// 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; }
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 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(); }
//---------------------------------------------------- // 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; // } //} }
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); } }
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(); }
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; }