C++OpenCvExample

{#include "libfreenect.hpp"

1. include <iostream>
2. include <vector>
3. include <cmath>
4. include <pthread.h>
5. include <cv.h>
6. include <cxcore.h>
7. include <highgui.h>

using namespace cv; using namespace std;

class Mutex { public: Mutex() { pthread_mutex_init( &m_mutex, NULL ); } void lock() { pthread_mutex_lock( &m_mutex ); } void unlock() { pthread_mutex_unlock( &m_mutex ); } private: pthread_mutex_t m_mutex; };

class MyFreenectDevice : public Freenect::FreenectDevice {

 public:

MyFreenectDevice(freenect_context *_ctx, int _index) : Freenect::FreenectDevice(_ctx, _index), m_buffer_depth(FREENECT_DEPTH_11BIT_SIZE),m_buffer_rgb(FREENECT_VIDEO_RGB_SIZE), m_gamma(2048), m_new_rgb_frame(false), m_new_depth_frame(false), depthMat(Size(640,480),CV_16UC1), rgbMat(Size(640,480),CV_8UC3,Scalar(0)), ownMat(Size(640,480),CV_8UC3,Scalar(0)) { for( unsigned int i = 0 ; i < 2048 ; i++) { float v = i/2048.0; v = std::pow(v, 3)* 6; m_gamma[i] = v*6*256; } } // Do not call directly even in child void VideoCallback(void* _rgb, uint32_t timestamp) { std::cout << "RGB callback" << std::endl; m_rgb_mutex.lock(); uint8_t* rgb = static_cast<uint8_t*>(_rgb); rgbMat.data = rgb; m_new_rgb_frame = true; m_rgb_mutex.unlock(); }; // Do not call directly even in child void DepthCallback(void* _depth, uint32_t timestamp) { std::cout << "Depth callback" << std::endl; m_depth_mutex.lock(); uint16_t* depth = static_cast<uint16_t*>(_depth); depthMat.data = (uchar*) depth; m_new_depth_frame = true; m_depth_mutex.unlock(); }

bool getVideo(Mat& output) { m_rgb_mutex.lock(); if(m_new_rgb_frame) { cv::cvtColor(rgbMat, output, CV_RGB2BGR); m_new_rgb_frame = false; m_rgb_mutex.unlock(); return true; } else { m_rgb_mutex.unlock(); return false; } }

bool getDepth(Mat& output) { m_depth_mutex.lock(); if(m_new_depth_frame) { depthMat.copyTo(output); m_new_depth_frame = false; m_depth_mutex.unlock(); return true; } else { m_depth_mutex.unlock(); return false; } }

 private:

std::vector<uint8_t> m_buffer_depth; std::vector<uint8_t> m_buffer_rgb; std::vector<uint16_t> m_gamma; Mat depthMat; Mat rgbMat; Mat ownMat; Mutex m_rgb_mutex; Mutex m_depth_mutex; bool m_new_rgb_frame; bool m_new_depth_frame; };

int main(int argc, char **argv) { bool die(false); string filename("snapshot"); string suffix(".png"); int i_snap(0),iter(0);

Mat depthMat(Size(640,480),CV_16UC1); Mat depthf (Size(640,480),CV_8UC1); Mat rgbMat(Size(640,480),CV_8UC3,Scalar(0)); Mat ownMat(Size(640,480),CV_8UC3,Scalar(0));

Freenect::Freenect<MyFreenectDevice> freenect; MyFreenectDevice& device = freenect.createDevice(0);

namedWindow("rgb",CV_WINDOW_AUTOSIZE); namedWindow("depth",CV_WINDOW_AUTOSIZE); namedWindow("own",CV_WINDOW_AUTOSIZE); device.startVideo(); device.startDepth();

   while (!die) {
   	device.getVideo(rgbMat);
   	device.getDepth(depthMat);
       cv::imshow("rgb", rgbMat);
   	depthMat.convertTo(depthf, CV_8UC1, 255.0/2048.0);
       cv::imshow("depth",depthf);
       cv::imshow("own",ownMat);

char k = cvWaitKey(5); if( k == 27 ){ cvDestroyWindow("rgb"); cvDestroyWindow("depth"); cvDestroyWindow("own"); break; } if( k == 8 ) { std::ostringstream file; file << filename << i_snap << suffix; cv::imwrite(file.str(),rgbMat); i_snap++; } if(iter >= 1000) break; iter++;

   }

  	device.stopVideo();

device.stopDepth(); return 0; } }