492 lines
14 KiB
C++
492 lines
14 KiB
C++
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////////////////////////////////////////////////////////////////////////////////
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// SoftKinetic DepthSense SDK
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//
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// COPYRIGHT AND CONFIDENTIALITY NOTICE - SOFTKINETIC CONFIDENTIAL
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// INFORMATION
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//
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// All rights reserved to SOFTKINETIC SENSORS NV (a
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// company incorporated and existing under the laws of Belgium, with
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// its principal place of business at Boulevard de la Plainelaan 15,
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// 1050 Brussels (Belgium), registered with the Crossroads bank for
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// enterprises under company number 0811 341 454 - "Softkinetic
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// Sensors").
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//
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// The source code of the SoftKinetic DepthSense Camera Drivers is
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// proprietary and confidential information of Softkinetic Sensors NV.
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//
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// For any question about terms and conditions, please contact:
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// info@softkinetic.com Copyright (c) 2002-2012 Softkinetic Sensors NV
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////////////////////////////////////////////////////////////////////////////////
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// Some OpenCV mods added below for viewing and saving - Damian Lyons, dlyons@fordham.edu
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#ifdef _MSC_VER
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#include <windows.h>
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#endif
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#include <stdio.h>
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#include <time.h>
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#include <vector>
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#include <exception>
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#include "opencv/cv.h"
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#include "opencv/highgui.h"
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#include <DepthSense.hxx>
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using namespace DepthSense;
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using namespace std;
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// Open CV vars
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IplImage
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*g_depthImage=NULL,
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*g_videoImage=NULL; // initialized in main, used in CBs
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CvSize
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g_szDepth=cvSize(320,240), // QVGA
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g_szVideo=cvSize(640,480); //VGA
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bool g_saveImageFlag=false, g_saveDepthFlag=false;
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Context g_context;
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DepthNode g_dnode;
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ColorNode g_cnode;
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AudioNode g_anode;
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uint32_t g_aFrames = 0;
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uint32_t g_cFrames = 0;
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uint32_t g_dFrames = 0;
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clock_t g_fTime;
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bool g_bDeviceFound = false;
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ProjectionHelper* g_pProjHelper = NULL;
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StereoCameraParameters g_scp;
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/*
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// From SoftKinetic
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// convert a YUY2 image to RGB
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void yuy2rgb(unsigned char *dst, const unsigned char *src, const int width, const int height) {
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int x, y;
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const int width2 = width * 2;
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const int width4 = width * 3;
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const unsigned char *src1 = src;
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unsigned char *dst1 = dst;
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for (y=0; y<height; y++) {
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for (x=0; x<width; x+=2) {
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int x2=x*2;
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int y1 = src1[x2 ];
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int y2 = src1[x2+2];
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int u = src1[x2+1] - 128;
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int v = src1[x2+3] - 128;
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int uvr = ( 15748 * v) / 10000;
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int uvg = (-1873 * u - 4681 * v) / 10000;
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int uvb = (18556 * u ) / 10000;
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int x4=x*3;
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int r1 = y1 + uvr;
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int r2 = y2 + uvr;
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int g1 = y1 + uvg;
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int g2 = y2 + uvg;
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int b1 = y1 + uvb;
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int b2 = y2 + uvb;
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dst1[x4+0] = (b1 > 255) ? 255 : ((b1 < 0) ? 0 : b1);
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dst1[x4+1] = (g1 > 255) ? 255 : ((g1 < 0) ? 0 : g1);
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dst1[x4+2] = (r1 > 255) ? 255 : ((r1 < 0) ? 0 : r1);
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//dst1[x4+3] = 255;
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dst1[x4+3] = (b2 > 255) ? 255 : ((b2 < 0) ? 0 : b2);
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dst1[x4+4] = (g2 > 255) ? 255 : ((g2 < 0) ? 0 : g2);
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dst1[x4+5] = (r2 > 255) ? 255 : ((r2 < 0) ? 0 : r2);
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}
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src1 += width2;
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dst1 += width4;
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}
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}
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*/
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// convert a MJPEG image to RGB (Actually just a straight copy. Probably unnecessary)
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void mjpegrgb(unsigned char *dst, const unsigned char *src, const int width, const int height) {
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int z;
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const unsigned char *src1 = src;
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unsigned char *dst1 = dst;
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for (z=0; z<width*height*3;z++) {
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dst1[z]=src1[z];
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}
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}
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/*----------------------------------------------------------------------------*/
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// New audio sample event handler
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void onNewAudioSample(AudioNode node, AudioNode::NewSampleReceivedData data)
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{
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// printf("A#%u: %d\n",g_aFrames,data.audioData.size());
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g_aFrames++;
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}
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/*----------------------------------------------------------------------------*/
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// New color sample event handler
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/* Comments from SoftKinetic
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From data you can get
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::DepthSense::Pointer< uint8_t > colorMap
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The color map. If captureConfiguration::compression is
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DepthSense::COMPRESSION_TYPE_MJPEG, the output format is BGR, otherwise
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the output format is YUY2.
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*/
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void onNewColorSample(ColorNode node, ColorNode::NewSampleReceivedData data)
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{
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//printf("C#%u: %d\n",g_cFrames,data.colorMap.size());
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int32_t w, h;
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FrameFormat_toResolution(data.captureConfiguration.frameFormat,&w,&h);
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mjpegrgb((unsigned char *)g_videoImage->imageData,data.colorMap,w,h);
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g_cFrames++;
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}
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/*----------------------------------------------------------------------------*/
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// New depth sample event handler
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/* From SoftKinetic
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::DepthSense::Pointer< int16_t > depthMap
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The depth map in fixed point format. This map represents the cartesian depth of each
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pixel, expressed in millimeters. Valid values lies in the range [0 - 31999]. Saturated
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pixels are given the special value 32002.
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::DepthSense::Pointer< float > depthMapFloatingPoint
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The depth map in floating point format. This map represents the cartesian depth of
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each pixel, expressed in meters. Saturated pixels are given the special value -2.0.
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*/
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void onNewDepthSample(DepthNode node, DepthNode::NewSampleReceivedData data)
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{
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//printf("Z#%u: %d\n",g_dFrames,data.vertices.size());
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int32_t w, h;
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FrameFormat_toResolution(data.captureConfiguration.frameFormat,&w,&h);
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int count=0; // DS data index
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if (data.depthMapFloatingPoint!=0)// just in case !
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for (int i=0; i<h; i++)
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for (int j=0; j<w; j++) {
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// some arbitrary scaling to make this visible
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float val = data.depthMapFloatingPoint[count++];
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if (!g_saveImageFlag && !g_saveDepthFlag) val*=150;
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if (val<0) val=255; // catch the saturated points
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cvSet2D(g_depthImage,i,j,cvScalar(val));
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}
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g_dFrames++;
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/*
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// Quit the main loop after 200 depth frames received
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if (g_dFrames == 20) {
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printf("Quitting main loop after MAX frames\n");
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g_context.quit();
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}
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*/
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/* OpenCV display - this will slow stuff down, should be in thread*/
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cvShowImage("Video",g_videoImage);
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cvShowImage("Depth",g_depthImage);
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if (g_saveImageFlag || g_saveDepthFlag) { // save a timestamped image pair; synched by depth image time
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char filename[100];
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g_fTime = clock();
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sprintf(filename,"df%d.%d.jpg",(int)(g_fTime/CLOCKS_PER_SEC), (int)(g_fTime%CLOCKS_PER_SEC));
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cvSaveImage(filename,g_depthImage);
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sprintf(filename,"vf%d.%d.jpg",(int)(g_fTime/CLOCKS_PER_SEC), (int)(g_fTime%CLOCKS_PER_SEC));
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if (g_saveImageFlag)
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cvSaveImage(filename,g_videoImage);
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}
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// Allow OpenCV to shut down the program
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char key = cvWaitKey(10);
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if (key==27) {
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printf("Quitting main loop from OpenCV\n");
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g_context.quit();
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} else
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if (key=='W') g_saveImageFlag = !g_saveImageFlag;
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else if (key=='w') g_saveDepthFlag = !g_saveDepthFlag;
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}
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/*----------------------------------------------------------------------------*/
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void configureAudioNode()
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{
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g_anode.newSampleReceivedEvent().connect(&onNewAudioSample);
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AudioNode::Configuration config = g_anode.getConfiguration();
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config.sampleRate = 44100;
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try
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{
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g_context.requestControl(g_anode,0);
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g_anode.setConfiguration(config);
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g_anode.setInputMixerLevel(0.5f);
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}
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catch (ArgumentException& e)
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{
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printf("Argument Exception: %s\n",e.what());
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}
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catch (UnauthorizedAccessException& e)
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{
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printf("Unauthorized Access Exception: %s\n",e.what());
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}
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catch (ConfigurationException& e)
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{
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printf("Configuration Exception: %s\n",e.what());
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}
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catch (StreamingException& e)
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{
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printf("Streaming Exception: %s\n",e.what());
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}
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catch (TimeoutException&)
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{
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printf("TimeoutException\n");
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}
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}
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/*----------------------------------------------------------------------------*/
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void configureDepthNode()
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{
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g_dnode.newSampleReceivedEvent().connect(&onNewDepthSample);
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DepthNode::Configuration config = g_dnode.getConfiguration();
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config.frameFormat = FRAME_FORMAT_QVGA;
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config.framerate = 60;
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config.mode = DepthNode::CAMERA_MODE_CLOSE_MODE;
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config.saturation = true;
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// g_dnode.setEnableVertices(true);
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g_dnode.setEnableDepthMapFloatingPoint(true);
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try
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{
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g_context.requestControl(g_dnode,0);
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g_dnode.setConfiguration(config);
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}
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catch (ArgumentException& e)
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{
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printf("DEPTH Argument Exception: %s\n",e.what());
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}
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catch (UnauthorizedAccessException& e)
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{
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printf("DEPTH Unauthorized Access Exception: %s\n",e.what());
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}
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catch (IOException& e)
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{
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printf("DEPTH IO Exception: %s\n",e.what());
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}
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catch (InvalidOperationException& e)
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{
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printf("DEPTH Invalid Operation Exception: %s\n",e.what());
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}
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catch (ConfigurationException& e)
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{
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printf("DEPTH Configuration Exception: %s\n",e.what());
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}
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catch (StreamingException& e)
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{
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printf("DEPTH Streaming Exception: %s\n",e.what());
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}
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catch (TimeoutException&)
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{
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printf("DEPTH TimeoutException\n");
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}
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}
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/*----------------------------------------------------------------------------*/
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void configureColorNode()
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{
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// connect new color sample handler
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g_cnode.newSampleReceivedEvent().connect(&onNewColorSample);
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ColorNode::Configuration config = g_cnode.getConfiguration();
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config.frameFormat = FRAME_FORMAT_VGA;
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config.compression = COMPRESSION_TYPE_MJPEG;
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//config.powerLineFrequency = POWER_LINE_FREQUENCY_50HZ;
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//config.framerate = 25;
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g_cnode.setEnableColorMap(true);
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try
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{
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g_context.requestControl(g_cnode,0);
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g_cnode.setConfiguration(config);
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}
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catch (ArgumentException& e)
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{
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printf("COLOR Argument Exception: %s\n",e.what());
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}
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catch (UnauthorizedAccessException& e)
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{
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printf("COLOR Unauthorized Access Exception: %s\n",e.what());
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}
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catch (IOException& e)
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{
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printf("COLOR IO Exception: %s\n",e.what());
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}
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catch (InvalidOperationException& e)
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{
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printf("COLOR Invalid Operation Exception: %s\n",e.what());
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}
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catch (ConfigurationException& e)
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{
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printf("COLOR Configuration Exception: %s\n",e.what());
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}
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catch (StreamingException& e)
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{
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printf("COLOR Streaming Exception: %s\n",e.what());
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}
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catch (TimeoutException&)
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{
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printf("COLOR TimeoutException\n");
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}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*----------------------------------------------------------------------------*/
|
|||
|
|
void configureNode(Node node)
|
|||
|
|
{
|
|||
|
|
if ((node.is<DepthNode>())&&(!g_dnode.isSet()))
|
|||
|
|
{
|
|||
|
|
g_dnode = node.as<DepthNode>();
|
|||
|
|
configureDepthNode();
|
|||
|
|
g_context.registerNode(node);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if ((node.is<ColorNode>())&&(!g_cnode.isSet()))
|
|||
|
|
{
|
|||
|
|
g_cnode = node.as<ColorNode>();
|
|||
|
|
configureColorNode();
|
|||
|
|
g_context.registerNode(node);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if ((node.is<AudioNode>())&&(!g_anode.isSet()))
|
|||
|
|
{
|
|||
|
|
g_anode = node.as<AudioNode>();
|
|||
|
|
configureAudioNode();
|
|||
|
|
g_context.registerNode(node);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*----------------------------------------------------------------------------*/
|
|||
|
|
void onNodeConnected(Device device, Device::NodeAddedData data)
|
|||
|
|
{
|
|||
|
|
configureNode(data.node);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*----------------------------------------------------------------------------*/
|
|||
|
|
void onNodeDisconnected(Device device, Device::NodeRemovedData data)
|
|||
|
|
{
|
|||
|
|
if (data.node.is<AudioNode>() && (data.node.as<AudioNode>() == g_anode))
|
|||
|
|
g_anode.unset();
|
|||
|
|
if (data.node.is<ColorNode>() && (data.node.as<ColorNode>() == g_cnode))
|
|||
|
|
g_cnode.unset();
|
|||
|
|
if (data.node.is<DepthNode>() && (data.node.as<DepthNode>() == g_dnode))
|
|||
|
|
g_dnode.unset();
|
|||
|
|
printf("Node disconnected\n");
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*----------------------------------------------------------------------------*/
|
|||
|
|
void onDeviceConnected(Context context, Context::DeviceAddedData data)
|
|||
|
|
{
|
|||
|
|
if (!g_bDeviceFound)
|
|||
|
|
{
|
|||
|
|
data.device.nodeAddedEvent().connect(&onNodeConnected);
|
|||
|
|
data.device.nodeRemovedEvent().connect(&onNodeDisconnected);
|
|||
|
|
g_bDeviceFound = true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*----------------------------------------------------------------------------*/
|
|||
|
|
void onDeviceDisconnected(Context context, Context::DeviceRemovedData data)
|
|||
|
|
{
|
|||
|
|
g_bDeviceFound = false;
|
|||
|
|
printf("Device disconnected\n");
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/*----------------------------------------------------------------------------*/
|
|||
|
|
int main(int argc, char* argv[])
|
|||
|
|
{
|
|||
|
|
g_context = Context::create("localhost");
|
|||
|
|
|
|||
|
|
g_context.deviceAddedEvent().connect(&onDeviceConnected);
|
|||
|
|
g_context.deviceRemovedEvent().connect(&onDeviceDisconnected);
|
|||
|
|
|
|||
|
|
// Get the list of currently connected devices
|
|||
|
|
vector<Device> da = g_context.getDevices();
|
|||
|
|
|
|||
|
|
// We are only interested in the first device
|
|||
|
|
if (da.size() >= 1)
|
|||
|
|
{
|
|||
|
|
g_bDeviceFound = true;
|
|||
|
|
|
|||
|
|
da[0].nodeAddedEvent().connect(&onNodeConnected);
|
|||
|
|
da[0].nodeRemovedEvent().connect(&onNodeDisconnected);
|
|||
|
|
|
|||
|
|
vector<Node> na = da[0].getNodes();
|
|||
|
|
|
|||
|
|
printf("Found %u nodes\n",na.size());
|
|||
|
|
|
|||
|
|
for (int n = 0; n < (int)na.size();n++)
|
|||
|
|
configureNode(na[n]);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Some OpenCV init; make windows and buffers to display the data */
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
// VGA format color image
|
|||
|
|
g_videoImage=cvCreateImage(g_szVideo,IPL_DEPTH_8U,3);
|
|||
|
|
if (g_videoImage==NULL)
|
|||
|
|
{ printf("Unable to create video image buffer\n"); exit(0); }
|
|||
|
|
|
|||
|
|
// QVGA format depth image
|
|||
|
|
g_depthImage=cvCreateImage(g_szDepth,IPL_DEPTH_8U,1);
|
|||
|
|
if (g_depthImage==NULL)
|
|||
|
|
{ printf("Unable to create depth image buffer\n"); exit(0);}
|
|||
|
|
|
|||
|
|
printf("dml@Fordham version of DS ConsoleDemo. June 2013.\n");
|
|||
|
|
printf("Click onto in image for commands. ESC to exit.\n");
|
|||
|
|
printf("Use \'W\' to toggle dumping of depth and visual images.\n");
|
|||
|
|
printf("Use \'w\' to toggle dumping of depth images only.\n\n");
|
|||
|
|
g_context.startNodes();
|
|||
|
|
|
|||
|
|
g_context.run();
|
|||
|
|
|
|||
|
|
g_context.stopNodes();
|
|||
|
|
|
|||
|
|
if (g_cnode.isSet()) g_context.unregisterNode(g_cnode);
|
|||
|
|
if (g_dnode.isSet()) g_context.unregisterNode(g_dnode);
|
|||
|
|
if (g_anode.isSet()) g_context.unregisterNode(g_anode);
|
|||
|
|
|
|||
|
|
if (g_pProjHelper)
|
|||
|
|
delete g_pProjHelper;
|
|||
|
|
|
|||
|
|
return 0;
|
|||
|
|
}
|