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annotate src/frame.cc @ 5:700127288dc5

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quick backup todo: fix save_ppm subimage2d
author Eleni Maria Stea <eleni@mutantstargoat.com>
date Thu, 24 Oct 2013 00:09:13 +0300
parents 1ff5a1a50b41
children db8f1c036d0e
rev   line source
eleni@5 1 #include <GL/gl.h>
eleni@4 2 #include <cxcore.h>
eleni@4 3 #include <highgui.h> //TODO remove
eleni@4 4
eleni@2 5 #include <pthread.h>
eleni@1 6 #include <stdio.h>
eleni@2 7 #include <string.h>
eleni@1 8
eleni@1 9 #include "frame.h"
eleni@2 10 #include "kinect.h"
eleni@1 11
eleni@2 12 extern Frame *frame;
eleni@2 13 extern KinectParams *kin_params;
eleni@1 14
eleni@2 15 extern bool has_video;
eleni@2 16 extern bool has_depth;
eleni@2 17
eleni@2 18 Frame::Frame()
eleni@1 19 {
eleni@5 20 video_buf = cv::Mat::zeros(KINECT_VIDEO_HEIGHT, KINECT_VIDEO_WIDTH, CV_8UC3);
eleni@5 21 depth_buf = cv::Mat::zeros(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_8UC1);
eleni@5 22
eleni@5 23 tex_setup();
eleni@5 24 }
eleni@5 25
eleni@5 26 void Frame::tex_setup()
eleni@5 27 {
eleni@5 28 glGenTextures(1, &video_tex);
eleni@5 29 glGenTextures(1, &depth_tex);
eleni@5 30
eleni@5 31 glBindTexture(GL_TEXTURE_2D, video_tex);
eleni@5 32 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
eleni@5 33 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
eleni@5 34 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
eleni@5 35 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
eleni@5 36 glTexImage2D(GL_TEXTURE_2D, 0, GL_BGRA, video_buf.size().width, video_buf.size().height,
eleni@5 37 0, GL_BGRA, GL_UNSIGNED_BYTE, &video_buf);
eleni@5 38
eleni@5 39 glBindTexture(GL_TEXTURE_2D, depth_tex);
eleni@5 40 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
eleni@5 41 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
eleni@5 42 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
eleni@5 43 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
eleni@5 44 glTexImage2D(GL_TEXTURE_2D, 0, GL_BGRA, depth_buf.size().width, depth_buf.size().height,
eleni@5 45 0, GL_BGRA, GL_UNSIGNED_BYTE, &depth_buf);
eleni@5 46
eleni@1 47 }
eleni@1 48
eleni@2 49 void Frame::process()
eleni@1 50 {
eleni@2 51 if(has_video && has_depth)
eleni@2 52 printf("Depth and Rgb\n");
eleni@2 53 }
eleni@2 54
eleni@2 55 void video_cb(freenect_device *kin_dev, void *video, uint32_t time)
eleni@2 56 {
eleni@4 57 if(!video || !frame) {
eleni@2 58 has_video = false;
eleni@2 59 return;
eleni@2 60 }
eleni@2 61
eleni@5 62 /* freenect video data to cv mat: */
eleni@5 63 unsigned char* src = (unsigned char*)video;
eleni@5 64 unsigned char* dest = frame->video_buf.data;
eleni@5 65
eleni@5 66 for(int i=0; i<KINECT_VIDEO_HEIGHT * KINECT_VIDEO_WIDTH; i++) {
eleni@5 67 dest[0] = src[2];
eleni@5 68 dest[1] = src[1];
eleni@5 69 dest[2] = src[0];
eleni@5 70 dest += 3;
eleni@5 71 src += 3;
eleni@5 72 }
eleni@2 73 has_video = true;
eleni@1 74 }
eleni@1 75
eleni@1 76 void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)
eleni@1 77 {
eleni@5 78 if(!depth || !frame) {
eleni@2 79 has_depth = false;
eleni@2 80 return;
eleni@2 81 }
eleni@2 82
eleni@5 83 /* freenect depth data to cv mat: */
eleni@5 84 unsigned char* src = (unsigned char*)depth;
eleni@5 85 unsigned char* dest = frame->depth_buf.data;
eleni@5 86
eleni@5 87 for(int i=0; i<KINECT_DEPTH_HEIGHT * KINECT_DEPTH_WIDTH; i++) {
eleni@5 88 *dest = *src;
eleni@5 89 dest++;
eleni@5 90 src++;
eleni@5 91 }
eleni@5 92
eleni@5 93 save_depth_ppm(depth, 640, 480);
eleni@2 94 has_depth = true;
eleni@1 95 }
eleni@5 96
eleni@5 97 bool save_video_ppm(void *video, int w, int h)
eleni@5 98 {
eleni@5 99 FILE *fp;
eleni@5 100 if(!(fp = fopen("test_video.ppm", "wb"))) {
eleni@5 101 fprintf(stderr, "Failed to open video file for writing.\n");
eleni@5 102 return false;
eleni@5 103 }
eleni@5 104 fprintf(fp, "P6\n640 480\n255\n");
eleni@5 105 /* unsigned char *ptr = (unsigned char*)video;
eleni@5 106 for(int i=0; i<w * h * 3; i++) {
eleni@5 107 fputc(*ptr, fp);
eleni@5 108 ptr++;
eleni@5 109 }
eleni@5 110 fclose(fp);
eleni@5 111 return true;
eleni@5 112 */
eleni@5 113 return false;
eleni@5 114 }
eleni@5 115
eleni@5 116 bool save_depth_ppm(void *depth, int w, int h)
eleni@5 117 {
eleni@5 118 FILE *fp;
eleni@5 119 if(!(fp = fopen("test_depth.ppm", "wb"))) {
eleni@5 120 fprintf(stderr, "Failed to open depth file for writing.\n");
eleni@5 121 return false;
eleni@5 122 }
eleni@5 123 fprintf(fp, "P6\n640 480\n255\n");
eleni@5 124 unsigned char *ptr = (unsigned char*)depth;
eleni@5 125 unsigned char *foo = (unsigned char*)depth;
eleni@5 126 for(int i=0; i<h; i++) {
eleni@5 127 for(int j=0; j<w; j++) {
eleni@5 128 *foo = *ptr;
eleni@5 129 fputc(foo[i * w + j], fp);
eleni@5 130 ptr++;
eleni@5 131 }
eleni@5 132 }
eleni@5 133 fclose(fp);
eleni@5 134 return true;
eleni@5 135 }