void XtionDepthDriverImpl::setDepthCameraResolution(const DepthResolution resolution)
{
_stream.stop();
VideoMode mode = _stream.getVideoMode();
if(resolution == DEPTH_RESOLUTION_320_240) {
mode.setResolution(320, 240);
} else if(resolution == DEPTH_RESOLUTION_640_480) {
mode.setResolution(640, 480);
} else {
_stream.start();
throw Exception("Invalid resolution");
}
Status rc = _stream.setVideoMode(mode);
if (rc != STATUS_OK) {
_stream.start();
throw Exception(std::string("Set the resolution failed with\n")
+ OpenNI::getExtendedError());
}
rc = _stream.start();
if(rc != STATUS_OK) {
// how handle this?!
close();
throw Exception("Unable to start the depth stream");
}
}
void TouchTracking::initializeVideo()
{
OpenNI::initialize();
if (device.open(ANY_DEVICE) != STATUS_OK)
{
throw std::runtime_error("could not open any device!");
}
if (!device.hasSensor(SENSOR_DEPTH))
{
throw std::runtime_error("sensor cannot receive depth!");
}
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
//std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
m_videoModes.push_back(modes[i]);
//std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
VideoMode mode;
mode.setFps(60);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
videoMode(mode);
stream.setMirroringEnabled(false);
}
void DeviceController::printVideoMode(VideoMode mode)
{
PixelFormat pixelFormat = mode.getPixelFormat();
string pixelFormatName;
switch (pixelFormat)
{
case PIXEL_FORMAT_DEPTH_1_MM:
{
pixelFormatName = "PIXEL_FORMAT_DEPTH_1_MM";
break;
}
case PIXEL_FORMAT_DEPTH_100_UM:
{
pixelFormatName = "PIXEL_FORMAT_DEPTH_100_UM";
break;
}
case PIXEL_FORMAT_SHIFT_9_2:
{
pixelFormatName = "PIXEL_FORMAT_SHIFT_9_2";
break;
}
case PIXEL_FORMAT_SHIFT_9_3:
{
pixelFormatName = "PIXEL_FORMAT_SHIFT_9_3";
break;
}
case PIXEL_FORMAT_RGB888:
{
pixelFormatName = "PIXEL_FORMAT_RGB888";
break;
}
case PIXEL_FORMAT_YUV422:
{
pixelFormatName = "PIXEL_FORMAT_YUV422";
break;
}
case PIXEL_FORMAT_GRAY8:
{
pixelFormatName = "PIXEL_FORMAT_GRAY8";
break;
}
case PIXEL_FORMAT_GRAY16:
{
pixelFormatName = "PIXEL_FORMAT_GRAY16";
break;
}
case PIXEL_FORMAT_JPEG:
{
pixelFormatName = "PIXEL_FORMAT_JPEG";
break;
}
}
ofLogVerbose() << "PixelFormat: " << pixelFormatName;
ofLogVerbose() << "ResolutionX: " << mode.getResolutionX();
ofLogVerbose() << "ResolutionY: " << mode.getResolutionY();
ofLogVerbose() << "FPS: " << mode.getFps();
}
void XtionDepthDriverImpl::open()
{
if(_device.isValid()) return;
Status rc = _device.open(ANY_DEVICE);
if(rc != STATUS_OK) {
throw Exception(std::string("Open the device failed with\n")
+ OpenNI::getExtendedError());
}
_device.open(ANY_DEVICE);
if(!_device.getSensorInfo(SENSOR_DEPTH)) {
_device.close();
throw Exception("Device has no depth sensor!");
}
rc = _stream.create(_device, SENSOR_DEPTH);
if(rc != STATUS_OK) {
_device.close();
throw Exception(std::string("Create the depth stream failed with\n")
+ OpenNI::getExtendedError());
}
VideoMode mode = _stream.getVideoMode();
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
rc = _stream.setVideoMode(mode);
if(rc != STATUS_OK) {
throw Exception(std::string("Set the pixel format to "
"PIXEL_FORMAT_DEPTH_1_MM failed with\n")
+ OpenNI::getExtendedError());
}
rc = _stream.start();
if(rc != STATUS_OK) {
_stream.destroy();
_device.close();
throw Exception(std::string("Starting the depth stream failed with\n")
+ OpenNI::getExtendedError());
}
rc = _stream.addNewFrameListener(this);
if(rc != STATUS_OK) {
_stream.stop();
_stream.destroy();
_device.close();
throw Exception(std::string("Adding the frame listener failed with\n")
+ OpenNI::getExtendedError());
}
}
DepthResolution XtionDepthDriverImpl::depthCameraResolution() const
{
const VideoMode mode = _stream.getVideoMode();
int res_x = mode.getResolutionX();
int res_y = mode.getResolutionY();
if((res_x == 320) && (res_y = 240)) {
return DEPTH_RESOLUTION_320_240;
} else if((res_x == 640) && (res_y = 480)) {
return DEPTH_RESOLUTION_640_480;
}
return DEPTH_INVALID_RESOLUTION;
}
void AVForm::open(const QString &devName, const VideoMode &mode)
{
QRect rect = mode.toRect();
Settings::getInstance().setCamVideoRes(rect);
Settings::getInstance().setCamVideoFPS(static_cast<quint16>(mode.FPS));
camera.open(devName, mode);
}
void Window::create(VideoMode mode, const String &title, uint32 style, const ContextSettings &settings) {
close();
if (style & WindowStyle::Fullscreen) {
if (fullscreenWindow) {
std::cerr << "Creating two fullscreen windows is not allowed, switching to windowed mode\n";
style &= ~WindowStyle::Fullscreen;
} else {
if (!mode.isValid()) {
std::cerr << "The requested video mode is not available, switching to a valid mode.\n";
mode = VideoMode::getFullScreenModes()[0];
}
fullscreenWindow = this;
}
}
# if defined (Q_IOS) || defined(Q_ANDROID)
if (style & WindowStyle::Fullscreen) {
style &= ~WindowStyle::Fullscreen;
} else {
style |= WindowStyle::Titlebar;
}
# else
if ((style & WindowStyle::Close) || (style & WindowStyle::Resize)) {
style |= WindowStyle::Titlebar;
}
# endif
mBase = WindowBase::createWindow(mode, title, style, settings);
mContext = GLContext::create(settings, mBase, mode.bpp);
init(mode.maximize);
}
void Renderer::initialize(bool fs, int mode) {
fullscreen = fs;
if (!renderThreadId)
renderThreadId = currentThreadId();
else
CHECK(currentThreadId() == *renderThreadId);
CHECK(!getResolutions().empty()) << sf::VideoMode::getFullscreenModes().size() << " " << int(sf::VideoMode::getDesktopMode().bitsPerPixel);
CHECK(mode >= 0 && mode < getResolutions().size()) << mode << " " << getResolutions().size();
VideoMode vMode = getResolutions()[mode];
CHECK(vMode.isValid()) << "Video mode invalid: " << int(vMode.width) << " " << int(vMode.height) << " " << int(vMode.bitsPerPixel) << " " << fs;
if (fullscreen)
display.create(vMode, "KeeperRL", sf::Style::Fullscreen);
else
display.create(sf::VideoMode::getDesktopMode(), "KeeperRL");
sfView = new sf::View(display.getDefaultView());
display.setVerticalSyncEnabled(true);
}
Game() {
getLog().addDevice( new StreamLogDevice(std::cout) );
win_.reset ( new Window( *this ) );
inp_.reset ( new Input( *this ) );
scene_.reset ( new ChcSceneManager(*this) );
asmg_.reset ( new AssetManager( *this ) );
asmg_->addContentFactory< ImageContent >( "img" );
auto vms = VideoMode::getAvailable();
std::sort( vms.begin(), vms.end(),
[]( VideoMode &a, VideoMode &b ) {
return a.getWidth() < b.getWidth();
}
);
VideoMode vm = vms.back();
vm.setFullscreen( true );
//vm.setSize( 1920, 800 );
vm.setVSync(true);
vm.setDecorated( true );
vm.setBpp( 32 );
win_->setVideoMode( vm );
addTask( *win_ );
addTask( *inp_ );
win_->addTask( *scene_ );
inp_->addInputListener(*this);
setupGL();
loadTexture();
createCamera();
createLevel();
ctrl_.reset( new CameraControl( *this ) );
ctrl_->connect();
BlockPlacer *pl = new BlockPlacer( *world_ );
inp_->addInputListener( *pl );
scene_->getRoot().createChild().attachEntity( *pl );
}
void AVForm::on_videoModescomboBox_currentIndexChanged(int index)
{
assert(0 <= index && index < videoModes.size());
int devIndex = videoDevCombobox->currentIndex();
assert(0 <= devIndex && devIndex < videoDeviceList.size());
QString devName = videoDeviceList[devIndex].first;
VideoMode mode = videoModes[index];
if (CameraDevice::isScreen(devName) && mode == VideoMode())
{
if (Settings::getInstance().getScreenGrabbed())
{
VideoMode mode(Settings::getInstance().getScreenRegion());
open(devName, mode);
return;
}
// note: grabber is self-managed and will destroy itself when done
ScreenshotGrabber* screenshotGrabber = new ScreenshotGrabber;
auto onGrabbed = [screenshotGrabber, devName, this] (QRect region)
{
VideoMode mode(region);
mode.width = mode.width / 2 * 2;
mode.height = mode.height / 2 * 2;
// Needed, if the virtual screen origin is the top left corner of the primary screen
QRect screen = QApplication::primaryScreen()->virtualGeometry();
mode.x += screen.x();
mode.y += screen.y();
Settings::getInstance().setScreenRegion(mode.toRect());
Settings::getInstance().setScreenGrabbed(true);
open(devName, mode);
};
connect(screenshotGrabber, &ScreenshotGrabber::regionChosen, this, onGrabbed, Qt::QueuedConnection);
screenshotGrabber->showGrabber();
return;
}
Settings::getInstance().setScreenGrabbed(false);
open(devName, mode);
}
void Window::create(VideoMode mode, const String& title, Uint32 style, const ContextSettings& settings)
{
// Destroy the previous window implementation
close();
// Fullscreen style requires some tests
if (style & Style::Fullscreen)
{
// Make sure there's not already a fullscreen window (only one is allowed)
if (fullscreenWindow)
{
err() << "Creating two fullscreen windows is not allowed, switching to windowed mode" << std::endl;
style &= ~Style::Fullscreen;
}
else
{
// Make sure that the chosen video mode is compatible
if (!mode.isValid())
{
err() << "The requested video mode is not available, switching to a valid mode" << std::endl;
mode = VideoMode::getFullscreenModes()[0];
}
// Update the fullscreen window
fullscreenWindow = this;
}
}
// Check validity of style according to the underlying platform
#if defined(SFML_SYSTEM_IOS) || defined(SFML_SYSTEM_ANDROID)
if (style & Style::Fullscreen)
style &= ~Style::Titlebar;
else
style |= Style::Titlebar;
#else
if ((style & Style::Close) || (style & Style::Resize))
style |= Style::Titlebar;
#endif
// Recreate the window implementation
m_impl = priv::WindowImpl::create(mode, title, style, settings);
// Recreate the context
m_context = priv::GlContext::create(settings, m_impl, mode.bitsPerPixel);
// Perform common initializations
initialize();
}
void CVideoSourceKinect::initPlayer(std::string& strPathFileName_){
init();
_nMode = PLAYING_BACK;
PRINTSTR("Initialize OpenNI Player...");
//inizialization
Status nRetVal = openni::OpenNI::initialize();
printf("After initialization:\n%s\n", openni::OpenNI::getExtendedError());
nRetVal = _device.open(strPathFileName_.c_str()); CHECK_RC_(nRetVal, "Open oni file");
nRetVal = _depth.create(_device, openni::SENSOR_DEPTH); CHECK_RC_(nRetVal, "Initialize _cContext");
nRetVal = _color.create(_device, openni::SENSOR_COLOR); CHECK_RC_(nRetVal, "Initialize _cContext");
nRetVal = _depth.start(); CHECK_RC_(nRetVal, "Create depth video stream fail");
nRetVal = _color.start(); CHECK_RC_(nRetVal, "Create color video stream fail");
if (_depth.isValid() && _color.isValid())
{
VideoMode depthVideoMode = _depth.getVideoMode();
VideoMode colorVideoMode = _color.getVideoMode();
int depthWidth = depthVideoMode.getResolutionX();
int depthHeight = depthVideoMode.getResolutionY();
int colorWidth = colorVideoMode.getResolutionX();
int colorHeight = colorVideoMode.getResolutionY();
if (depthWidth != colorWidth || depthHeight != colorHeight)
{
printf("Warning - expect color and depth to be in same resolution: D: %dx%d, C: %dx%d\n",
depthWidth, depthHeight,
colorWidth, colorHeight);
//return ;
}
}
_streams = new VideoStream*[2];
_streams[0] = &_depth;
_streams[1] = &_color;
// set as the highest resolution 0 for 480x640
//register the depth generator with the image generator
if ( _nRawDataProcessingMethod == BIFILTER_IN_ORIGINAL || _nRawDataProcessingMethod == BIFILTER_IN_DISPARITY ){
nRetVal = _device.setImageRegistrationMode(IMAGE_REGISTRATION_DEPTH_TO_COLOR);
//nRetVal = _depth.GetAlternativeViewPointCap().getGLModelViewMatrixPoint ( _color ); CHECK_RC_ ( nRetVal, "Getting and setting AlternativeViewPoint failed: " );
// Set Hole Filter
_device.setDepthColorSyncEnabled(TRUE);
}//if (_bUseNIRegistration)
PRINTSTR(" Done.");
return;
}//initPlayer()
void Window::create(VideoMode mode, const String& title, Uint32 style, const ContextSettings& settings)
{
// Destroy the previous window implementation
close();
// Fullscreen style requires some tests
if (style & Style::Fullscreen)
{
// Make sure there's not already a fullscreen window (only one is allowed)
if (fullscreenWindow)
{
err() << "Creating two fullscreen windows is not allowed, switching to windowed mode" << std::endl;
style &= ~Style::Fullscreen;
}
else
{
// Make sure that the chosen video mode is compatible
if (!mode.isValid())
{
err() << "The requested video mode is not available, switching to a valid mode" << std::endl;
mode = VideoMode::getFullscreenModes()[0];
}
// Update the fullscreen window
fullscreenWindow = this;
}
}
// Check validity of style
if ((style & Style::Close) || (style & Style::Resize))
style |= Style::Titlebar;
// Recreate the window implementation
m_impl = priv::WindowImpl::create(mode, title, style);
m_impl->onDragDrop.connect(sigc::mem_fun(this, &Window::RedirectDragDrop));
// Recreate the context
m_context = priv::GlContext::create(settings, m_impl, mode.bitsPerPixel);
// Perform common initializations
initialize();
}
void Window::Create(VideoMode mode, const std::string& title, unsigned long style, const ContextSettings& settings)
{
// Destroy the previous window implementation
Close();
// Fullscreen style requires some tests
if (style & Style::Fullscreen)
{
// Make sure there's not already a fullscreen window (only one is allowed)
if (fullscreenWindow)
{
Err() << "Creating two fullscreen windows is not allowed, switching to windowed mode" << std::endl;
style &= ~Style::Fullscreen;
}
else
{
// Make sure that the chosen video mode is compatible
if (!mode.IsValid())
{
Err() << "The requested video mode is not available, switching to a valid mode" << std::endl;
mode = VideoMode::GetFullscreenModes()[0];
}
// Update the fullscreen window
fullscreenWindow = this;
}
}
// Check validity of style
if ((style & Style::Close) || (style & Style::Resize))
style |= Style::Titlebar;
// Recreate the window implementation
myWindow = priv::WindowImpl::New(mode, title, style);
// Recreate the context
myContext = priv::GlContext::New(myWindow, mode.BitsPerPixel, settings);
// Perform common initializations
Initialize();
}
void Window::create(VideoMode mode, const std::string& title, Uint32 style, const ContextSettings& settings)
{
// Destroy the previous window implementation
close();
// Fullscreen style requires some tests
if (style & Style::Fullscreen)
{
// Make sure there's not already a fullscreen window (only one is allowed)
if (fullscreenWindow)
{
style &= ~Style::Fullscreen;
}
else
{
// Make sure that the chosen video mode is compatible
if (!mode.isValid())
{
mode = VideoMode::getFullscreenModes()[0];
}
// Update the fullscreen window
fullscreenWindow = this;
}
}
// Check validity of style
if ((style & Style::Close) || (style & Style::Resize))
style |= Style::Titlebar;
// Recreate the window implementation
m_impl = priv::WindowImplWin32::create(mode, title, style, settings);
// Recreate the context
m_context = priv::GlContext::create(settings, m_impl, mode.bitsPerPixel);
// Perform common initializations
initialize();
}
////////////////////////////////////////////////////////////
/// Create the window
////////////////////////////////////////////////////////////
void Window::Create(VideoMode Mode, const std::string& Title, unsigned long WindowStyle, const WindowSettings& Params)
{
// Destroy the previous window implementation
Close();
// Fullscreen style requires some tests
if (WindowStyle & Style::Fullscreen)
{
// Make sure there's not already a fullscreen window (only one is allowed)
if (FullscreenWindow)
{
std::cerr << "Creating two fullscreen windows is not allowed, switching to windowed mode" << std::endl;
WindowStyle &= ~Style::Fullscreen;
}
else
{
// Make sure the chosen video mode is compatible
if (!Mode.IsValid())
{
std::cerr << "The requested video mode is not available, switching to a valid mode" << std::endl;
Mode = VideoMode::GetMode(0);
}
// Update the fullscreen window
FullscreenWindow = this;
}
}
// Check validity of style
if ((WindowStyle & Style::Close) || (WindowStyle & Style::Resize))
WindowStyle |= Style::Titlebar;
// Activate the global context
Context::GetGlobal().SetActive(true);
mySettings = Params;
Initialize(priv::WindowImpl::New(Mode, Title, WindowStyle, mySettings));
}
void Window::setVideoMode( const VideoMode& mode ) {
log << "Setting video mode " << mode << ".\n";
if(!mode.isValid()) {
log << "VideoModeNotSupportedException raised.\n";
throw VideoModeNotSupportedException();
}
if( mode == mode_ ) {
log << "No changes detected. Not doing anything.\n";
return;
}
bool opOk;
int w = mode.getWidth();
int h = mode.getHeight();
int bpp = mode.getBpp();
int flags = SDL_OPENGL;
if( mode.isFullscreen() )
flags |= SDL_FULLSCREEN;
if( !mode.isDecorated() )
flags |= SDL_NOFRAME;
_putenv(_strdup("SDL_VIDEO_CENTERED=1"));
SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER,1);
SDL_GL_SetAttribute(SDL_GL_SWAP_CONTROL,mode.hasVSync()?1:0);
opOk = SDL_SetVideoMode(w,h,bpp,flags) != 0;
if( !opOk ) {
log << "Warning: Mode reported it was valid, but SDL_SetVideoMode() failed.\n";
throw VideoModeNotSupportedException();
}
mode_ = mode;
log << "Video mode set.\n";
}
int main()
{
FILE *fptrI = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv","w");
fprintf(fptrI, "Classtype, Area, Perimeter, Circularity, Extent\n");
fclose(fptrI);
Mat input = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\Fingers.bmp", 1);
Mat input2 = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\NotFingers.bmp", 1);
Mat inputF = imread("C:\\Users\\Alan\\Pictures\\Science Fair 2014\\SVM\\Shape Features\\ImageFeaturesBinaryF.bmp", 1);
Mat gray(input.rows, input.cols, CV_8UC3);
Mat gray2(input.rows, input.cols, CV_8UC3);
Mat grayF(input.rows, input.cols, CV_8UC3);
cvtColor(input, gray, CV_BGR2GRAY);
cvtColor(input2, gray2, CV_BGR2GRAY);
cvtColor(inputF, grayF, CV_BGR2GRAY);
shapeFeatures(gray, input, 1);
shapeFeatures(gray2, input2, 2);
namedWindow("Image");
imshow("Image", input);
namedWindow("Image2");
imshow("Image2", input2);
//------------------------------------------------------
//--------[SVM]--------
// Read input data from file created above
double parameters[5];
vector<double> svmI, svmA, svmP, svmC, svmE;
int size = 1;
double index = 0; double area = 0; double perimeter = 0; double circularity = 0;
char buffer[1024];
char *record, *line;
FILE* fptrR = fopen("C:\\Users\\Alan\\Documents\\ShapeFeatures.csv", "r");
fscanf(fptrR, "%*[^\n]\n", NULL);
svmI.resize(size); svmA.resize(size); svmP.resize(size); svmC.resize(size);
while((line=fgets(buffer, sizeof(buffer), fptrR))!=NULL)
{
size++;
svmI.resize(size);
svmA.resize(size);
svmP.resize(size);
svmC.resize(size);
svmE.resize(size);
record = strtok(line, ";");
for(int i = 0; i < 5; i++);
{
double value = atoi(record);
record = strtok(line,";");
}
char *lineCopy = record;
char *pch;
pch = strtok(lineCopy, ",");
parameters[0] = atoi(pch);
int j = 1;
while( j < 5 )
{
pch = strtok (NULL, ",");
parameters[j] = atof(pch);
j++;
}
svmI[size-1] = parameters[0];
svmA[size-1] = parameters[1];
svmP[size-1] = parameters[2];
svmC[size-1] = parameters[3];
svmE[size-1] = parameters[4];
}
fclose(fptrR);
//---------------------
// Data for visual representation
int width = 512, height = 512;
Mat image = Mat::zeros(height, width, CV_8UC3);
// Set up training data
//float labels[8] = {1.0, -1.0, -1.0, -1.0};
float labels[1000];
for(int i = 0; i < svmI.size()-1; i++)
{
labels[i] = svmI[i+1];
}
Mat labelsMat(1000, 1, CV_32FC1, labels);
float trainingData[1000][4];
for(int i = 0; i < svmE.size()-1; i++)
{
trainingData[i][0] = svmE[i+1];
trainingData[i][1] = svmC[i+1];
trainingData[i][2] = svmA[i+1];
trainingData[i][3] = svmP[i+1];
}
Mat trainingDataMat(1000, 4, CV_32FC1, trainingData);
// Set up SVM's parameters
CvSVMParams params;
params = SVMFinger.get_params();
//params.svm_type = CvSVM::C_SVC;
//params.kernel_type = CvSVM::LINEAR;
//params.term_crit = cvTermCriteria(CV_TERMCRIT_ITER, 100, 1e-6);
// Train the SVM
SVMFinger.train_auto(trainingDataMat, labelsMat, Mat(), Mat(), params);
// Mat sampleMat = (Mat_<float>(1,2) << 138.5, 57);
// float response = SVMFinger.predict(sampleMat);
waitKey();
destroyWindow("Image");
destroyWindow("Image2");
//------------------------------------------
OpenNI::initialize();
Device devAnyDevice;
devAnyDevice.open(ANY_DEVICE);
//----------------[Define Video Settings]-------------------
//Set Properties of Depth Stream
VideoMode mModeDepth;
mModeDepth.setResolution( 640, 480 );
mModeDepth.setFps( 30 );
mModeDepth.setPixelFormat( PIXEL_FORMAT_DEPTH_100_UM );
//Set Properties of Color Stream
VideoMode mModeColor;
mModeColor.setResolution( 640, 480 );
mModeColor.setFps( 30 );
mModeColor.setPixelFormat( PIXEL_FORMAT_RGB888 );
//----------------------------------------------------------
//----------------------[Initial Streams]---------------------
VideoStream streamInitDepth;
streamInitDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamInitColor;
streamInitColor.create( devAnyDevice, SENSOR_COLOR );
streamInitDepth.setVideoMode( mModeDepth );
streamInitColor.setVideoMode( mModeColor );
namedWindow( "Depth Image (Init)", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image (Init)", CV_WINDOW_AUTOSIZE );
//namedWindow( "Thresholded Image (Init)", CV_WINDOW_AUTOSIZE );
VideoFrameRef frameDepthInit;
VideoFrameRef frameColorInit;
streamInitDepth.start();
streamInitColor.start();
cv::Mat BackgroundFrame;
int avgDist = 0;
int iMaxDepthInit = streamInitDepth.getMaxPixelValue();
OutX.clear();
OutY.clear();
vector<int> OldOutX, OldOutY;
OldOutX.clear();
OldOutY.clear();
//------------------------------------------------------------
//--------------------[Initiation Process]--------------------
while( true )
{
streamInitDepth.readFrame( &frameDepthInit );
streamInitColor.readFrame( &frameColorInit );
const cv::Mat mImageDepth( frameDepthInit.getHeight(), frameDepthInit.getWidth(), CV_16UC1, (void*)frameDepthInit.getData());
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepthInit );
cv::imshow( "Depth Image (Init)", mScaledDepth );
const cv::Mat mImageRGB(frameColorInit.getHeight(), frameColorInit.getWidth(), CV_8UC3, (void*)frameColorInit.getData());
cv::Mat cImageBGR;
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
//--------------------[Get Average Distance]---------------------
int depthVal = 0;
int frameHeight = frameDepthInit.getHeight();
int frameWidth = frameDepthInit.getWidth();
//------------
//backgroundDepth.resize(frameHeight * frameWidth);
//---------------------------------------------------------------
int initCount = 0;
for(int i = 0; i < frameHeight; i++)
{
for(int j = 0; j < frameWidth; j++)
{
depthVal = mImageDepth.at<unsigned short>(i, j) + depthVal;
initCount++;
}
}
avgDist = depthVal / ((frameHeight) * (frameWidth));
cout << "Average Distance: " << avgDist << endl;
cv::imshow( "Color Image (Init)", cImageBGR );
if( cv::waitKey(1) == 'q')
{
mImageDepth.copyTo(BackgroundFrame);
break;
}
}
streamInitDepth.destroy();
streamInitColor.destroy();
destroyWindow( "Depth Image (Init)" );
destroyWindow( "Color Image (Init)" );
VideoStream streamDepth;
streamDepth.create( devAnyDevice, SENSOR_DEPTH );
VideoStream streamColor;
streamColor.create( devAnyDevice, SENSOR_COLOR );
streamDepth.setVideoMode( mModeDepth );
streamColor.setVideoMode( mModeColor );
streamDepth.start();
streamColor.start();
namedWindow( "Depth Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Color Image", CV_WINDOW_AUTOSIZE );
namedWindow( "Thresholded Image", CV_WINDOW_AUTOSIZE );
int iMaxDepth = streamDepth.getMaxPixelValue();
VideoFrameRef frameColor;
VideoFrameRef frameDepth;
OutX.clear();
OutY.clear();
//------------------------------------------------------------
//------------------------------------------------------------
//-----------------------[Main Process]-----------------------
while( true )
{
streamDepth.readFrame( &frameDepth );
streamColor.readFrame( &frameColor );
const cv::Mat mImageDepth( frameDepth.getHeight(), frameDepth.getWidth(), CV_16UC1, (void*)frameDepth.getData());
cv::Mat mScaledDepth;
mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
////////////////////////////////////////////////////////////////////////////////////////////
//---------------------[Downsampling]-------------------------------------------------------
double min;
double max;
cv::minMaxIdx(mImageDepth, &min, &max);
cv::Mat adjMap;
// expand your range to 0..255. Similar to histEq();
float scale = 255 / (max-min);
mImageDepth.convertTo(adjMap,CV_8UC1, scale, -min*scale);
// this is great. It converts your grayscale image into a tone-mapped one,
// much more pleasing for the eye
// function is found in contrib module, so include contrib.hpp
// and link accordingly
cv::Mat falseColorsMap;
applyColorMap(adjMap, falseColorsMap, cv::COLORMAP_AUTUMN);
cv::imshow("Out", falseColorsMap);
//------------------------------------------------------------------------------------------
////////////////////////////////////////////////////////////////////////////////////////////
cv::imshow( "Depth Image", mScaledDepth );
cv::imshow( "Depth Image2", adjMap );
const cv::Mat mImageRGB(frameColor.getHeight(), frameColor.getWidth(), CV_8UC3, (void*)frameColor.getData());
cv::Mat cImageBGR;
cv::cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
//-------------[Threshold]-----------------
cv::Mat mImageThres( frameDepth.getHeight(), frameDepth.getWidth(), CV_8UC1 );
int backgroundPxlCount = 0;
for(int i = 0; i < 480; i++)
{
for(int j = 0; j < 640; j++)
{
int depthVal = mImageDepth.at<unsigned short>(i, j);
avgDist = BackgroundFrame.at<unsigned short>(i, j)-2;
if((depthVal > (avgDist-14)) && (depthVal <= (avgDist-7)))
{
//mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 255;
mImageThres.at<uchar>(i, j) = 255;
}
else
{
//mImageThres.data[mImageThres.step[0]*i + mImageThres.step[1]*j] = 0;
mImageThres.at<uchar>(i, j) = 0;
}
backgroundPxlCount++;
}
}
GaussianBlur( mImageThres, mImageThres, Size(3,3), 0, 0 );
fingerDetection( mImageThres, cImageBGR, OldOutX, OldOutY);
cv::imshow("Thresholded Image", mImageThres);
//----------------------------------------
if( cv::waitKey(1) == 'q')
{
break;
}
//------------------------------------------------
cv::imshow( "Color Image", cImageBGR );
//----------------------------------
OldOutX.clear();
OldOutY.clear();
OldOutX = OutX;
OldOutY = OutY;
OutX.clear();
OutY.clear();
}
return 0;
}
void AVForm::updateVideoModes(int curIndex)
{
if (curIndex<0 || curIndex>=videoDeviceList.size())
{
qWarning() << "Invalid index";
return;
}
QString devName = videoDeviceList[curIndex].first;
QVector<VideoMode> allVideoModes = CameraDevice::getVideoModes(devName);
std::sort(allVideoModes.begin(), allVideoModes.end(),
[](const VideoMode& a, const VideoMode& b)
{return a.width!=b.width ? a.width>b.width :
a.height!=b.height ? a.height>b.height :
a.FPS>b.FPS;});
bool previouslyBlocked = bodyUI->videoModescomboBox->blockSignals(true);
bodyUI->videoModescomboBox->clear();
// Identify the best resolutions available for the supposed XXXXp resolutions.
std::map<int, VideoMode> idealModes;
idealModes[120] = {160,120,0,0};
idealModes[240] = {460,240,0,0};
idealModes[360] = {640,360,0,0};
idealModes[480] = {854,480,0,0};
idealModes[720] = {1280,720,0,0};
idealModes[1080] = {1920,1080,0,0};
std::map<int, int> bestModeInds;
qDebug("available Modes:");
for (int i=0; i<allVideoModes.size(); ++i)
{
VideoMode mode = allVideoModes[i];
qDebug("width: %d, height: %d, FPS: %f, pixel format: %s", mode.width, mode.height, mode.FPS, CameraDevice::getPixelFormatString(mode.pixel_format).toStdString().c_str());
// PS3-Cam protection, everything above 60fps makes no sense
if(mode.FPS > 60)
continue;
for(auto iter = idealModes.begin(); iter != idealModes.end(); ++iter)
{
int res = iter->first;
VideoMode idealMode = iter->second;
// don't take approximately correct resolutions unless they really
// are close
if (mode.norm(idealMode) > 300)
continue;
if (bestModeInds.find(res) == bestModeInds.end())
{
bestModeInds[res] = i;
continue;
}
int ind = bestModeInds[res];
if (mode.norm(idealMode) < allVideoModes[ind].norm(idealMode))
{
bestModeInds[res] = i;
}
else if (mode.norm(idealMode) == allVideoModes[ind].norm(idealMode))
{
// prefer higher FPS and "better" pixel formats
if (mode.FPS > allVideoModes[ind].FPS)
{
bestModeInds[res] = i;
}
else if (mode.FPS == allVideoModes[ind].FPS &&
CameraDevice::betterPixelFormat(mode.pixel_format, allVideoModes[ind].pixel_format))
{
bestModeInds[res] = i;
}
}
}
}
qDebug("selected Modes:");
int prefResIndex = -1;
QSize prefRes = Settings::getInstance().getCamVideoRes();
unsigned short prefFPS = Settings::getInstance().getCamVideoFPS();
// Iterate backwards to show higest resolution first.
videoModes.clear();
for(auto iter = bestModeInds.rbegin(); iter != bestModeInds.rend(); ++iter)
{
int i = iter->second;
VideoMode mode = allVideoModes[i];
if (videoModes.contains(mode))
continue;
videoModes.append(mode);
if (mode.width==prefRes.width() && mode.height==prefRes.height() && mode.FPS == prefFPS && prefResIndex==-1)
prefResIndex = videoModes.size() - 1;
QString str;
qDebug("width: %d, height: %d, FPS: %f, pixel format: %s\n", mode.width, mode.height, mode.FPS, CameraDevice::getPixelFormatString(mode.pixel_format).toStdString().c_str());
if (mode.height && mode.width)
str += tr("%1p").arg(iter->first);
else
str += tr("Default resolution");
bodyUI->videoModescomboBox->addItem(str);
}
if (videoModes.isEmpty())
bodyUI->videoModescomboBox->addItem(tr("Default resolution"));
bodyUI->videoModescomboBox->blockSignals(previouslyBlocked);
if (prefResIndex != -1)
{
bodyUI->videoModescomboBox->setCurrentIndex(prefResIndex);
}
else
{
// If the user hasn't set a preffered resolution yet,
// we'll pick the resolution in the middle of the list,
// and the best FPS for that resolution.
// If we picked the lowest resolution, the quality would be awful
// but if we picked the largest, FPS would be bad and thus quality bad too.
int numRes=0;
QSize lastSize;
for (int i=0; i<videoModes.size(); i++)
{
if (lastSize != QSize{videoModes[i].width, videoModes[i].height})
{
numRes++;
lastSize = {videoModes[i].width, videoModes[i].height};
}
}
int target = numRes/2;
numRes=0;
for (int i=0; i<videoModes.size(); i++)
{
if (lastSize != QSize{videoModes[i].width, videoModes[i].height})
{
numRes++;
lastSize = {videoModes[i].width, videoModes[i].height};
}
if (numRes==target)
{
bodyUI->videoModescomboBox->setCurrentIndex(i);
break;
}
}
if (videoModes.size())
{
bodyUI->videoModescomboBox->setUpdatesEnabled(false);
bodyUI->videoModescomboBox->setCurrentIndex(-1);
bodyUI->videoModescomboBox->setUpdatesEnabled(true);
bodyUI->videoModescomboBox->setCurrentIndex(0);
}
else
{
// We don't have any video modes, open it with the default mode
camera.open(devName);
}
}
}
void AVForm::selectBestModes(QVector<VideoMode> &allVideoModes)
{
// Identify the best resolutions available for the supposed XXXXp resolutions.
std::map<int, VideoMode> idealModes;
idealModes[120] = VideoMode(160, 120);
idealModes[240] = VideoMode(430, 240);
idealModes[360] = VideoMode(640, 360);
idealModes[480] = VideoMode(854, 480);
idealModes[720] = VideoMode(1280, 720);
idealModes[1080] = VideoMode(1920, 1080);
std::map<int, int> bestModeInds;
for (int i = 0; i < allVideoModes.size(); ++i)
{
VideoMode mode = allVideoModes[i];
// PS3-Cam protection, everything above 60fps makes no sense
if (mode.FPS > 60)
continue;
for (auto iter = idealModes.begin(); iter != idealModes.end(); ++iter)
{
int res = iter->first;
VideoMode idealMode = iter->second;
// don't take approximately correct resolutions unless they really
// are close
if (mode.norm(idealMode) > 300)
continue;
if (bestModeInds.find(res) == bestModeInds.end())
{
bestModeInds[res] = i;
continue;
}
int index = bestModeInds[res];
VideoMode best = allVideoModes[index];
if (mode.norm(idealMode) < best.norm(idealMode))
{
bestModeInds[res] = i;
continue;
}
if (mode.norm(idealMode) == best.norm(idealMode))
{
// prefer higher FPS and "better" pixel formats
if (mode.FPS > best.FPS)
{
bestModeInds[res] = i;
continue;
}
bool better = CameraDevice::betterPixelFormat(mode.pixel_format, best.pixel_format);
if (mode.FPS >= best.FPS && better)
bestModeInds[res] = i;
}
}
}
QVector<VideoMode> newVideoModes;
for (auto it = bestModeInds.rbegin(); it != bestModeInds.rend(); ++it)
{
VideoMode mode = allVideoModes[it->second];
if (newVideoModes.empty())
{
newVideoModes.push_back(mode);
}
else
{
int size = getModeSize(mode);
auto result = std::find_if(newVideoModes.cbegin(), newVideoModes.cend(),
[size](VideoMode mode) { return getModeSize(mode) == size; });
if (result == newVideoModes.end())
newVideoModes.push_back(mode);
}
}
allVideoModes = newVideoModes;
}
void Window::setDecorated( bool decorated ) {
log << "Decoration change to " << decorated << ".\n";
VideoMode newMode = mode_;
newMode.setDecorated(decorated);
setVideoMode(newMode);
}
void Window::setFullscreen( bool fullscreen ) {
log << "Fullscreen change to " << fullscreen << ".\n";
VideoMode newMode = mode_;
newMode.setFullscreen(fullscreen);
setVideoMode(newMode);
}
Bool RenderWindowLinux::Open( const VideoMode & p_VideoMode, const std::string & p_Title, const Uint32 p_Style )
{
// open a connection with X server
if( ( m_pDisplay = XOpenDisplay( NULL ) ) == NULL )
{
std::cout << "[RenderWindowLinux::Create] Can not connect to X server." << std::endl;
return false;
}
// Initialize the X thread
// Should we?!?!
XInitThreads( );
// Get the screen
m_Screen = DefaultScreen( m_pDisplay );
// Creat the window attributes
XSetWindowAttributes WindowAttributes;
WindowAttributes.colormap = DefaultColormap( m_pDisplay, m_Screen );
WindowAttributes.event_mask = KeyPressMask | KeyReleaseMask |
ButtonPressMask | ButtonReleaseMask | ButtonMotionMask | PointerMotionMask |
EnterWindowMask | LeaveWindowMask | VisibilityChangeMask |
FocusChangeMask | ExposureMask | StructureNotifyMask;
// Create the window
m_Window = XCreateWindow( m_pDisplay,
DefaultRootWindow( m_pDisplay ),
0, 0, p_VideoMode.GetSize( ).x, p_VideoMode.GetSize( ).y,
0,
DefaultDepth( m_pDisplay, m_Screen ),
InputOutput,
DefaultVisual( m_pDisplay, m_Screen ),
CWBorderPixel | CWEventMask | CWColormap,
&WindowAttributes );
// It's very important to set the delete message. Else we wont be able to close the window.
::Atom wmDeleteMessage = XInternAtom( m_pDisplay, "WM_DELETE_WINDOW", false );
XSetWMProtocols( m_pDisplay, m_Window, &wmDeleteMessage, 1 );
// Set the window title
SetTitle( p_Title.c_str( ) );
// Let's set up the window decoration and the functionality
::Atom PropertyAtom = XInternAtom( m_pDisplay, "_MOTIF_WM_HINTS", false );
if( PropertyAtom )
{
struct HintsStruct
{
Uint32 Flags;
Uint32 Functions;
Uint32 Decorations;
Int32 InputMode;
Uint32 State;
};
HintsStruct Hints;
Hints.Flags = MWM_HINTS_FUNCTIONS | MWM_HINTS_FUNCTIONS;
Hints.Functions = 0;
Hints.Decorations = 0;
// Go through all the styles we want to apply to the window
if( p_Style == Bit::Style::Default )
{
Hints.Functions |= MWM_FUNC_ALL;
Hints.Decorations |= MWM_DECOR_ALL;
}
else
{
// Always set the resize and maximize functions and decorations.
// Some window managers seems to require this.
// Resizing can be disabled.
Hints.Functions |= MWM_FUNC_RESIZE | MWM_FUNC_MAXIMIZE;
Hints.Decorations |= MWM_DECOR_RESIZEH | MWM_DECOR_MAXIMIZE;
if( p_Style & Bit::Style::Close )
{
Hints.Functions |= MWM_FUNC_CLOSE;
}
if( p_Style & Bit::Style::Minimize )
{
Hints.Functions |= MWM_FUNC_MINIMIZE;
Hints.Decorations |= MWM_DECOR_MINIMIZE;
}
if( p_Style & Bit::Style::TitleBar )
{
Hints.Functions |= MWM_FUNC_MOVE | MWM_FUNC_MINIMIZE;
Hints.Decorations |= MWM_DECOR_BORDER | MWM_DECOR_TITLE | MWM_DECOR_MENU | MWM_DECOR_MINIMIZE;
}
}
// Apply the changes
XChangeProperty( m_pDisplay, m_Window, PropertyAtom, PropertyAtom, 32, PropModeReplace, (unsigned char *) &Hints, 5 );
// Force x server to disable window resizing
if (!( p_Style & Bit::Style::Resize ) )
{
XSizeHints * SizeHints = XAllocSizeHints( );
SizeHints->flags = PMinSize | PMaxSize;
SizeHints->min_width = p_VideoMode.GetSize( ).x;
SizeHints->min_height = p_VideoMode.GetSize( ).y;
SizeHints->max_width = p_VideoMode.GetSize( ).x;
SizeHints->max_height = p_VideoMode.GetSize( ).y;
// Set the hints
XSetWMNormalHints( m_pDisplay, m_Window, SizeHints);
// Free the size hints
XFree(SizeHints);
}
}
else
{
std::cout << "[RenderWindowLinux::Open] Can not get the property atom \"_MOTIF_WM_HINTS\"." << std::endl;
}
// Display the window.
XMapWindow( m_pDisplay, m_Window );
XFlush( m_pDisplay );
// Set the rest of the member variables
m_VideoMode = p_VideoMode;
m_Title = p_Title;
m_Style = p_Style;
m_Size = p_VideoMode.GetSize( );
m_Open = true;
m_Focused = true;
return true;
}
void VideoSourceKinect::initKinect()
{
init();
cout<<("Initialize RGBD camera...");
//inizialization
Status nRetVal = openni::OpenNI::initialize();
printf("After initialization:\n%s\n", openni::OpenNI::getExtendedError());
nRetVal = _device.open(openni::ANY_DEVICE);
nRetVal = _depth.create(_device, openni::SENSOR_DEPTH);
_depth.setMirroringEnabled(false);
nRetVal = _color.create(_device, openni::SENSOR_COLOR);
_color.setMirroringEnabled(false);
_colorSensorInfo = _device.getSensorInfo(openni::SENSOR_COLOR);
if( setVideoMode(_uResolution) == STATUS_OK )
{
nRetVal = _depth.start();
nRetVal = _color.start();
}
if (_depth.isValid() && _color.isValid())
{
VideoMode depthVideoMode = _depth.getVideoMode();
VideoMode colorVideoMode = _color.getVideoMode();
int depthWidth = depthVideoMode.getResolutionX();
int depthHeight = depthVideoMode.getResolutionY();
int colorWidth = colorVideoMode.getResolutionX();
int colorHeight = colorVideoMode.getResolutionY();
if (depthWidth != colorWidth || depthHeight != colorHeight)
{
printf("Warning - expect color and depth to be in same resolution: D: %dx%d, C: %dx%d\n",
depthWidth, depthHeight,
colorWidth, colorHeight);
//return ;
}
}
_streams = new VideoStream*[2];
_streams[0] = &_depth;
_streams[1] = &_color;
// set as the highest resolution 0 for 480x640
char _serial[100];
int size = sizeof(_serial);
_device.getProperty(openni::DEVICE_PROPERTY_SERIAL_NUMBER, &_serial, &size);
_serial_number = string(_serial);
cout << _serial_number << endl;
boost::filesystem::path dir("..//" + _serial_number);
if (boost::filesystem::create_directory(dir))
std::cout << "Success" << "\n";
else
std::cout << "Fail" << "\n";
boost::filesystem::path dir_dep("..//" + _serial_number +"//depth//");
if (boost::filesystem::create_directory(dir_dep))
std::cout << "Success" << "\n";
else
std::cout << "Fail" << "\n";
Mat cpuClibXYxZ0, cpuMask0;
if (true){
_color.getCameraSettings()->setAutoExposureEnabled(false);
_color.getCameraSettings()->setAutoWhiteBalanceEnabled(false);
_color.getCameraSettings()->setExposure(_exposure);
_color.getCameraSettings()->setGain(_gain);
}
cout<<(" Done.");
return;
}
void Window::setVSync( bool vsync ) {
log << "VSync change to " << vsync << ".\n";
VideoMode newMode = mode_;
newMode.setVSync(vsync);
setVideoMode(newMode);
}
void Window::setSize(unsigned width, unsigned height) {
log << "Resizing to (" << width << ", " << height << ").\n";
VideoMode newMode = mode_;
newMode.setSize(width,height);
setVideoMode(newMode);
}
int _tmain(int argc, _TCHAR* argv[])
{
DepthDetector detector(ThresholdMin, ThresholdMax);
ScanLineSegmenter segmenter;
OpenNI::initialize();
Device device;
if (device.open(ANY_DEVICE) != STATUS_OK)
{
std::cout << "could not open any device\r\n";
return 1;
}
if (device.hasSensor(SENSOR_DEPTH))
{
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
auto& mode = modes[i];
std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
}
VideoStream stream;
stream.create(device, SENSOR_DEPTH);
VideoMode mode;
mode.setFps(25);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
stream.setMirroringEnabled(true);
stream.setVideoMode(mode);
stream.start();
std::cout << "press any key to capture background\r\n";
std::cin.get();
VideoFrameRef frame;
stream.readFrame(&frame);
DepthImage image(320, 240);
copyFrameToImage(frame, image);
detector.background(image);
std::cout << "starting capture loop\r\n";
CenterPointExtractor centerPointExtractor(MinBlobSize);
std::chrono::high_resolution_clock timer;
auto startTime = timer.now();
int frameId = 0;
while (true)
{
stream.readFrame(&frame);
copyFrameToImage(frame, image);
detector.detect(image);
std::vector<LineSegment> segments;
segmenter.segment(detector.mask(), segments);
std::vector<std::pair<float, float>> centerPoints;
centerPointExtractor.extract(segments, centerPoints);
if (centerPoints.size())
{
std::cout << "point count: " << centerPoints.size();
std::cout << "\t points: ";
for (auto& point : centerPoints)
{
std::cout << "(" << point.first << ", " << point.second << ") ";
}
std::cout << "\r\n";
}
++frameId;
if (frameId % 64 == 0)
{
auto stopTime = timer.now();
auto elapsedTime = stopTime - startTime;
auto elapsedMilliseconds = std::chrono::duration_cast<std::chrono::milliseconds>(elapsedTime).count();
std::cout << "\t total frames: " << frameId << "\t fps: " << elapsedMilliseconds / 64 << std::endl;
startTime = stopTime;
}
}
openni::OpenNI::shutdown();
return 0;
}
int _tmain(int argc, _TCHAR* argv[])
{
sdl::Application app;
DepthDetector detector(ThresholdMin, ThresholdMax);
ScanLineSegmenter segmenter;
OpenNI::initialize();
Device device;
if (device.open(ANY_DEVICE) != STATUS_OK)
{
std::cout << "could not open any device\r\n";
return 1;
}
if (device.hasSensor(SENSOR_DEPTH))
{
auto info = device.getSensorInfo(SENSOR_DEPTH);
auto& modes = info->getSupportedVideoModes();
std::cout << "depth sensor supported modes:\r\n";
for (int i = 0; i < modes.getSize(); ++i)
{
auto& mode = modes[i];
std::cout << "pixel format: " << mode.getPixelFormat() << "\t with: " << mode.getResolutionX() << "x" << mode.getResolutionY() << "@" << mode.getFps() << " fps\r\n";
}
}
VideoStream stream;
stream.create(device, SENSOR_DEPTH);
VideoMode mode;
mode.setFps(25);
mode.setPixelFormat(PIXEL_FORMAT_DEPTH_1_MM);
mode.setResolution(320, 240);
stream.setMirroringEnabled(true);
stream.setVideoMode(mode);
stream.start();
std::cout << "press any key to capture background\r\n";
std::cin.get();
VideoFrameRef frame;
stream.readFrame(&frame);
DepthImage image(320, 240);
copyFrameToImage(frame, image);
detector.background(image);
std::cout << "starting capture loop\r\n";
sdl::GLContext::setVersion(4, 3);
ImageViewer viewer;
viewer.add(0, 0, 320, 240);
viewer.add(320, 0, 320, 240);
viewer.add(0, 240, 320, 240);
viewer.add(320, 240, 320, 240);
CenterPointExtractor centerPointExtractor(MinBlobSize);
MotionRecorder recorder;
while (true)
{
stream.readFrame(&frame);
copyFrameToImage(frame, image);
detector.detect(image);
std::vector<LineSegment> segments;
segmenter.segment(detector.mask(), segments);
std::vector<std::pair<float, float>> centerPoints;
centerPointExtractor.extract(segments, centerPoints);
recorder.track(centerPoints);
viewer.crosses.clear();
std::transform(begin(centerPoints), end(centerPoints), std::back_inserter(viewer.crosses), [](std::pair<float, float>& coord) {
return Cross{ coord.first, coord.second };
});
viewer.lines.clear();
std::transform(begin(recorder.motions()), end(recorder.motions()), std::back_inserter(viewer.lines), [](const Motion& motion) {
return Lines{ motion.points };
});
viewer[0].update(detector.mask());
viewer[1].update(image);
viewer[2].update(detector.background());
viewer[3].update(detector.difference());
viewer.update();
}
openni::OpenNI::shutdown();
return 0;
}
int initializeOpenNIDevice(int deviceID ,const char * deviceName , Device &device , VideoStream &color , VideoStream &depth ,unsigned int width ,unsigned int height , unsigned int fps)
{
unsigned int openMode=OPENNI2_OPEN_REGULAR_ENUM; /* 0 = regular deviceID and enumeration*/
if (deviceName!=0)
{
//If our deviceName contains a .oni we assume that we have an oni file to open
if (strstr(deviceName,".oni")!=0)
{
fprintf(stderr,"Found an .ONI filename , trying to open it..\n");
openMode=OPENNI2_OPEN_USING_STRING;
} else
if (strlen(deviceName)>7)
{
fprintf(stderr,"deviceName is too long (%lu chars) , assuming it is a Device URI ..\n",strlen(deviceName));
openMode=OPENNI2_OPEN_USING_STRING;
}
}
switch (openMode)
{
//-------------------------------------------------------------------------------------
//If we have an ONI file to open just pass it as an argument to device.open(deviceName)
case OPENNI2_OPEN_USING_STRING :
if (device.open(deviceName) != STATUS_OK)
{
fprintf(stderr,"Could not open using given string ( %s ) : %s \n",deviceName,OpenNI::getExtendedError());
return 0;
}
break;
//-------------------------------------------------------------------------------------
//If we don't have a deviceName we assume deviceID points to the device we want to open so we will try to use
//the openNI enumerator to get the specific device URI for device with number deviceID and use this to device.open( devURI )
case OPENNI2_OPEN_REGULAR_ENUM :
default :
//We have to supply our own buffer to hold the uri device string , so we make one here
char devURIBuffer[512]={0};
if (device.open(getURIForDeviceNumber(deviceID,devURIBuffer,512)) != STATUS_OK)
{
fprintf(stderr,"Could not open an OpenNI device : %s \n",OpenNI::getExtendedError());
return 0;
}
break;
}
if (device.getSensorInfo(SENSOR_DEPTH) != NULL)
{
Status rc = depth.create(device, SENSOR_DEPTH);
if (rc == STATUS_OK)
{
VideoMode depthMode = depth.getVideoMode();
depthMode.setResolution(width,height);
depthMode.setFps(fps);
Status rc = depth.setVideoMode(depthMode);
if (rc != STATUS_OK) { fprintf(stderr,"Error getting color at video mode requested %u x %u @ %u fps\n%s\n",width,height,fps,OpenNI::getExtendedError()); }
if(depth.start()!= STATUS_OK)
{
fprintf(stderr,"Couldn't start the color stream: %s \n",OpenNI::getExtendedError());
return 0;
}
}
else
{
fprintf(stderr,"Couldn't create depth stream: %s \n",OpenNI::getExtendedError());
return 0;
}
}
if (device.getSensorInfo(SENSOR_COLOR) != NULL)
{
Status rc = color.create(device, SENSOR_COLOR);
if (rc == STATUS_OK)
{
VideoMode colorMode = color.getVideoMode();
colorMode.setResolution(width,height);
colorMode.setFps(fps);
Status rc = color.setVideoMode(colorMode);
if (rc != STATUS_OK) { fprintf(stderr,"Error getting depth at video mode requested %u x %u @ %u fps\n%s\n",width,height,fps,OpenNI::getExtendedError()); }
if(color.start() != STATUS_OK)
{
fprintf(stderr,"Couldn't start the color stream: %s \n",OpenNI::getExtendedError());
return 0;
}
}
else
{
fprintf(stderr,"Couldn't create depth stream: %s \n",OpenNI::getExtendedError());
OpenNI::getExtendedError();
return 0;
}
}
#if MOD_IR
if(device.getSensorInfo(SENSOR_IR) != NULL)
{
Status rc = ir.create(device, SENSOR_IR); // Create the VideoStream for IR
if (rc == STATUS_OK)
{
rc = ir.start(); // Start the IR VideoStream
}
else
{
fprintf(stderr,"Couldn't create IR stream: %s \n",OpenNI::getExtendedError());
OpenNI::getExtendedError();
return 0;
}
}
#endif // MOD_IR
//Mirroring is disabled
depth.setMirroringEnabled (false);
color.setMirroringEnabled (false);
fprintf(stdout,"Device Initialization Requested %u x %u @ %u fps \n",width,height,fps);
return 1;
}
void createVideoMode(VideoMode& m, int x, int y, int fps, PixelFormat format)
{
m.setResolution(x, y);
m.setFps(fps);
m.setPixelFormat(format);
}