROJECTION); // 射影変換の行列の設定 glLoadIdentity(); // スタックのクリア gluOrtho2D(0, GL_WIN_SIZE_X, GL_WIN_SIZE_Y, 0); // ワールド座標系を正規化デバイス座標系に平行投影(left, right, buttom, top, near, far) // ★平行投影する事によって,ポイントクラウドも平面に投影でき,クロマキーに最適 // Kinectの距離は約500〜9000まで使える(設定は10000) glMatrixMode(GL_MODELVIEW); // モデルビュー変換の行列の設定 glLoadIdentity(); glEnable(GL_TEXTURE_2D); // テクスチャマッピングの有効化 // テクスチャパラメータの設定と定義 glTexParameteri(GL_TEXTURE_2D, GL_GENERATE_MIPMAP_SGIS, GL_TRUE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_nTexMapX, g_nTexMapY, 0, GL_RGB, GL_UNSIGNED_BYTE, g_pTexMap); // イメージデータ貼り付け // Display the OpenGL texture map glColor4f(1,1,1,1); // イメージデータの貼り付け glBegin(GL_QUADS); // 四角形の描画を行う { int nXRes = g_depthMD.FullXRes(); int nYRes = g_depthMD.FullYRes(); // 左上 glTexCoord2f(0, 0); glVertex2f(0, 0); // 座標指定 // 右上 glTexCoord2f((float)nXRes/(float)g_nTexMapX, 0); glVertex2f(GL_WIN_SIZE_X, 0); // 座標指定 // 右下 glTexCoord2f((float)nXRes/(float)g_nTexMapX, (float)nYRes/(float)g_nTexMapY); glVertex2f(GL_WIN_SIZE_X, GL_WIN_SIZE_Y); // 座標指定 // 左下 glTexCoord2f(0, (float)nYRes/(float)g_nTexMapY); glVertex2f(0, GL_WIN_SIZE_Y); // 座標指定 } glEnd(); glDisable(GL_TEXTURE_2D); // テクスチャマッピングの無効化 break; case DISPLAY_MODE_CHROMA: // ポイントクラウド描画モード case DISPLAY_MODE_POINT_CLOUD: // 投影変換 glMatrixMode(GL_PROJECTION); // 射影変換の行列の設定 glLoadIdentity(); // スタックのクリア glOrtho(0, KINECT_IMAGE_WIDTH, KINECT_IMAGE_HEIGHT, 0, -1.0, -KINECT_MAX_DEPTH - KINECT_VISIBLE_DELTA); // ワールド座標系を正規化デバイス座標系に平行投影(left, right, buttom, top, near, far) // ★平行投影する事によって,ポイントクラウドも平面に投影でき,クロマキーに最適 // Kinectの距離は約500〜9000まで使える(設定は10000) // 視野変換 gluLookAt( g_lokEyeX, g_lokEyeY, g_lokEyeZ, // 視点の位置(初期位置:(0,0,-1)) g_lokDirX, g_lokDirY, g_lokDirZ, // 視点先の位置(初期位置:(0,0,-2)) 0.0, 1.0, 0.0); // 向き // モデリング変換 glMatrixMode(GL_MODELVIEW); // モデルビュー変換の行列の設定 glLoadIdentity(); // スタックのクリア glEnable(GL_DEPTH_TEST); // 陰面処理の有効化 // ポイントクラウド表示 glPointSize(g_pointSize); // 点のサイズ drawPointCloud(g_pBackTex, g_pBackDepth, g_pPoint); //背景画像表示 //drawPointCloud(g_imageMD.RGB24Data(), g_depthMD.Data(), 10, g_chromaThresh); // 人物抜き出し(距離の閾値) drawPointCloudHuman(g_imageMD.RGB24Data(), g_depthMD.Data(), g_sceneMD.Data(), g_pPoint); // 人物抜き出し(動くものを検出) glDisable(GL_DEPTH_TEST); // 陰面処理の無効化 break; } }
//---------------------------------------------------- // OpenNI関連の初期化 //---------------------------------------------------- void xnInit(void){ XnStatus rc; EnumerationErrors errors; rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, &errors); if (rc == XN_STATUS_NO_NODE_PRESENT){ XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); exit(1); }else if (rc != XN_STATUS_OK){ printf("Open failed: %s\n", xnGetStatusString(rc)); exit(1); } //playerInit(); rc = xnFPSInit(&g_xnFPS, 180); // FPSの初期化 //CHECK_RC(rc, "FPS Init"); // デプス・イメージ・ユーザジェネレータの作成 rc = g_context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth); errorCheck(rc, "g_depth"); // エラーチェック rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image); errorCheck(rc, "g_image"); rc = g_context.FindExistingNode(XN_NODE_TYPE_USER, g_user); //rc = g_user.Create(g_context); errorCheck(rc, "g_user"); // ユーザー検出機能をサポートしているか確認 if (!g_user.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) { //throw std::runtime_error("ユーザー検出をサポートしてません"); cout << "ユーザー検出をサポートしてません" << endl; exit(1); } // レコーダーの設定 //rc = setRecorder(g_recorder, rc); // ユーザコールバックの登録 XnCallbackHandle userCallbacks; g_user.RegisterUserCallbacks(UserDetected, UserLost, NULL, userCallbacks); // デプス・イメージ・ユーザデータの取得 g_depth.GetMetaData(g_depthMD); g_image.GetMetaData(g_imageMD); g_user.GetUserPixels(0, g_sceneMD); // Hybrid mode isn't supported in this sample // イメージとデプスの大きさが違うとエラー if (g_imageMD.FullXRes() != g_depthMD.FullXRes() || g_imageMD.FullYRes() != g_depthMD.FullYRes()){ printf ("The device depth and image resolution must be equal!\n"); exit(1); } // RGB is the only image format supported. // フォーマットの確認 if (g_imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24){ printf("The device image format must be RGB24\n"); exit(1); } // Texture map init // フルスクリーン画面の大きさ調整 g_nTexMapX = (((unsigned short)(g_depthMD.FullXRes() - 1) / 512) + 1) * 512; // 大きさによって512の倍数に調整(1024) g_nTexMapY = (((unsigned short)(g_depthMD.FullYRes() - 1) / 512) + 1) * 512; // 512 g_pTexMap = (XnRGB24Pixel*)malloc(g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); // スクリーンの大きさ分の色情報の容量を確保 // 座標ポインタの初期化 g_pPoint = (XnPoint3D*)malloc(KINECT_IMAGE_SIZE * sizeof(XnPoint3D)); // 座標を入れるポインタを作成 g_pBackTex = (XnRGB24Pixel*)malloc(KINECT_IMAGE_SIZE * sizeof(XnRGB24Pixel)); // 背景画像を入れるポインタを作成 g_pBackPoint = (XnPoint3D*)malloc(KINECT_IMAGE_SIZE * sizeof(XnPoint3D)); // 背景座標を入れるポインタを作成 g_pBackDepth = (XnDepthPixel*)malloc(KINECT_IMAGE_SIZE * sizeof(XnDepthPixel)); // 背景座標を入れるポインタを作成 }
int Init() { XnStatus rc; //Make sure our image types are the same as the OpenNI image types. assert(sizeof(XnRGB24Pixel) == sizeof(ColorPixel)); assert(sizeof(XnDepthPixel) == sizeof(DepthPixel)); assert(sizeof(XnStatus) == sizeof(int)); // Load OpenNI xml settings char filePath[255]; int length = Util::Helpers::GetExeDirectory(filePath, sizeof(filePath)); filePath[length] = '\\'; strcpy(&filePath[length+1], SAMPLE_XML_PATH); EnumerationErrors errors; rc = deviceContext.InitFromXmlFile(filePath, &errors); if (rc == XN_STATUS_NO_NODE_PRESENT) { //One reason would be if Microsoft SDK is installed beside PrimeSense. Device manager should say PrimeSense instead of Microsoft Kinect. //XnChar strError[1024]; //errors.ToString(strError, 1024); //LOGE("%s\n", strError); return -1; } else if (rc != XN_STATUS_OK) { fprintf(stderr, "%s\n", xnGetStatusString(rc)); /*LOGE("Open failed: %s\n", xnGetStatusString(rc));*/ return (rc); } // Retrieve colour and depth nodes rc = deviceContext.FindExistingNode(XN_NODE_TYPE_IMAGE, colorImageGenerator); rc = deviceContext.FindExistingNode(XN_NODE_TYPE_DEPTH, depthImageGenerator); // Set mirror mode to off SetMirrorMode(false); // Get a frame to perform checks on it ImageMetaData colorImageMetaData; DepthMetaData depthImageMetaData; depthImageGenerator.GetMetaData(depthImageMetaData); colorImageGenerator.GetMetaData(colorImageMetaData); // Hybrid mode isn't supported in this sample if (colorImageMetaData.FullXRes() != depthImageMetaData.FullXRes() || colorImageMetaData.FullYRes() != depthImageMetaData.FullYRes()) { /*LOGE("The device depth and image resolution must be equal!\n");*/ return 1; } // RGB is the only image format supported. if (colorImageMetaData.PixelFormat() != XN_PIXEL_FORMAT_RGB24) { /*LOGE("The device image format must be RGB24\n");*/ return 1; } // Need to make sure the automatic alignment of colour and depth images is supported. XnBool isSupported = depthImageGenerator.IsCapabilitySupported("AlternativeViewPoint"); if(!isSupported) { /*LOGE("Cannot set AlternativeViewPoint!\n");*/ return 1; } // Set it to VGA maps at 30 FPS /*XnMapOutputMode mapMode; mapMode.nXRes = XN_VGA_X_RES; mapMode.nYRes = XN_VGA_Y_RES; mapMode.nFPS = 60; rc = g_depth.SetMapOutputMode(mapMode); if(rc) { LOGE("Failed to set depth map mode: %s\n", xnGetStatusString(rc)); return 1; } mapMode.nFPS = 30; rc = g_image.SetMapOutputMode(mapMode); if(rc) { LOGE("Failed to set image map mode: %s\n", xnGetStatusString(rc)); return 1; }*/ // Set automatic alignment of the colour and depth images. rc = depthImageGenerator.GetAlternativeViewPointCap().SetViewPoint(colorImageGenerator); if(rc) { /*LOGE("Failed to set depth map mode: %s\n", xnGetStatusString(rc));*/ return 1; } return XN_STATUS_OK; }
int main(int argc, char *argv[]) { //--------------------------------------------------------------------// //------------------------- SETUP REQUIRED NODES ---------------------// //--------------------------------------------------------------------// // Setup the command line parameters. setupParams(argc, argv); // Setup all the sockets. setupSockets(); // Setup the capture socket server for Mac. #if (XN_PLATFORM == XN_PLATFORM_MACOSX) if(_featureDepthMapCapture || _featureRGBCapture) { if(_useSockets) { g_AS3Network = network(); g_AS3Network.init(setupServer); } } #endif // Setup the status. XnStatus _status = XN_STATUS_OK; EnumerationErrors _errors; // Context Init and Add license. _status = _context.Init(); CHECK_RC(_status, "AS3OpenNI :: Initialize context"); _context.SetGlobalMirror(_mirror); XnChar vendor[XN_MAX_NAME_LENGTH]; XnChar license[XN_MAX_LICENSE_LENGTH]; _license.strVendor[XN_MAX_NAME_LENGTH] = strcmp(vendor, "PrimeSense"); _license.strKey[XN_MAX_LICENSE_LENGTH] = strcmp(license, "0KOIk2JeIBYClPWVnMoRKn5cdY4="); _status = _context.AddLicense(_license); CHECK_RC(_status, "AS3OpenNI :: Added license"); // Set it to VGA maps at 30 FPS _depthMode.nXRes = 640; _depthMode.nYRes = 480; _depthMode.nFPS = 30; // Depth map create. _status = _depth.Create(_context); CHECK_RC(_status, "AS3OpenNI :: Create depth generator"); _status = _depth.SetMapOutputMode(_depthMode); // Depth map create. _status = _image.Create(_context); CHECK_RC(_status, "AS3OpenNI :: Create image generator"); _status = _image.SetMapOutputMode(_depthMode); _status = _image.SetPixelFormat(XN_PIXEL_FORMAT_RGB24); // Create the hands generator. _status = _hands.Create(_context); CHECK_RC(_status, "AS3OpenNI :: Create hands generator"); _hands.SetSmoothing(0.1); // Create the gesture generator. _status = _gesture.Create(_context); CHECK_RC(_status, "AS3OpenNI :: Create gesture generator"); // Create user generator. _status = _userGenerator.Create(_context); CHECK_RC(_status, "AS3OpenNI :: Find user generator"); // Create and initialize point tracker _sessionManager = new XnVSessionManager(); _status = _sessionManager->Initialize(&_context, "Wave", "RaiseHand"); if (_status != XN_STATUS_OK) { printf("AS3OpenNI :: Couldn't initialize the Session Manager: %s\n", xnGetStatusString(_status)); CleanupExit(); } _sessionManager->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress); // Start catching signals for quit indications CatchSignals(&_quit); //---------------------------------------------------------------// //------------------------- SETUP FEATURES ---------------------// //--------------------------------------------------------------// // Define the Wave and SinglePoint detectors. _waveDetector = new XnVWaveDetector(); // SinglePoint detector. if(_featureSinglePoint) _waveDetector->RegisterPointUpdate(NULL, &OnPointUpdate); // Feature Gesture. if(_featureGesture) { // Wave detector. _waveDetector->RegisterWave(NULL, &OnWave); // Push detector. _pushDetector = new XnVPushDetector(); _pushDetector->RegisterPush(NULL, &onPush); // Swipe detector. _swipeDetector = new XnVSwipeDetector(); _swipeDetector->RegisterSwipeUp(NULL, &Swipe_SwipeUp); _swipeDetector->RegisterSwipeDown(NULL, &Swipe_SwipeDown); _swipeDetector->RegisterSwipeLeft(NULL, &Swipe_SwipeLeft); _swipeDetector->RegisterSwipeRight(NULL, &Swipe_SwipeRight); // Steady detector. _steadyDetector = new XnVSteadyDetector(); _steadyDetector->RegisterSteady(NULL, &Steady_OnSteady); } // Feature Circle. if(_featureCircle) { // Circle detector. _circleDetector = new XnVCircleDetector(); _circleDetector->RegisterCircle(NULL, &CircleCB); _circleDetector->RegisterNoCircle(NULL, &NoCircleCB); _circleDetector->RegisterPrimaryPointCreate(NULL, &Circle_PrimaryCreate); _circleDetector->RegisterPrimaryPointDestroy(NULL, &Circle_PrimaryDestroy); } // Feature Slider. if(_featureSlider) { // Left/Right slider. _leftRightSlider = new XnVSelectableSlider1D(3, 0, AXIS_X); _leftRightSlider->RegisterActivate(NULL, &LeftRightSlider_OnActivate); _leftRightSlider->RegisterDeactivate(NULL, &LeftRightSlider_OnDeactivate); _leftRightSlider->RegisterPrimaryPointCreate(NULL, &LeftRightSlider_OnPrimaryCreate); _leftRightSlider->RegisterPrimaryPointDestroy(NULL, &LeftRightSlider_OnPrimaryDestroy); _leftRightSlider->RegisterValueChange(NULL, &LeftRightSlider_OnValueChange); _leftRightSlider->SetValueChangeOnOffAxis(false); // Up/Down slider. _upDownSlider = new XnVSelectableSlider1D(3, 0, AXIS_Y); _upDownSlider->RegisterActivate(NULL, &UpDownSlider_OnActivate); _upDownSlider->RegisterDeactivate(NULL, &UpDownSlider_OnDeactivate); _upDownSlider->RegisterPrimaryPointCreate(NULL, &UpDownSlider_OnPrimaryCreate); _upDownSlider->RegisterPrimaryPointDestroy(NULL, &UpDownSlider_OnPrimaryDestroy); _upDownSlider->RegisterValueChange(NULL, &UpDownSlider_OnValueChange); _upDownSlider->SetValueChangeOnOffAxis(false); // In/Out slider. _inOutSlider = new XnVSelectableSlider1D(3, 0, AXIS_Z); _inOutSlider->RegisterActivate(NULL, &InOutSlider_OnActivate); _inOutSlider->RegisterDeactivate(NULL, &InOutSlider_OnDeactivate); _inOutSlider->RegisterPrimaryPointCreate(NULL, &InOutSlider_OnPrimaryCreate); _inOutSlider->RegisterPrimaryPointDestroy(NULL, &InOutSlider_OnPrimaryDestroy); _inOutSlider->RegisterValueChange(NULL, &InOutSlider_OnValueChange); _inOutSlider->SetValueChangeOnOffAxis(false); } // Feature TrackPad. if(_featureTrackPad) { // Track Pad. if(trackpad_columns > 0 && trackpad_rows > 0) { _trackPad = new XnVSelectableSlider2D(trackpad_columns, trackpad_rows); } else { _trackPad = new XnVSelectableSlider2D(4, 9); } _trackPad->RegisterItemHover(NULL, &TrackPad_ItemHover); _trackPad->RegisterItemSelect(NULL, &TrackPad_ItemSelect); _trackPad->RegisterPrimaryPointCreate(NULL, &TrackPad_PrimaryCreate); _trackPad->RegisterPrimaryPointDestroy(NULL, &TrackPad_PrimaryDestroy); } // Feature User Tracking. if(_featureUserTracking) { // Setup user generator callbacks. XnCallbackHandle hUserCallbacks, hCalibrationCallbacks, hPoseCallbacks; if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON)) { printf("AS3OpenNI :: Supplied user generator doesn't support skeleton\n"); return 1; } _userGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks); // Setup Skeleton detection. _userGenerator.GetSkeletonCap().RegisterCalibrationCallbacks(UserCalibration_CalibrationStart, UserCalibration_CalibrationEnd, NULL, hCalibrationCallbacks); if (_userGenerator.GetSkeletonCap().NeedPoseForCalibration()) { _needPose = true; if (!_userGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION)) { printf("AS3OpenNI :: Pose required, but not supported\n"); return 1; } _userGenerator.GetPoseDetectionCap().RegisterToPoseCallbacks(UserPose_PoseDetected, NULL, NULL, hPoseCallbacks); _userGenerator.GetSkeletonCap().GetCalibrationPose(_strPose); } _userGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL); } // Create the broadcaster manager. _broadcaster = new XnVBroadcaster(); // Start generating all. _context.StartGeneratingAll(); // Set the frame rate. _status = xnFPSInit(&xnFPS, 180); CHECK_RC(_status, "AS3OpenNI :: FPS Init"); //----------------------------------------------------------------------// //------------------------- SETUP DISPLAY SUPPORT ---------------------// //--------------------------------------------------------------------// // Setup depth and image data. _depth.GetMetaData(_depthData); _image.GetMetaData(_imageData); // Hybrid mode isn't supported in this sample if (_imageData.FullXRes() != _depthData.FullXRes() || _imageData.FullYRes() != _depthData.FullYRes()) { printf ("AS3OpenNI :: The device depth and image resolution must be equal!\n"); return 1; } // RGB is the only image format supported. if (_imageData.PixelFormat() != XN_PIXEL_FORMAT_RGB24) { printf("AS3OpenNI :: The device image format must be RGB24\n"); return 1; } // Setup the view points to match between the depth and image maps. if(_snapPixels) _depth.GetAlternativeViewPointCap().SetViewPoint(_image); //-------------------------------------------------------------// //------------------------- MAIN LOOP ------------------------// //-----------------------------------------------------------// // Setup the capture socket server for PC. #if (XN_PLATFORM == XN_PLATFORM_WIN32) if(_featureDepthMapCapture || _featureRGBCapture || _featureUserTracking) { if(_useSockets) { g_AS3Network = network(); g_AS3Network.init(setupServer); } } #endif // Main loop while ((!_kbhit()) && (!_quit)) { xnFPSMarkFrame(&xnFPS); _context.WaitAndUpdateAll(); _sessionManager->Update(&_context); if(_featureDepthMapCapture) captureDepthMap(g_ucDepthBuffer); if(_featureRGBCapture) captureRGB(g_ucImageBuffer); #if (XN_PLATFORM == XN_PLATFORM_WIN32) if(_featureUserTracking) getPlayers(); #else if(_featureUserTracking) renderSkeleton(); #endif } CleanupExit(); }
int main(int argc, char* argv[]) { EnumerationErrors errors; //rc = context.Init(); rc = context.InitFromXmlFile(strPathToXML,&errors); if (rc == XN_STATUS_NO_NODE_PRESENT) { XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return (rc); } else if (rc != XN_STATUS_OK) { printf("Open failed: %s\n", xnGetStatusString(rc)); return (rc); } /* UNCOMMENT TO GET FILE READING //rc = context.OpenFileRecording(strInputFile); //CHECK_RC(rc, "Open input file"); //rc = context.FindExistingNode(XN_NODE_TYPE_PLAYER, player); //CHECK_RC(rc, "Get player node"); */ rc = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth); CHECK_RC(rc, "Find depth generator"); rc = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image); CHECK_RC(rc, "Find image generator"); depth.GetMetaData(depthMD); image.GetMetaData(imageMD); //rc = player.SetRepeat(FALSE); XN_IS_STATUS_OK(rc); //rc = player.GetNumFrames(image.GetName(), nNumFrames); //CHECK_RC(rc, "Get player number of frames"); //printf("%d\n",nNumFrames); //rc = player.GetNumFrames(depth.GetName(), nNumFrames); //CHECK_RC(rc, "Get player number of frames"); //printf("%d\n",nNumFrames); // Hybrid mode isn't supported if (imageMD.FullXRes() != depthMD.FullXRes() || imageMD.FullYRes() != depthMD.FullYRes()) { printf ("The device depth and image resolution must be equal!\n"); return 1; } // RGB is the only image format supported. if (imageMD.PixelFormat() != XN_PIXEL_FORMAT_RGB24) { printf("The device image format must be RGB24\n"); return 1; } avi = cvCreateVideoWriter(strOutputFile, 0, 30, cvSize(640,480), TRUE); depthMetersMat = cvCreateMat(480, 640, CV_16UC1); kinectDepthImage = cvCreateImage( cvSize(640,480),16,1 ); depthMetersMat2 = cvCreateMat(480, 640, CV_16UC1); kinectDepthImage2 = cvCreateImage( cvSize(640,480),16,1 ); colorArr[0] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U); colorArr[1] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U); colorArr[2] = cv::Mat(imageMD.YRes(),imageMD.XRes(),CV_8U); //prepare_for_face_detection(); int b; int g; int r; while ((rc = image.WaitAndUpdateData()) != XN_STATUS_EOF && (rc = depth.WaitAndUpdateData()) != XN_STATUS_EOF) { if (rc != XN_STATUS_OK) { printf("Read failed: %s\n", xnGetStatusString(rc)); break; } depth.GetMetaData(depthMD); image.GetMetaData(imageMD); //XnUInt32 a; //a = g_imageMD.FPS; printf("%d\n",imageMD.FrameID()); //a = g_depthMD.DataSize(); //printf("%d\n",a); pDepth = depthMD.Data(); pImageRow = imageMD.RGB24Data(); for (unsigned int y=0; y<imageMD.YRes(); y++) { pPixel = pImageRow; uchar* Bptr = colorArr[0].ptr<uchar>(y); uchar* Gptr = colorArr[1].ptr<uchar>(y); uchar* Rptr = colorArr[2].ptr<uchar>(y); for(unsigned int x=0;x<imageMD.XRes();++x , ++pPixel){ Bptr[x] = pPixel->nBlue; Gptr[x] = pPixel->nGreen; Rptr[x] = pPixel->nRed; depthMetersMat->data.s[y * XN_VGA_X_RES + x ] = 7*pDepth[y * XN_VGA_X_RES + x]; depthMetersMat2->data.s[y * XN_VGA_X_RES + x ] = pDepth[y * XN_VGA_X_RES + x]; } pImageRow += imageMD.XRes(); } cv::merge(colorArr,3,colorImage); iplImage = colorImage; //cvThreshold(depthMetersMat2, depthMetersMat2, 150, 1500, THRESH_BINARY); cvGetImage(depthMetersMat,kinectDepthImage); cvGetImage(depthMetersMat2,kinectDepthImage2); depthImage = Bw2Image(kinectDepthImage2); printf("1. Middle pixel is %u millimeters away\n",depthImage[240][320]); rgbImage = RgbImage(&iplImage); // we want to see on up to 2000 MM int THRESH = 2000; for (unsigned int y=0; y<imageMD.YRes(); y++) { for(unsigned int x=0;x<imageMD.XRes();++x){ if ( depthImage[y][x] >= THRESH ) { depthImage[y][x] = 0; } else { float tmp = depthImage[y][x]; tmp = tmp / THRESH * (65536)*(-1) + 65536; depthImage[y][x] = (unsigned int)tmp; } } } // THE PART ABOUT FILTERING COLOURS IN HSV TO SEE ONLY SPECIFIC ONE // AFTER ONE FEW MORPHOLOGICAL OPERATIONS TO MAKE IT LOOK BETTER IplImage* imgHSV = cvCreateImage(cvGetSize(&iplImage), 8, 3); cvCvtColor(&iplImage, imgHSV, CV_BGR2HSV); imgThreshed = cvCreateImage(cvGetSize(&iplImage), 8, 1); //cvInRangeS(imgHSV, cvScalar(100, 60, 80), cvScalar(110, 255, 255), imgThreshed); // BLUE cvInRangeS(imgHSV, cvScalar(29, 95, 95), cvScalar(35, 255, 255), imgThreshed); // YELLOW //cvInRangeS(imgHSV, cvScalar(29, 60, 60), cvScalar(35, 255, 255), imgThreshed); // YELLOW DARK //cvInRangeS(imgHSV, cvScalar(150, 70, 70), cvScalar(160, 255, 255), imgThreshed); // PINK //cvInRangeS(imgHSV, cvScalar(40, 76, 76), cvScalar(70, 255, 255), imgThreshed); // GREEN IplConvKernel* kernel = cvCreateStructuringElementEx(3, 3, 1, 1, CV_SHAPE_RECT, NULL); //cvDilate(imgThreshed,imgThreshed,kernel); //cvErode(imgThreshed,imgThreshed,kernel); Mat mat = Mat(imgThreshed); blur(Mat(imgThreshed),mat,cvSize(3,3)); imgThreshed = &IplImage(mat); //cvInRangeS(imgThreshed,cvScalar(100),cvScalar(255),imgThreshed); //cvErode(imgThreshed,imgThreshed,kernel); cvDilate(imgThreshed,imgThreshed,kernel); cvDilate(imgThreshed,imgThreshed,kernel); cvErode(imgThreshed,imgThreshed,kernel); cvErode(imgThreshed,imgThreshed,kernel); mat = Mat(imgThreshed); blur(Mat(imgThreshed),mat,cvSize(6,6)); imgThreshed = &IplImage(mat); cvInRangeS(imgThreshed,cvScalar(100),cvScalar(255),imgThreshed); cvReleaseImage(&imgHSV); BwImage threshed = BwImage(imgThreshed); if ( initialize == true ) { normalizeReferenceFace(); int currentID = 0; for ( int y = 30; y<480; y++ ) { for ( int x = 30; x<640; x++ ) { bool g2g = true; //printf("%d %d %d\n",ID, y,x); if ( threshed[y][x]!=0 ) { for ( int ID2 = 0; ID2<nbOfPoints; ID2++) { if ( (abs(markers[ID2].y-y)<proximityLimit) && (abs(markers[ID2].x-x)<proximityLimit)) { g2g = false; } } if (currentID >= nbOfPoints || g2g == false ) { break; } markers[currentID].y=y; markers[currentID].x=x; currentID++; printf("WHITE PIXEL INITIALIZED %d: %d %d\n",currentID, x,y); } } } if (isDebugConf==true || currentID == nbOfMarkers) { printf("%d PIXELS INITIALIZED\n", currentID); initialize = false; //printf("%d,%d\n", currentID, nbOfPoints); //return 0; } else { printf("WAITING FOR %d PIXELS TO APPEAR, %d SO FAR \n",nbOfMarkers, currentID); continue; } // FIND TOP RIGHT AND CHIN PIXEL int refPixID = 0; int chinPixID = 0; for ( int i = 0; i < nbOfMarkers; i++) { if ( (markers[i].x + markers[i].y)*(markers[i].x + markers[i].y) < (markers[refPixID].x + markers[refPixID].y)* (markers[refPixID].x + markers[refPixID].y)) { refPixID = i; } if (markers[i].y > markers[chinPixID].y) { chinPixID = i; } } float width = (markers[1].x-markers[0].x)*2; float heigth = abs(markers[1].y-markers[0].y); // WE GOT WIDTH & HEIGTH OF THE FACE, LETS ADJUST POINTS // SET 0 to REF, SET 1 to CHIN MyPoint tmp = MyPoint(markers[refPixID].x,markers[refPixID].y); markers[refPixID].x = markers[0].x; markers[refPixID].y = markers[0].y; markers[0].x = tmp.x; markers[0].y = tmp.y; tmp = MyPoint(markers[chinPixID].x,markers[chinPixID].y); markers[chinPixID].x = markers[1].x; markers[chinPixID].y = markers[1].y; markers[1].x = tmp.x; markers[1].y = tmp.y; // REST OF THE POINTS for ( int i = 2; i < nbOfPoints; i++) { int cost = 0; int lowestCost = 0; int closestPixID = -1; for ( int j = 2; j < nbOfMarkers; j++ ) { cost = (markers[j].x-points[i].x*width)*(markers[j].x-points[i].x*width) + (markers[j].y-points[i].y*heigth)*(markers[j].y-points[i].y*heigth); if ( cost < lowestCost ) { lowestCost = cost; closestPixID = j; } if (closestPixID == -1) { //printf("COS JEST SPORO NIE W PORZADKU, CHECK HERE\n"); break; } tmp.x = markers[i].x; tmp.y = markers[i].y; markers[i].x=markers[closestPixID].x; markers[i].x=markers[closestPixID].y; markers[closestPixID].x = tmp.x; markers[closestPixID].y = tmp.y; } } } for ( int currentPixelID = 0; currentPixelID < nbOfMarkers; currentPixelID++) { if (markers[currentPixelID].x == 0) { continue; } if ( threshed[markers[currentPixelID].y][markers[currentPixelID].x] < 128 ) { printf("PIXEL %d LOST\n",currentPixelID); for ( int neighbSize = 2; neighbSize < maxNeighbSize; neighbSize = neighbSize + 2 ) { int x1 = markers[currentPixelID].x - neighbSize/2; if ( x1 < intoDepthX(0) ) { x1 = (int)intoDepthX(0); } int y1 = (int)(markers[currentPixelID].y-neighbSize/2); if ( y1 < intoDepthY(0) ) { y1 = intoDepthY(0); } int y2 = markers[currentPixelID].y+neighbSize/2; if ( y2 > intoDepthY(480) ) { y2 = intoDepthY(480); } int x2 = markers[currentPixelID].x+neighbSize/2; if ( x2 > intoDepthX(640) ) { y2 = intoDepthX(640); } bool found = false; for ( int y = y1; y < y2; y++) { for ( int x = x1; x < x2; x++) { bool g2g = true; if (threshed[y][x] > 128) { for ( int ID2 = 0; ID2<nbOfMarkers; ID2++) { if ( currentPixelID == ID2 ) continue; if ( (abs(markers[ID2].y-y)<proximityLimit) && (abs(markers[ID2].x-x)<proximityLimit)) { g2g = false; break; } } if ( g2g ) { markers[currentPixelID].x = x; markers[currentPixelID].y = y; found = true; printf("Pixel %d, FOUND\n",currentPixelID); break; } } } if (found == true ) { break; } } if (found == true ) { break; } } } paintMarkerOnBoth(markers[currentPixelID]); } faceImage = cvCreateImage(cvGetSize(&iplImage), 8, 1); paintFace(); // normal kinect depth cvShowImage("Depth_Kinect", kinectDepthImage); // depth within 80 - 200 mm, normalized cvShowImage("Depth_Kinect_2", kinectDepthImage2); // rgb with tracking points cvShowImage("RGB_Kinect", &iplImage); // colour detector cvShowImage("RGB_Threshed", imgThreshed); // attempt to draw a face cvShowImage("Face Image", faceImage); cvWaitKey(50); // wait 20 ms if ( avi == NULL) { printf ("dupa%d \n",1); } //cvWriteFrame (avi, &iplImage); } // cvReleaseImageHeader(kinectDepthImage); cvReleaseVideoWriter(&avi); // cvReleaseHaarClassifierCascade( &cascade ); context.Shutdown(); return 0; }