void OpencvModule::DrawEdges(ImageMetaData& g_imageMD){ int key=0; //for opencv Mat, accessing buffer Mat rgb(480,640,CV_8UC3,(uchar*)g_imageMD.WritableData()); cvtColor(rgb,gray,CV_RGB2GRAY); //EdgesRgb Canny(gray,grayedge,fThresCanny1,fThresCanny2); cvtColor(grayedge,rgbedge,CV_GRAY2BGR); float aux=((float)g_imageMD.Timestamp())/1E6; QVariant time_double(aux); putText(rgbedge,"Time:", cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1); putText(rgbedge,time_double.toString().toStdString(), cvPoint(535,30),6,0.6,cvScalar(255, 255, 255, 0),1,1); imshow("Caremedia Kinect Viewer",rgbedge); key = waitKey(5); }
ImageResource::ImageResource(const ds::Resource& res, const int flags) : mResource(res) , mFlags(flags) { ImageMetaData md; md.add(res.getAbsoluteFilePath(), ci::vec2(res.getWidth(), res.getHeight())); }
ImageProvider::ImageProvider(Context* pContext) : AbstractImageStreamProvider(pContext) { CALL_XN( pContext->FindExistingNode(XN_NODE_TYPE_IMAGE, m_imageGen) ); ImageMetaData md; m_imageGen.GetMetaData(md); CHECK_ERROR(md.PixelFormat() == XN_PIXEL_FORMAT_RGB24, "This camera's data format is not supported."); CHECK_ERROR(md.XRes() == 640 && md.YRes() == 480, "This camera's resolution is not supported."); }
// ----------------------------------------------------------------------------------------------------- // convertImageRGB // ----------------------------------------------------------------------------------------------------- void convertImageRGB(const XnRGB24Pixel* pImageMap, IplImage* pImgRGB) { // Convert from OpenNI buffer to IplImage 24 bit, 3 channels for(unsigned int i=0; i<g_imageMD.XRes()*g_imageMD.YRes(); i++) { pImgRGB->imageData[3*i+0]=pImageMap[i].nBlue; pImgRGB->imageData[3*i+1]=pImageMap[i].nGreen; pImgRGB->imageData[3*i+2]=pImageMap[i].nRed; } }
// Gets the colour and depth data from the Kinect sensor. bool GetColorAndDepthImages(ColorImage& colorImage, DepthImage& depthImage) { XnStatus rc = XN_STATUS_OK; // Read a new frame, blocking operation rc = deviceContext.WaitAnyUpdateAll(); if (rc != XN_STATUS_OK) { /*LOGE("Read failed: %s\n", xnGetStatusString(rc));*/ throw rc; } // Get handles to new data static ImageMetaData colorImageMetaData; static DepthMetaData depthImageMetaData; colorImageGenerator.GetMetaData(colorImageMetaData); depthImageGenerator.GetMetaData(depthImageMetaData); // Validate images if (!depthImageGenerator.IsValid() || !colorImageGenerator.IsValid()) { /*LOGE("Error: Color or depth image is invalid.");*/ throw 1; } if (colorImageMetaData.Timestamp() <= mostRecentRGB) return false; // Fetch pointers to data const XnRGB24Pixel* pColorImage = colorImageMetaData.RGB24Data(); //g_depth.GetRGB24ImageMap() const XnDepthPixel* pDepthImage = depthImageMetaData.Data();// g_depth.GetDepthMap(); // Copy data over to arrays memcpy(colorImage.data, pColorImage, sizeof(colorImage.data)); memcpy(depthImage.data, pDepthImage, sizeof(depthImage.data)); colorImage.rows = colorImage.maxRows; colorImage.cols = colorImage.maxCols; depthImage.rows = depthImage.maxRows; depthImage.cols = depthImage.maxCols; mostRecentRGB = colorImageMetaData.Timestamp(); return true; }
void ImageScanThread<DBFS>::PopulateMetadata (const QString &path, int type, QString &comment, uint &time, int &orientation) { // Set orientation, date, comment from file meta data ImageMetaData *metadata = (type == kImageFile) ? ImageMetaData::FromPicture(path) : ImageMetaData::FromVideo(path); orientation = metadata->GetOrientation(); comment = metadata->GetComment().simplified(); QDateTime dt = metadata->GetOriginalDateTime(); time = (dt.isValid()) ? dt.toTime_t() : 0; delete metadata; }
XnStatus prepare(char useScene, char useDepth, char useImage, char useIr, char useHistogram) { //TODO handle possible failures! Gotcha! if (useDepth) { mDepthGen.GetMetaData(depthMD); nXRes = depthMD.XRes(); nYRes = depthMD.YRes(); pDepth = depthMD.Data(); if (useHistogram) { calcHist(); // rewind the pointer pDepth = depthMD.Data(); } } if (useScene) { mUserGen.GetUserPixels(0, sceneMD); nXRes = sceneMD.XRes(); nYRes = sceneMD.YRes(); pLabels = sceneMD.Data(); } if (useImage) { mImageGen.GetMetaData(imageMD); nXRes = imageMD.XRes(); nYRes = imageMD.YRes(); pRGB = imageMD.RGB24Data(); // HISTOGRAM????? } if (useIr) { mIrGen.GetMetaData(irMD); nXRes = irMD.XRes(); nYRes = irMD.YRes(); pIR = irMD.Data(); // HISTOGRAM???? } }
void takePhoto() { static int index = 1; char fname[256] = {0,}; sprintf(fname, "kinect%03d.txt", index++); g_depth.GetMetaData(g_depthMD); g_image.GetMetaData(g_imageMD); int const nx = g_depthMD.XRes(); int const ny = g_depthMD.YRes(); assert(nx == g_imageMD.XRes()); assert(ny == g_imageMD.YRes()); const XnDepthPixel* pDepth = g_depthMD.Data(); const XnUInt8* pImage = g_imageMD.Data(); FILE * file = fopen(fname, "wb"); fprintf(file, "%d\n%d\n\n", nx, ny); for (int y = 0, di = 0, ri = 0, gi = 1, bi = 2; y < ny; y++) { for (int x = 0; x < nx; x++, di++, ri += 3, gi += 3, bi += 3) { int const r = pImage[ri]; int const g = pImage[gi]; int const b = pImage[bi]; int const d = pDepth[di]; assert(r >= 0); assert(g >= 0); assert(b >= 0); assert(d >= 0); assert(r <= 0xFF); assert(g <= 0xFF); assert(b <= 0xFF); assert(d <= 0xFFFF); fprintf(file, "%3d %3d %3d %5d\n", r, g, b, d); } fprintf(file, "\n"); } fflush(file); fclose(file); }
void transformImageMD(Mat FrameImage,ImageMetaData& imageMD) { RGB24Map& imageMap = imageMD.WritableRGB24Map(); for (XnUInt32 y = 0; y < imageMD.YRes(); y++) { for (XnUInt32 x = 0; x <imageMD.XRes(); x++) { cout<<" x "<<x<<" y "<<y<<endl; XnRGB24Pixel imagePixel; imagePixel.nBlue=FrameImage.at<Vec3b>(y,x)[0]; imagePixel.nGreen=FrameImage.at<Vec3b>(y,x)[1]; imagePixel.nRed=FrameImage.at<Vec3b>(y,x)[2]; imageMap(x,y) = imagePixel; cout<<" 76 "<<endl; } } }
void OpencvModule::DrawRGB(ImageMetaData& g_imageMD){ int key=0; Mat RGB(480,640,CV_8UC3,(uchar*)g_imageMD.WritableData()); cvtColor(RGB,image_BGR,CV_RGB2BGR); float aux=((float)g_imageMD.Timestamp())/1E6; QVariant time_double(aux); putText(image_BGR,"Time:", cvPoint(460,30),5,1,cvScalar(255, 255, 255, 0),1,1); putText(image_BGR,time_double.toString().toStdString(), cvPoint(535,30),6,0.6,cvScalar(255, 255, 255, 0),1,1); imshow("Caremedia Kinect Viewer",image_BGR); key = waitKey(5); }
void captureRGB(unsigned char* g_ucImageBuffer) { ImageMetaData imd; _image.GetMetaData(imd); unsigned int nValue = 0; unsigned int nX = 0; unsigned int nY = 0; XnUInt16 g_nXRes = imd.XRes(); XnUInt16 g_nYRes = imd.YRes(); const XnRGB24Pixel * pImageMap = _image.GetRGB24ImageMap(); for (nY=0; nY<g_nYRes; nY++) { for (nX=0; nX < g_nXRes; nX++) { ((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+0] = pImageMap[nY*g_nXRes+nX].nBlue; ((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+1] = pImageMap[nY*g_nXRes+nX].nGreen; ((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+2] = pImageMap[nY*g_nXRes+nX].nRed; ((unsigned char*)g_ucImageBuffer)[(nY*g_nXRes+nX)*4+3] = 0x00; } } }
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; } }
//---------------------------------------------------- // テクスチャの設定 //---------------------------------------------------- void setTexture(void){ xnOSMemSet(g_pTexMap, 0, g_nTexMapX * g_nTexMapY * sizeof(XnRGB24Pixel)); // g_pTexMapの全てに0を代入 // 描画モード1か3 if (g_nViewState == DISPLAY_MODE_OVERLAY || g_nViewState == DISPLAY_MODE_IMAGE){ const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); // g_imageMDのポインタ取得(画像データ取得) XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX; for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ const XnRGB24Pixel* pImage = pImageRow; XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset(); for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pImage, ++ pTex){ *pTex = *pImage; } pImageRow += g_imageMD.XRes(); pTexRow += g_nTexMapX; } } // 描画モード1か2 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; const XnLabel* pLabel = g_sceneMD.Data(); for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ const XnDepthPixel* pDepth = pDepthRow; XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset(); for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pDepth, ++ pTex, ++ pLabel){ int nHistValue = g_pDepthHist[*pDepth]; if(*pLabel){ // 人物なら *pTex = userColor[*pLabel]; }else if (*pDepth != 0){ if(*pDepth < 1000){ *pTex = xnRGB24Pixel(nHistValue, 0, 0); // red }else if(*pDepth < 2000){ *pTex = xnRGB24Pixel(0, nHistValue, 0); // green }else if(*pDepth < 3000){ *pTex = xnRGB24Pixel(0, 0, nHistValue); // blue }else if(*pDepth < 4000){ *pTex = xnRGB24Pixel(nHistValue, nHistValue, 0); // 水色 }else if(*pDepth < 5000){ *pTex = xnRGB24Pixel(0, nHistValue, nHistValue); // yellow }else{ *pTex = xnRGB24Pixel(nHistValue, 0, nHistValue); // 紫 } } } pDepthRow += g_depthMD.XRes(); pTexRow += g_nTexMapX; } } // 描画モード4 //if (g_nViewState == DISPLAY_MODE_CHROMA){ // // イメージデータ(カメラ映像)貼り付け // const XnRGB24Pixel* pImageRow = g_imageMD.RGB24Data(); // g_imageMDのポインタ取得(画像データ取得) // XnRGB24Pixel* pTexRow = g_pTexMap + g_imageMD.YOffset() * g_nTexMapX; // for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ // 480 // const XnRGB24Pixel* pImage = pImageRow; // XnRGB24Pixel* pTex = pTexRow + g_imageMD.XOffset(); // for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pImage, ++ pTex){ // 640 // *pTex = *pImage; // } // pImageRow += g_imageMD.XRes(); // pTexRow += g_nTexMapX; // } // // デプスデータを用いた人物抜き出し + 背景合成 // const XnDepthPixel* pDepthRow = g_depthMD.Data(); // デプスデータのポインタ取得 // pTexRow = g_pTexMap + g_depthMD.YOffset() * g_nTexMapX; // GLuint g_backWidth = g_back.GetWidth(); // 背景の横幅の大きさ // GLubyte* pBackData = g_back.GetData() + g_back.GetImageSize() - 3 * g_backWidth; // 背景のポインタ取得(最後から見ていく) // for (XnUInt y = 0; y < KINECT_IMAGE_HEIGHT; ++ y){ // 480 // const XnDepthPixel* pDepth = pDepthRow; // デプスデータのポインタ取得 // XnRGB24Pixel* pTex = pTexRow + g_depthMD.XOffset(); // for (XnUInt x = 0; x < KINECT_IMAGE_WIDTH; ++ x, ++ pDepth, ++ pTex){ // 640 // // 深さが0か閾値以上なら背景画像を描画(閾値以下ならその部分を残す) // if (*pDepth == 0 || *pDepth >= g_chromaThresh){ // pTex->nRed = *pBackData; // pTex->nGreen = *(pBackData + 1); // pTex->nBlue = *(pBackData + 2); // } // pBackData += 3; // } // pDepthRow += g_depthMD.XRes(); // pTexRow += g_nTexMapX; // pBackData -= 2 * 3 * g_backWidth; // } //} }
//---------------------------------------------------- // 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 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; }
void WorldRenderer::drawBackground() { m_rctx->orthoMatrix.PushMatrix(); { //TODO: find out what this does //m_rctx->orthoMatrix.Translate( // float(m_rng.gaussian(0.6)) * currentIntensity * 0.01f, // float(m_rng.gaussian(0.6)) * currentIntensity * 0.01f, // 0); // setup shader m_rctx->shaderMan->UseStockShader(GLT_SHADER_SHADED, m_rctx->orthoMatrix.GetMatrix()); // get depth buffer DepthMetaData dmd; m_depthGen->GetMetaData(dmd); const XnDepthPixel* dp = dmd.Data(); // get image buffer ImageMetaData imd; m_imageGen->GetMetaData(imd); const XnRGB24Pixel* ip = imd.RGB24Data(); // get working buffers M3DVector3f* vp = m_vertexBuf; M3DVector4f* cp = m_colorBuf; XnUInt32 numPoints = getNumPoints(); // setup henshin-related information const float Z_SCALE = 10.0f; XnUserID userID = 0; const XnLabel* lp = NULL; XV3 headCenter, headDirection; getHenshinData(&userID, &lp, &headCenter, &headDirection); float lightRadius = 900.0f; bool isTracked = userID && lp; const int NUM_BALLS = 3; XV3 ball_centers[NUM_BALLS]; bool ball_enabled_flags[NUM_BALLS]; float ball_radius[3]; float ball_core_radius[3]; float ball_core_radius2[3]; //get the ball centres and transform into projective coords //Also calculate an appropriate radius to make the ball scale as it moves away from the camera for (int j=0; j< NUM_BALLS; j++) { m_ball_manager->GetBallInfo(j, &ball_enabled_flags[j],&ball_centers[j]); if(!ball_enabled_flags[j]) continue; XV3 ball_top(ball_centers[j]); //copy the ball center before transformation m_depthGen->ConvertRealWorldToProjective(1, &ball_centers[j], &ball_centers[j]); normalizeProjective(&ball_centers[j]); //this is probably a clunky way to transform the radius into projectiev coods but it seems to work ok ball_top.Y +=lightRadius; m_depthGen->ConvertRealWorldToProjective(1, &ball_top, &ball_top); normalizeProjective(&ball_top); ball_radius[j] = fabs(ball_top.Y-ball_centers[j].Y); ball_core_radius[j] = ball_radius[j]*0.1f; ball_core_radius2[j] = square(ball_core_radius[j]); } XnUInt32 ix = 0, iy = 0; float nearZ = PERSPECTIVE_Z_MIN + m_depthAdjustment; for (XnUInt32 i = 0; i < numPoints; i++, dp++, ip++, vp++, cp++, lp++, ix++) { if (ix == m_width) { ix = 0; iy++; } // (*vp)[0] (x) is already set // (*vp)[1] (y) is already set (*vp)[2] = (*dp) ? getNormalizedDepth(*dp, nearZ, PERSPECTIVE_Z_MAX) : Z_INFINITE; setRGB(cp, *ip); //highlight the tracked user if(isTracked) { if(*lp == userID) { (*cp)[0] *= 1.2f; (*cp)[1] *= 1.2f; (*cp)[2] *= 1.2f; } } // draw balls for(int j=0; j < NUM_BALLS; j++) { if(!ball_enabled_flags[j]) continue; XV3& lightCenter = ball_centers[j]; //float ball_depth = (*dp) ? getNormalizedDepth(ball_radius[j], nearZ, PERSPECTIVE_Z_MAX) : 0; if((*vp)[2] < (lightCenter.Z - 0.001*ball_radius[j])) continue; //don't draw obscured pixels { // TODO: Should we use 3D object? XV3 flatCoords(*vp); flatCoords.Z = lightCenter.Z; float flatDistance2 = lightCenter.distance2(flatCoords); if (flatDistance2 < ball_core_radius2[j]) { float r = (1.0f - sqrt(flatDistance2) / ball_core_radius[j]) * (1.0f + 0.8f * ball_radius[j]); float r2 = r * r; float a = (r <= 1.0f) ? (2 * r2 - r2 * r2) : 1.0f; (*cp)[0] *= 1.2; (*cp)[1] *= 1.2; (*cp)[2] *= 1.2; //assuming we only have three balls cycle through red,green and blue for each one (*cp)[j] = interpolate((*cp)[j], 1.0f, a); //(*cp)[1] = interpolate((*cp)[1], 1.0f, a); //(*cp)[2] = interpolate((*cp)[2], 1.0f, a); } } } } glEnable(GL_POINT_SIZE); glPointSize(getPointSize()); m_batch.draw(m_vertexBuf, m_colorBuf); } m_rctx->orthoMatrix.PopMatrix(); }
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[]) { int nRetVal; XnStatus rc; EnumerationErrors errors; // get playback file if using if (argc > 2 && strcmp(argv[2], "true") == 0) { rc = g_context.Init(); rc = g_context.OpenFileRecording(RECORDING_PATH, g_player); CHECK_RC(rc, "Opening file"); rc = g_player.SetRepeat(TRUE); CHECK_RC(rc, "Turn repeat off"); } else { // get context from xml rc = g_context.InitFromXmlFile(SAMPLE_XML_PATH, g_scriptNode, &errors); } // error checking if (rc == XN_STATUS_NO_NODE_PRESENT) { XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return (rc); } CHECK_RC(rc, "Context initialization"); // get hand and image generator from context, check errors rc = g_context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image); CHECK_RC(rc, "Get image generator"); rc = g_context.FindExistingNode(XN_NODE_TYPE_HANDS, g_hands); CHECK_RC(rc, "Get hand generator"); rc = g_context.FindExistingNode(XN_NODE_TYPE_GESTURE, g_gesture); CHECK_RC(rc, "Get gesture generator"); // create and register callbacks XnCallbackHandle h1, h2; g_gesture.RegisterGestureCallbacks(Gesture_Recognized, Gesture_Process, NULL, h1); CHECK_RC(rc, "Get register gesture callback"); g_hands.RegisterHandCallbacks(Hand_Create, Hand_Update, Hand_Destroy, NULL, h2); CHECK_RC(rc, "Get hand callback"); // add gestures to the generator rc = g_gesture.AddGesture("Click", NULL); CHECK_RC(rc, " add click gesture"); rc = g_gesture.AddGesture("RaiseHand", NULL); CHECK_RC(rc, "add raise gesture"); rc = g_gesture.AddGesture("Wave", NULL); CHECK_RC(rc, "add wave gesture"); g_image.GetMetaData(g_imageMD); // 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; } // if argument is set true, then record the session if (argc > 1 && strcmp(argv[1], "true") == 0) { std::cout << "recording to " << RECORDING_PATH << std::endl; // Create Recorder rc = recorder.Create(g_context); CHECK_RC(rc, "create recorder"); // Init it rc = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, RECORDING_PATH); CHECK_RC(rc, "init recorder"); // Add nodes to recording rc = recorder.AddNodeToRecording(g_image); CHECK_RC(rc, "add image node"); rc = recorder.AddNodeToRecording(g_hands); CHECK_RC(rc, "add hands node"); } // initialize and run program glutInit(&argc, argv); // GLUT initialization glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH ); // Display Mode glutInitWindowSize(WIDTH, HEIGHT); // set window size glutInitWindowPosition(GL_WIN_POSITION_X, GL_WIN_POSITION_Y); glutCreateWindow(TITLE); // create Window glutDisplayFunc(glutDisplay); // register Display Function glutIdleFunc(glutDisplay); // register Idle Function glutKeyboardFunc(glutKeyboard ); // register Keyboard Handler initialize(); glutMainLoop(); CleanUpExit(); return 0; }
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(void) { int sockfd = network_setup(); int framecount = 0; // Initialize the Kinect if(kinectInit() != XN_STATUS_OK) { printf("Unexpected error: check that the device is connected.\n"); return 1; } uint32_t depthsize = sizeof(uint16_t)*640*480; unsigned long rgbsize; rgbsize = sizeof(uint8_t)*3*640*480; uint8_t *compdepth = (uint8_t *) malloc(depthsize); uint8_t *comprgb = (uint8_t *) malloc(rgbsize); uint8_t * rgb_buf; uint8_t * depth_buf; uint8_t *image_data = (uint8_t *) malloc(rgbsize); uint8_t *depth_data = (uint8_t *) malloc(depthsize); uint32_t depthcompression; //unsigned long *rgbcompression = (unsigned long *) malloc(sizeof(long)); unsigned long outsize; setup_compression(); while(1) { kinectUpdate(); //compress rgb rgb_buf = (uint8_t *)g_imageMD.RGB24Data(); depth_buf = (uint8_t *)depthMD.Data(); memcpy(image_data, rgb_buf, rgbsize); memcpy(depth_data, depth_buf, depthsize); //comprgb = (uint8_t *)g_imageMD.RGB24Data(); //compression = rgbsize; compress_frame(image_data, &comprgb, &outsize, 480, 640, 3); //printf("compressed rgb to size %d\n", outsize); //send size of compressed rgb frame if((sendall(sockfd, (uint8_t *)&outsize, sizeof(uint32_t))) < 0) { perror("sendallrgbsize"); exit(1); } if((sendall(sockfd, comprgb, outsize)) < 0) { perror("sendallrgb"); exit(1); } //compress depth depthcompression = compress_depth(depth_data, compdepth, depthsize); //printf("compressed depth to size %d\n", depthcompression); //send size of compressed rgb frame if((sendall(sockfd, (uint8_t *)&depthcompression, sizeof(uint32_t))) < 0) { perror("sendalldepthsize"); exit(1); } if((sendall(sockfd, compdepth, depthcompression)) < 0) { perror("sendalldepth"); exit(1); } //printf("sent out frame %d\n", ++framecount); } }
int main(int argc, char* argv[]) { markerSize.width = -1; markerSize.height = -1; EnumerationErrors errors; switch (XnStatus rc = niContext.InitFromXmlFile(KINECT_CONFIG_FILENAME, &errors)) { case XN_STATUS_OK: break; case XN_STATUS_NO_NODE_PRESENT: XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return rc; break; default: printf("Open failed: %s\n", xnGetStatusString(rc)); return rc; } capture = new Camera(CAPTURE_SIZE, CAMERA_PARAMS_FILENAME); RegistrationParams = scaleParams(capture->getParameters(), double(REGISTRATION_SIZE.width)/double(CAPTURE_SIZE.width)); osg_init(calcProjection(RegistrationParams, capture->getDistortion(), REGISTRATION_SIZE)); loadKinectParams(KINECT_PARAMS_FILENAME, &kinectParams, &kinectDistort); kinectDistort =0; kinectParams->data.db[2]=320.0; kinectParams->data.db[5]=240.0; niContext.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth); niContext.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image); g_depth.GetMirrorCap().SetMirror(false); g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image); kinectReg = new RegistrationOPIRA(new OCVSurf()); kinectReg->addResizedMarker(MARKER_FILENAME, 400); //physics m_world = new KCRPhysicsWorld(); ground_grid = new float[19200]; for (int i =0;i < 19200; i++) { ground_grid[i] = 0; } #ifdef SIM_PARTICLES voxel_grid = new float[1200]; for (int i =0;i < 1200; i++) { voxel_grid[i] = 0; } #endif //controls KeyboardController *kc = new KeyboardController(m_world); XboxController *xc = new XboxController(m_world); loadKinectTransform(KINECT_TRANSFORM_FILENAME); #ifdef USE_ARMM_VRPN m_Connection = new vrpn_Connection_IP(); ARMM_server = new ARMM_Communicator(m_Connection ); cout << "Created VRPN server." << endl; #endif #ifdef USE_SKIN_SEGMENTATION //Skin color look up _HandRegion.LoadSkinColorProbTable(); #endif #ifdef USE_OPTICAL_FLOW prev_colourIm = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3); #endif /////////////////////////////////////////////Main Loop//////////////////////////////////////////////// while (running) { if (XnStatus rc = niContext.WaitAnyUpdateAll() != XN_STATUS_OK) { printf("Read failed: %s\n", xnGetStatusString(rc)); return rc; } g_depth.GetMetaData(niDepthMD); g_image.GetMetaData(niImageMD); colourIm = cvCreateImage(cvSize(niImageMD.XRes(), niImageMD.YRes()), IPL_DEPTH_8U, 3); memcpy(colourIm->imageData, niImageMD.Data(), colourIm->imageSize); cvCvtColor(colourIm, colourIm, CV_RGB2BGR); cvFlip(colourIm, colourIm, 1); depthIm = cvCreateImage(cvSize(niDepthMD.XRes(), niDepthMD.YRes()), IPL_DEPTH_16U, 1); transDepth160 = cvCreateImage(cvSize(MESH_SIZE.width, MESH_SIZE.height), IPL_DEPTH_32F, 1); transDepth320 = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_32F, 1); memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize); cvShowImage("Kinect View", colourIm); IplImage *arImage = capture->getFrame(); cvWaitKey(1); kc->check_input(); xc->check_input(); #ifdef USE_OPTICAL_FLOW if(RunOnce) SceneOpticalFlowLK(prev_colourIm, colourIm); #endif if(kinectTransform) { // kinect transform as cvmat* for use if( counter >= 4) { inpaintDepth(&niDepthMD, true); memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize); TransformDepth(depthIm, transDepth160, MARKER_DEPTH, MESH_SIZE); GenerateTrimeshGroundFromDepth(transDepth160, MARKER_DEPTH); /*Trimesh generation*/ m_world->updateTrimeshRefitTree(ground_grid);//opencl? osg_UpdateHeightfieldTrimesh(ground_grid);//opencl? #ifdef SIM_PARTICLES /*World spheres simulation*/ // GenerateVoxelFromDepth(depthIm, MARKER_DEPTH); // m_world->updateWorldSphereTransform(voxel_grid); // osgUpdateWorldSphereTransform(voxel_grid); #endif counter = 0; } else { #ifdef USE_SKIN_SEGMENTATION /*Skin color segmentation*/ // may be reduce resolution first as well as cut off depth make processing faster TransformDepth(depthIm, transDepth320, MARKER_DEPTH, CV_OP_SIZE); IplImage* depthTmp = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_8U, 1); IplImage* colourImResized = cvCreateImage(cvSize(CV_OP_SIZE.width, CV_OP_SIZE.height), IPL_DEPTH_8U, 3); gray = cvCreateImage(cvSize(colourImResized->width, colourImResized->height),IPL_DEPTH_8U,1); hand_region = cvCreateImage(cvSize(colourImResized->width, colourImResized->height),IPL_DEPTH_8U,1); IplImage* colourIm640 = cvCreateImage(cvSize(640, 480), IPL_DEPTH_8U, 3); // cvCmpS(transDepth, 0, depthTmp, CV_CMP_LT);//dst must b 8U cvThreshold(transDepth320, depthTmp, 1, 255, CV_THRESH_BINARY_INV); //thres at 1cm above marker cvResize(colourIm, colourImResized, CV_INTER_NN);//use nearest neighbor interpolation // removeNoise( depthTmp, 100 ); // cvSet(colourImResized, cvScalar(0), depthTmp); cvShowImage ("Marker Thresh", colourImResized); cvResize(colourImResized, colourIm640,CV_INTER_NN); cvShowImage ("Marker Thresh 640", colourIm640); cvCopyImage( _HandRegion.GetHandRegion( colourImResized, gray), hand_region ); // removeNoise( hand_region, 20 ); cvThreshold(hand_region, depthTmp, 0, 255, CV_THRESH_BINARY_INV); // removeNoise( depthTmp, 100 ); // cvShowImage ("depthTmp", depthTmp); // cvShowImage ("hand_region", hand_region); cvSet(colourImResized, cvScalar(0), depthTmp); // cvShowImage ("Skin Color", colourImResized); // cvDilate(colourImResized,colourImResized,CV_SHAPE_RECT,1); // cvErode(colourImResized,colourImResized,CV_SHAPE_RECT,1); // cvMorphologyEx(colourImResized,colourImResized,NULL,CV_SHAPE_RECT,CV_MOP_OPEN,1); cvResize(colourImResized, colourIm640,CV_INTER_NN); cvShowImage ("Color Skin Color 640", colourIm640); cvReleaseImage(&depthTmp); cvReleaseImage(&colourImResized); cvReleaseImage(&colourIm640); #endif #ifdef USE_PARTICLES /* IplImage* depthTmp1 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_32F, 1); IplImage* depthTmp2 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_8U, 1); cvConvertScale(depthIm, depthTmp1, 1); // cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO_INV);//thresh 5mm above marker cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-10, 255, CV_THRESH_TOZERO); //cvCmpS(depthTmp1, MARKER_DEPTH, depthTmp2, CV_CMP_GT); // cvShowImage("DEPTH640", depthTmp2); // IplImage* colourTmp = cvCreateImage(cvSize(colourIm->width, colourIm->height), IPL_DEPTH_8U, 3); // cvCopyImage(colourIm, colourTmp); // cvSet(colourTmp, cvScalar(0), depthTmp2); // cvShowImage ("Color640", colourTmp); cvSet(depthTmp1, cvScalar(0), depthTmp2); cvShowImage("DEPTH640_32F", depthTmp1); */ inpaintDepth(&niDepthMD, true); // TransformDepth(depthTmp1, transDepth, MARKER_DEPTH); memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize); TransformDepth(depthIm, transDepth, MARKER_DEPTH); IplImage* depthTmp3 = cvCreateImage(cvSize(TRACKING_SIZE.width, TRACKING_SIZE.height), IPL_DEPTH_8U, 1); cvThreshold(transDepth, depthTmp3, 0.5, 255, CV_THRESH_BINARY_INV); // cvThreshold(transDepth, depthTmp3, 0, 255, CV_THRESH_TOZERO); // cvConvertScale(transDepth, depthTmp3, 1); cvShowImage("DEPTH160", transDepth); IplImage* colourImResized = cvCreateImage(cvSize(TRACKING_SIZE.width, TRACKING_SIZE.height), IPL_DEPTH_8U, 3); cvResize(colourIm, colourImResized, CV_INTER_NN);//use nearest neighbor interpolation cvSet(colourImResized, cvScalar(0), depthTmp3); cvShowImage ("Color160", colourImResized); // cvReleaseImage(&depthTmp1); // cvReleaseImage(&depthTmp2); // cvReleaseImage(&colourTmp); cvReleaseImage(&depthTmp3); cvReleaseImage(&colourImResized); /* IplImage* depthTmp1 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_32F, 1); IplImage* depthTmp2 = cvCreateImage(cvSize(depthIm->width, depthIm->height), IPL_DEPTH_8U, 1); cvConvertScale(depthIm, depthTmp1, 1); // cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO_INV);//thresh 5mm above marker cvThreshold(depthTmp1, depthTmp2, MARKER_DEPTH-5, 255, CV_THRESH_TOZERO); //cvCmpS(depthTmp1, MARKER_DEPTH, depthTmp2, CV_CMP_GT); cvShowImage("TMP_DEPTH", depthTmp2); IplImage* colourTmp = cvCreateImage(cvSize(colourIm->width, colourIm->height), IPL_DEPTH_8U, 3); cvCopyImage(colourIm, colourTmp); cvSet(colourTmp, cvScalar(0), depthTmp2); cvShowImage ("Basic Thresh", colourTmp); cvReleaseImage(&depthTmp1); cvReleaseImage(&depthTmp2); */ #endif counter++; // } else { // counter++; } //do hand pose recognition m_world->Update(); RenderScene(arImage, capture); } #ifdef USE_ARMM_VRPN ARMM_server->mainloop(); m_Connection->mainloop(); #endif #ifdef USE_OPTICAL_FLOW if(!RunOnce) RunOnce = true; cvCopyImage(colourIm, prev_colourIm); memcpy(prev_colourIm->imageData, niImageMD.Data(), prev_colourIm->imageSize); cvCvtColor(prev_colourIm, prev_colourIm, CV_RGB2BGR); #endif cvReleaseImage(&arImage); cvReleaseImage(&depthIm); cvReleaseImage(&colourIm); cvReleaseImage(&transDepth320);cvReleaseImage(&transDepth160); #ifdef USE_SKIN_SEGMENTATION cvReleaseImage(&gray); cvReleaseImage(&hand_region); #endif } cvReleaseImage(&prev_colourIm); osg_uninit(); delete m_world; delete kinectReg; cvReleaseMat(&RegistrationParams); delete kc; return 0; }
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; }
//////////////////// Entry point //////////////////// int main(int argc, char* argv[]) { depthmask_for_mesh = cvCreateImage(MESH_SIZE, IPL_DEPTH_8U, 1); markerSize.width = -1; markerSize.height = -1; //init OpenNI EnumerationErrors errors; switch (XnStatus rc = niContext.InitFromXmlFile(KINECT_CONFIG_FILENAME, &errors)) { case XN_STATUS_OK: break; case XN_STATUS_NO_NODE_PRESENT: XnChar strError[1024]; errors.ToString(strError, 1024); printf("%s\n", strError); return rc; break; default: printf("Open failed: %s\n", xnGetStatusString(rc)); return rc; } //set camera parameter capture = new Camera(0, CAPTURE_SIZE, CAMERA_PARAMS_FILENAME); RegistrationParams = scaleParams(capture->getParameters(), double(REGISTRATION_SIZE.width)/double(CAPTURE_SIZE.width)); //init parameter for rendering osg_init(calcProjection(RegistrationParams, capture->getDistortion(), REGISTRATION_SIZE)); //for Kinect view loadKinectParams(KINECT_PARAMS_FILENAME, &kinectParams, &kinectDistort); kinectDistort =0; kinectParams->data.db[2]=320.0; kinectParams->data.db[5]=240.0; //setting kinect context niContext.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth); niContext.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image); g_depth.GetMirrorCap().SetMirror(false); g_depth.GetAlternativeViewPointCap().SetViewPoint(g_image); //registration kinectReg = new RegistrationOPIRA(new OCVSurf()); kinectReg->addResizedMarker(MARKER_FILENAME, 400); //physics m_world = new bt_ARMM_world(); ground_grid = new float[GRID_SIZE]; for (int i =0;i < GRID_SIZE; i++) { ground_grid[i] = 0; } #ifdef SIM_PARTICLES voxel_grid = new float[1200]; for (int i =0;i < 1200; i++) { voxel_grid[i] = 0; } #endif //controls KeyboardController *kc = new KeyboardController(m_world); XboxController *xc = new XboxController(m_world); loadKinectTransform(KINECT_TRANSFORM_FILENAME); #ifdef USE_ARMM_VRPN //----->Server part m_Connection = new vrpn_Connection_IP(); ARMM_server = new ARMM_Communicator(m_Connection ); //Open the imager server and set up channel zero to send our data. //if ( (ARMM_img_server = new vrpn_Imager_Server("ARMM_Image", m_Connection, MESH_SIZE.width, MESH_SIZE.height)) == NULL) { // fprintf(stderr, "Could not open imager server\n"); // return -1; //} //if ( (channel_id = ARMM_img_server->add_channel("Grid")) == -1) { // fprintf(stderr, "Could not add channel\n"); // return -1; //} ARMM_server->SetObjectsData(&(m_world->Objects_Body)); ARMM_server->SetHandsData(&(m_world->HandObjectsArray)); cout << "Created VRPN server." << endl; //<----- #ifdef USE_ARMM_VRPN_RECEIVER //----->Receiver part ARMM_sever_receiver = new vrpn_Tracker_Remote (ARMM_CLIENT_IP); ARMM_sever_receiver->register_change_handler(NULL, handle_object); #endif //<----- #endif #ifdef USE_SKIN_SEGMENTATION //Skin color look up _HandRegion.LoadSkinColorProbTable(); #endif #ifdef USE_OPTICAL_FLOW prev_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1); curr_gray = cvCreateImage(cvSize(OPFLOW_SIZE.width, OPFLOW_SIZE.height), IPL_DEPTH_8U, 1); flow_capture = new FlowCapture(); flow_capture->Init(); #endif /////////////////////////////////////////////Main Loop//////////////////////////////////////////////// while (running) { //start kinect if (XnStatus rc = niContext.WaitAnyUpdateAll() != XN_STATUS_OK) { printf("Read failed: %s\n", xnGetStatusString(rc)); return rc; } //get image and depth data from Kinect g_depth.GetMetaData(niDepthMD); g_image.GetMetaData(niImageMD); colourIm = cvCreateImage(cvSize(niImageMD.XRes(), niImageMD.YRes()), IPL_DEPTH_8U, 3); memcpy(colourIm->imageData, niImageMD.Data(), colourIm->imageSize); cvCvtColor(colourIm, colourIm, CV_RGB2BGR); cvFlip(colourIm, colourIm, 1); depthIm = cvCreateImage(cvSize(niDepthMD.XRes(), niDepthMD.YRes()), IPL_DEPTH_16U, 1); transDepth160 = cvCreateImage(cvSize(MESH_SIZE.width, MESH_SIZE.height), IPL_DEPTH_32F, 1); transDepth320 = cvCreateImage(cvSize(SKIN_SEGM_SIZE.width, SKIN_SEGM_SIZE.height), IPL_DEPTH_32F, 1); transColor320 = cvCreateImage(cvSize(SKIN_SEGM_SIZE.width, SKIN_SEGM_SIZE.height), IPL_DEPTH_8U, 3); memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize); //cvCircle(colourIm, cvPoint(marker_origin.x,marker_origin.y), 5, CV_BLUE, 3); cvShowImage("Kinect View", colourIm); IplImage *arImage = capture->getFrame(); cvWaitKey(1); //check input device input_key = kc->check_input(); #ifdef USE_ARMM_VRPN_RECEIVER if( pass_key != 0){ kc->check_input(pass_key); pass_key = 0; } #endif xc->check_input(); if(kinectTransform) { // kinect transform as cvmat* for use if( counter >= SIM_FREQUENCY) { #ifdef UPDATE_TRIMESH inpaintDepth(&niDepthMD, true); memcpy(depthIm->imageData, niDepthMD.Data(), depthIm->imageSize); TransformImage(depthIm, transDepth160, MARKER_DEPTH, MESH_SIZE, true); GenerateTrimeshGroundFromDepth(transDepth160, MARKER_DEPTH); /*Trimesh generation*/ m_world->updateTrimeshRefitTree(ground_grid);//opencl? osg_UpdateHeightfieldTrimesh(ground_grid);//opencl? #endif #ifdef SIM_PARTICLES /*World spheres simulation*/ // GenerateVoxelFromDepth(depthIm, MARKER_DEPTH); // m_world->updateWorldSphereTransform(voxel_grid); // osgUpdateWorldSphereTransform(voxel_grid); #endif counter = 0; } else { #ifdef USE_SKIN_SEGMENTATION /*Skin color segmentation*/ // may be reduce resolution first as well as cut off depth make processing faster // (2)Sphere representation FindHands(depthIm, colourIm); UpdateAllHands(); #endif #ifdef USE_PARTICLES //XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX #endif counter++; } //do hand pose recognition m_world->Update(); //(B)normal client only rendering RenderScene(arImage, capture); } // TickCountAverageEnd(); #ifdef USE_ARMM_VRPN //Send Car position+orientation ARMM_server->mainloop(); #ifdef USE_ARMM_VRPN_RECEIVER ARMM_sever_receiver->mainloop(); #endif ////Copy depth info //for (int i = 0; i < GRID_SIZE;i++) { // ARMM_img_buffer[i] = ground_grid[i]; //} //Send depth grid info //ARMM_img_server->send_begin_frame(0, MESH_SIZE.width-1, 0, MESH_SIZE.height-1); // ARMM_img_server->mainloop(); // int nRowsPerRegion= ((int) vrpn_IMAGER_MAX_REGIONf32)/ MESH_SIZE.width; // for(int y=0; y<MESH_SIZE.height; y+=nRowsPerRegion) { // ARMM_img_server->send_region_using_base_pointer(channel_id,0,MESH_SIZE.width-1,y,min(MESH_SIZE.width,y+nRowsPerRegion)-1, ARMM_img_buffer, 1, MESH_SIZE.width, MESH_SIZE.height); // ARMM_img_server->mainloop(); // } // ARMM_img_server->send_end_frame(0, MESH_SIZE.width-1, 0, MESH_SIZE.height-1); // ARMM_img_server->mainloop(); //Exec data transmission m_Connection->mainloop(); #endif #ifdef USE_OPTICAL_FLOW if(!RunOnce) RunOnce = true; cvCopyImage(curr_gray, prev_gray); #endif cvReleaseImage(&arImage); cvReleaseImage(&depthIm); cvReleaseImage(&colourIm); cvReleaseImage(&transDepth160); #ifdef USE_SKIN_SEGMENTATION cvReleaseImage(&transDepth320); cvReleaseImage(&transColor320); #endif } #ifdef USE_OPTICAL_FLOW cvReleaseImage(&prev_gray); cvReleaseImage(&curr_gray); #endif //memory release osg_uninit(); delete m_world; delete kinectReg; cvReleaseMat(&RegistrationParams); delete kc; delete xc; return 0; }