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annotate src/frame.cc @ 10:a0397f57c07f

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quick backup - TODO: fix inpaint :p
author Eleni Maria Stea <eleni@mutantstargoat.com>
date Mon, 04 Nov 2013 01:45:51 +0200
parents 6f5f53d0d166
children d2158a527488
rev   line source
eleni@5 1 #include <GL/gl.h>
eleni@4 2 #include <cxcore.h>
eleni@9 3 #include <opencv2/imgproc/imgproc.hpp>
eleni@10 4 #include <opencv2/photo/photo.hpp>
eleni@9 5
eleni@4 6 #include <highgui.h> //TODO remove
eleni@6 7 #include <cv.h> //TODO remove
eleni@4 8
eleni@2 9 #include <pthread.h>
eleni@1 10 #include <stdio.h>
eleni@2 11 #include <string.h>
eleni@1 12
eleni@1 13 #include "frame.h"
eleni@2 14 #include "kinect.h"
eleni@1 15
eleni@2 16 extern Frame *frame;
eleni@2 17 extern KinectParams *kin_params;
eleni@1 18
eleni@2 19 extern bool has_video;
eleni@2 20 extern bool has_depth;
eleni@2 21
eleni@2 22 Frame::Frame()
eleni@1 23 {
eleni@5 24 video_buf = cv::Mat::zeros(KINECT_VIDEO_HEIGHT, KINECT_VIDEO_WIDTH, CV_8UC3);
eleni@9 25 depth_buf = cv::Mat::zeros(KINECT_DEPTH_HEIGHT, KINECT_DEPTH_WIDTH, CV_8UC1);
eleni@5 26
eleni@5 27 tex_setup();
eleni@5 28 }
eleni@5 29
eleni@5 30 void Frame::tex_setup()
eleni@5 31 {
eleni@5 32 glGenTextures(1, &video_tex);
eleni@5 33 glGenTextures(1, &depth_tex);
eleni@5 34
eleni@5 35 glBindTexture(GL_TEXTURE_2D, video_tex);
eleni@5 36 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
eleni@5 37 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
eleni@5 38 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
eleni@5 39 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
eleni@5 40 glTexImage2D(GL_TEXTURE_2D, 0, GL_BGRA, video_buf.size().width, video_buf.size().height,
eleni@5 41 0, GL_BGRA, GL_UNSIGNED_BYTE, &video_buf);
eleni@5 42
eleni@5 43 glBindTexture(GL_TEXTURE_2D, depth_tex);
eleni@5 44 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
eleni@5 45 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
eleni@5 46 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
eleni@5 47 glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
eleni@5 48 glTexImage2D(GL_TEXTURE_2D, 0, GL_BGRA, depth_buf.size().width, depth_buf.size().height,
eleni@5 49 0, GL_BGRA, GL_UNSIGNED_BYTE, &depth_buf);
eleni@5 50
eleni@1 51 }
eleni@1 52
eleni@2 53 void Frame::process()
eleni@1 54 {
eleni@2 55 if(has_video && has_depth)
eleni@2 56 printf("Depth and Rgb\n");
eleni@2 57 }
eleni@2 58
eleni@2 59 void video_cb(freenect_device *kin_dev, void *video, uint32_t time)
eleni@2 60 {
eleni@4 61 if(!video || !frame) {
eleni@2 62 has_video = false;
eleni@2 63 return;
eleni@2 64 }
eleni@2 65
eleni@5 66 /* freenect video data to cv mat: */
eleni@5 67 unsigned char* src = (unsigned char*)video;
eleni@5 68 unsigned char* dest = frame->video_buf.data;
eleni@5 69
eleni@5 70 for(int i=0; i<KINECT_VIDEO_HEIGHT * KINECT_VIDEO_WIDTH; i++) {
eleni@5 71 dest[0] = src[2];
eleni@5 72 dest[1] = src[1];
eleni@5 73 dest[2] = src[0];
eleni@5 74 dest += 3;
eleni@5 75 src += 3;
eleni@5 76 }
eleni@2 77 has_video = true;
eleni@1 78 }
eleni@1 79
eleni@1 80 void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)
eleni@1 81 {
eleni@5 82 if(!depth || !frame) {
eleni@2 83 has_depth = false;
eleni@2 84 return;
eleni@2 85 }
eleni@2 86
eleni@5 87 /* freenect depth data to cv mat: */
eleni@8 88 uint16_t* src = (uint16_t*)depth;
eleni@9 89 uint8_t* dest = (uint8_t*)frame->depth_buf.data;
eleni@5 90
eleni@8 91 for(int i=0; i<KINECT_DEPTH_HEIGHT * KINECT_DEPTH_WIDTH; i++) {
eleni@8 92 uint16_t val = *src;
eleni@8 93 if(val >= 2047) {
eleni@8 94 val = 0;
eleni@8 95 }
eleni@9 96 *dest = val >> 3;
eleni@8 97 src++;
eleni@8 98 dest++;
eleni@8 99 }
eleni@5 100
eleni@10 101 // cv::fastNlMeansDenoising(frame->depth_buf, frame->depth_buf, 7, 21, 3);
eleni@10 102
eleni@10 103 cv::GaussianBlur(frame->depth_buf, frame->depth_buf, cv::Size(3, 3), 0.5);
eleni@10 104 cv::Mat mask = 255 - frame->depth_buf;
eleni@10 105 cv::threshold(mask, mask, 254, 255, 3);
eleni@10 106 cv::inpaint(frame->depth_buf, mask, frame->depth_buf, 1, cv::INPAINT_NS);
eleni@10 107
eleni@6 108 cv::imshow("foo", frame->depth_buf);
eleni@10 109 cv::waitKey(30);
eleni@2 110 has_depth = true;
eleni@1 111 }
eleni@5 112
eleni@5 113 bool save_video_ppm(void *video, int w, int h)
eleni@5 114 {
eleni@5 115 FILE *fp;
eleni@5 116 if(!(fp = fopen("test_video.ppm", "wb"))) {
eleni@5 117 fprintf(stderr, "Failed to open video file for writing.\n");
eleni@5 118 return false;
eleni@5 119 }
eleni@6 120 fprintf(fp, "P6\n%d %d\n255\n", w, h);
eleni@6 121 unsigned char *ptr = (unsigned char*)video;
eleni@5 122 for(int i=0; i<w * h * 3; i++) {
eleni@5 123 fputc(*ptr, fp);
eleni@5 124 ptr++;
eleni@5 125 }
eleni@5 126 fclose(fp);
eleni@5 127 return true;
eleni@5 128 }