docs/mindstab.net_blog/references/ds_show.cxx

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