inline void getBGRImageFromMetaData( const xn::ImageMetaData& imageMetaData, cv::Mat& bgrImage )
{
if( imageMetaData.PixelFormat() != XN_PIXEL_FORMAT_RGB24 )
CV_Error( CV_StsUnsupportedFormat, "Unsupported format of grabbed image\n" );
cv::Mat rgbImage( imageMetaData.YRes(), imageMetaData.XRes(), CV_8UC3 );
const XnRGB24Pixel* pRgbImage = imageMetaData.RGB24Data();
// CV_Assert( 3*sizeof(uchar) == sizeof(XnRGB24Pixel) );
memcpy( rgbImage.data, pRgbImage, rgbImage.total()*sizeof(XnRGB24Pixel) );
cv::cvtColor( rgbImage, bgrImage, CV_RGB2BGR );
}
void SimKinect::DrawRGBMap(const xn::ImageMetaData& imd) {
static bool bInitialized = false;
static int width;
static int height;
static int width_step;
static XnRGB24Pixel* g_pTexMap;
if(!bInitialized) {
width = video_size_width;
height = video_size_height;
g_pTexMap = (XnRGB24Pixel*)malloc(width * height * sizeof(XnRGB24Pixel));
width_step = width*3;
bInitialized = true;
}
const XnUInt8* pImage = imd.Data();
const XnRGB24Pixel* pImageRow = imd.RGB24Data();
XnRGB24Pixel* pTexRow = g_pTexMap + imd.YOffset() * width;
for (XnUInt y = 0; y < imd.YRes(); ++y)
{
const XnRGB24Pixel* pImage = pImageRow;
XnRGB24Pixel* pTex = pTexRow + imd.XOffset();
for (XnUInt x = 0; x < imd.XRes(); ++x, ++pImage, ++pTex)
{
*pTex = *pImage;
}
pImageRow += imd.XRes();
pTexRow += width;
}
//Draw rgb image
XnRGB24Pixel* pix_ptr = g_pTexMap;
for ( int i=0 ; i<height ; i++ ) {
unsigned char* row_pointer = color_frame+i*width_step;
for ( int j=0 ; j<width_step; j+=3,pix_ptr++ ) {
row_pointer[j] = pix_ptr->nBlue;
row_pointer[j+1]=pix_ptr->nGreen;
row_pointer[j+2]=pix_ptr->nRed;
}
}
//imshow("COLOR",color_img);
}
bool DataCapture::captureOne()
{
XnStatus rc = context_.WaitAndUpdateAll(); // want this to be WaitOneUpdateAll(RGB image)
if( rc != XN_STATUS_OK )
{
std::cout << "WaitAndUpdateAll: " << xnGetStatusString(rc) << std::endl;
return false;
}
// grab image
imageGen_.GetMetaData(imageMd_);
const XnRGB24Pixel* rgbData = imageMd_.RGB24Data();
for( unsigned int i = 0; i < 640 * 480; ++i )
{
pRgbData_[3*i] = rgbData->nRed;
pRgbData_[3*i + 1] = rgbData->nGreen;
pRgbData_[3*i + 2] = rgbData->nBlue;
++rgbData;
}
// grab depth image
depthGen_.GetMetaData(depthMd_);
const uint16_t* pDepthDataU16 = depthMd_.Data();
for( int i = 0; i < 640 * 480; ++i)
{
uint16_t d = pDepthDataU16[i];
if( d != 0 )
{
pDepthData_[i] = (d * 255)/2048;
}
else
{
pDepthData_[i] = 0; // should be NAN
}
}
return true;
}
void start_kinect() {
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
UsersCount = 0;
const char *fn = NULL;
if (fileExists(SAMPLE_XML_PATH)) fn = SAMPLE_XML_PATH;
else if (fileExists(SAMPLE_XML_PATH_LOCAL)) fn = SAMPLE_XML_PATH_LOCAL;
else {
printf("Could not find '%s' nor '%s'. Aborting.\n" , SAMPLE_XML_PATH, SAMPLE_XML_PATH_LOCAL);
//return XN_STATUS_ERROR;
}
printf("Reading config from: '%s'\n", fn);
nRetVal = g_Context.InitFromXmlFile(fn, g_scriptNode, &errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
//return (nRetVal);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
//return (nRetVal);
}
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, g_depth);
CHECK_RC(nRetVal,"No depth");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, g_image);
CHECK_RC(nRetVal,"No image");
nRetVal = g_Context.FindExistingNode(XN_NODE_TYPE_USER, g_UserGenerator);
if (nRetVal != XN_STATUS_OK)
{
nRetVal = g_UserGenerator.Create(g_Context);
CHECK_RC(nRetVal, "Find user generator");
}
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
//return 1;
}
nRetVal = g_UserGenerator.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
CHECK_RC(nRetVal, "Register to user callbacks");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
CHECK_RC(nRetVal, "Register to calibration start");
nRetVal = g_UserGenerator.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
CHECK_RC(nRetVal, "Register to calibration complete");
if (g_UserGenerator.GetSkeletonCap().NeedPoseForCalibration())
{
g_bNeedPose = TRUE;
if (!g_UserGenerator.IsCapabilitySupported(XN_CAPABILITY_POSE_DETECTION))
{
printf("Pose required, but not supported\n");
//return 1;
}
nRetVal = g_UserGenerator.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
CHECK_RC(nRetVal, "Register to Pose Detected");
g_UserGenerator.GetSkeletonCap().GetCalibrationPose(g_strPose);
}
g_UserGenerator.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
nRetVal = g_Context.StartGeneratingAll();
CHECK_RC(nRetVal, "StartGenerating");
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation anyjoint;
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
while (!xnOSWasKeyboardHit())
{
g_Context.WaitOneUpdateAll(g_UserGenerator);
// print the torso information for the first user already tracking
nUsers=MAX_NUM_USERS;
g_UserGenerator.GetUsers(aUsers, nUsers);
int numTracked=0;
int userToPrint=-1;
WriteLock w_lock(myLock);
pDepthMap = g_depth.GetDepthMap();
pPixelMap = g_image.GetRGB24ImageMap();
g_depth.GetMetaData(g_depthMD);
g_image.GetMetaData(g_imageMD);
pPixelPoint = g_imageMD.RGB24Data();
for(XnUInt16 i=0; i<nUsers; i++) {
if(g_UserGenerator.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
continue;
{
/* Writing all new movements into structure*/
/* Head */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_HEAD,anyjoint);
Skeletons[i]["Head"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Head"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Head"]["Z"] = anyjoint.position.position.Z;
/* Neck */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_NECK,anyjoint);
Skeletons[i]["Neck"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Neck"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Neck"]["Z"] = anyjoint.position.position.Z;
/* Left Shoulder */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_SHOULDER,anyjoint);
Skeletons[i]["LeftShoulder"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftShoulder"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftShoulder"]["Z"] = anyjoint.position.position.Z;
/* Right Shoulder */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_SHOULDER,anyjoint);
Skeletons[i]["RightShoulder"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightShoulder"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightShoulder"]["Z"] = anyjoint.position.position.Z;
/* Torso */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_TORSO,anyjoint);
Skeletons[i]["Torso"]["X"] = anyjoint.position.position.X;
Skeletons[i]["Torso"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["Torso"]["Z"] = anyjoint.position.position.Z;
/* Left Elbow */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_ELBOW,anyjoint);
Skeletons[i]["LeftElbow"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftElbow"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftElbow"]["Z"] = anyjoint.position.position.Z;
/* Right Elbow */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_ELBOW,anyjoint);
Skeletons[i]["RightElbow"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightElbow"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightElbow"]["Z"] = anyjoint.position.position.Z;
/* Left Hip */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HIP,anyjoint);
Skeletons[i]["LeftHip"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftHip"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftHip"]["Z"] = anyjoint.position.position.Z;
/* Right Hip */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HIP,anyjoint);
Skeletons[i]["RightHip"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightHip"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightHip"]["Z"] = anyjoint.position.position.Z;
/* Left Hand */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_HAND,anyjoint);
Skeletons[i]["LeftHand"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftHand"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftHand"]["Z"] = anyjoint.position.position.Z;
/* Right Hand */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_HAND,anyjoint);
Skeletons[i]["RightHand"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightHand"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightHand"]["Z"] = anyjoint.position.position.Z;
/* Left Knee */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_KNEE,anyjoint);
Skeletons[i]["LeftKnee"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftKnee"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftKnee"]["Z"] = anyjoint.position.position.Z;
/* Right Knee */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_KNEE,anyjoint);
Skeletons[i]["RightKnee"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightKnee"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightKnee"]["Z"] = anyjoint.position.position.Z;
/* Left Foot */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_LEFT_FOOT,anyjoint);
Skeletons[i]["LeftFoot"]["X"] = anyjoint.position.position.X;
Skeletons[i]["LeftFoot"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["LeftFoot"]["Z"] = anyjoint.position.position.Z;
/* Right Foot */
g_UserGenerator.GetSkeletonCap().GetSkeletonJoint(aUsers[i],XN_SKEL_RIGHT_FOOT,anyjoint);
Skeletons[i]["RightFoot"]["X"] = anyjoint.position.position.X;
Skeletons[i]["RightFoot"]["Y"] = anyjoint.position.position.Y;
Skeletons[i]["RightFoot"]["Z"] = anyjoint.position.position.Z;
/*printf("user %d: head at (%6.2f,%6.2f,%6.2f)\n",aUsers[i],
Skeletons[i]["Head"]["X"],
Skeletons[i]["Head"]["Y"],
Skeletons[i]["Head"]["Z"]);*/
}
}
}
g_scriptNode.Release();
g_depth.Release();
g_image.Release();
g_UserGenerator.Release();
g_Context.Release();
}
void DrawDepthMap(const xn::DepthMetaData& dmd, const xn::SceneMetaData& smd, XnUserID player, xn::ImageMetaData& imd)
{
texWidth = 640;
texHeight = 480;
LEFT = 0; RIGHT = 640;
TOP = 0; BOTTOM = 480;
nValue = 0;
nIndex = 0;
nX = 0; nY = 0;
nNumberOfPoints = 0;
g_nXRes = dmd.XRes();
g_nYRes = dmd.YRes();
pDestImage = pDepthTexBuf;
pDepth = dmd.Data();
pixel = imd.RGB24Data();
pLabels = smd.Data();
// Calculate the accumulative histogram
memset(g_pDepthHist, 0, MAX_DEPTH*sizeof(float));
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX<g_nXRes; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
g_pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
g_pDepthHist[nIndex] = (unsigned int)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints)));
}
}
// printf("Debug: %i\n",focus);
pDepth = (short unsigned int*)dmd.Data();
///{
// Prepare the texture map
for (nY=0; nY<g_nYRes; nY++)
{
for (nX=0; nX < g_nXRes; nX++)
{
nValue = *pDepth;
if(nX == (int)centerScreen[0] && nY == (int)centerScreen[1]){
if (calibrationMode){
depthVal = nValue;
// printf("depthVal: %i\n",depthVal);
}
}
//printf("Depth: %i \n",nValue);
label = *pLabels;
// XnUInt32 nColorID = label % nColors;
if (label != focus)
{
if(calibrationMode){
pDestImage[0] = pixel->nRed;
pDestImage[1] = pixel->nGreen;
pDestImage[2] = pixel->nBlue;
pDestImage[3] = 255;
} else {
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
pDestImage[3] = 0;
}
} else {
pDestImage[0] = pixel->nRed;
pDestImage[1] = pixel->nGreen;
pDestImage[2] = pixel->nBlue;
pDestImage[3] = 255;
//find max/min values for width and height boundaries
if (nX > (unsigned int)LEFT) {
LEFT = nX;
}
if (nX < (unsigned int)RIGHT) {
RIGHT = nX;
}
if (nY > (unsigned int)TOP) {
TOP = nY;
}
if (nY < (unsigned int)BOTTOM) {
BOTTOM = nY;
}
}
pixel++;
pDepth++;
pLabels++;
pDestImage+=4;
}
pDestImage += (texWidth - g_nXRes) *4;
}
//}*/
// Display the OpenGL texture map
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, texWidth, texHeight, 0, GL_RGBA, GL_UNSIGNED_BYTE, pDepthTexBuf);
nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
g_UserGenerator.GetCoM(aUsers[0], com);
CENTER = com.X;
//glDisable(GL_BLEND);
//glDisable(GL_TEXTURE_2D);
/*
char strLabel[20] = "";
XnUserID aUsers[15];
XnUInt16 nUsers = 15;
g_UserGenerator.GetUsers(aUsers, nUsers);
for (int i = 0; i < nUsers; ++i)
{
XnPoint3D com;
g_UserGenerator.GetCoM(aUsers[i], com);
g_DepthGenerator.ConvertRealWorldToProjective(1, &com, &com);
if (aUsers[i] == player)
sprintf(strLabel, "%d (Player)", aUsers[i]);
else
sprintf(strLabel, "%d", aUsers[i]);
//glColor4f(1-Colors[i%nColors][0], 1-Colors[i%nColors][1], 1-Colors[i%nColors][2], 1);
glRasterPos2i(com.X, com.Y);
glPrintString(GLUT_BITMAP_HELVETICA_18, strLabel); */
// }
// Draw skeleton of user
// glBegin(GL_LINES);
// //glColor4f(1,0,0,1.0f);
// glVertex3f(-1, 1, 0);
// glVertex3f(1, -1, 0);
// //glColor4f(1-Colors[player%nColors][0], 1-Colors[player%nColors][1], 1-Colors[player%nColors][2], 1);
// DrawLimb(1, XN_SKEL_HEAD, XN_SKEL_NECK);
//
// DrawLimb(1, XN_SKEL_NECK, XN_SKEL_LEFT_SHOULDER);
// DrawLimb(1, XN_SKEL_LEFT_SHOULDER, XN_SKEL_LEFT_ELBOW);
// DrawLimb(1, XN_SKEL_LEFT_ELBOW, XN_SKEL_LEFT_HAND);
//
// DrawLimb(1, XN_SKEL_NECK, XN_SKEL_RIGHT_SHOULDER);
// DrawLimb(1, XN_SKEL_RIGHT_SHOULDER, XN_SKEL_RIGHT_ELBOW);
// DrawLimb(1, XN_SKEL_RIGHT_ELBOW, XN_SKEL_RIGHT_HAND);
//
// DrawLimb(1, XN_SKEL_LEFT_SHOULDER, XN_SKEL_TORSO);
// DrawLimb(1, XN_SKEL_RIGHT_SHOULDER, XN_SKEL_TORSO);
//
// DrawLimb(1, XN_SKEL_TORSO, XN_SKEL_LEFT_HIP);
// DrawLimb(1, XN_SKEL_LEFT_HIP, XN_SKEL_LEFT_KNEE);
// DrawLimb(1, XN_SKEL_LEFT_KNEE, XN_SKEL_LEFT_FOOT);
//
// DrawLimb(1, XN_SKEL_TORSO, XN_SKEL_RIGHT_HIP);
// DrawLimb(1, XN_SKEL_RIGHT_HIP, XN_SKEL_RIGHT_KNEE);
// DrawLimb(1, XN_SKEL_RIGHT_KNEE, XN_SKEL_RIGHT_FOOT);
// glEnd();
//XnSkeletonJoint eJoint1 = XN_SKEL_RIGHT_HAND;
}