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annotate src/frame.cc @ 14:b6de02e21d82

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quick backup: todo: remove orthographic from background quad, calculate translation (fov), add subdivision
author Eleni Maria Stea <eleni@mutantstargoat.com>
date Wed, 06 Nov 2013 01:08:50 +0200
parents 226073258785
children 8b81571dd4dd
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@12 40 glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, KINECT_VIDEO_WIDTH, KINECT_VIDEO_HEIGHT,
eleni@12 41 0, GL_BGR, GL_UNSIGNED_BYTE, 0);
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@12 48 glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, KINECT_DEPTH_WIDTH, KINECT_DEPTH_HEIGHT,
eleni@12 49 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, 0);
eleni@1 50 }
eleni@1 51
eleni@2 52 void Frame::process()
eleni@1 53 {
eleni@12 54 if(has_video) {
eleni@12 55 glBindTexture(GL_TEXTURE_2D, video_tex);
eleni@12 56 glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, KINECT_VIDEO_WIDTH, KINECT_VIDEO_HEIGHT, GL_BGR, GL_UNSIGNED_BYTE, video_buf.data);
eleni@13 57 }
eleni@13 58 if(has_depth) {
eleni@13 59 glBindTexture(GL_TEXTURE_2D, depth_tex);
eleni@13 60 glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, KINECT_DEPTH_WIDTH, KINECT_DEPTH_HEIGHT, GL_LUMINANCE, GL_UNSIGNED_BYTE, depth_buf.data);
eleni@12 61 }
eleni@12 62 if(has_video && has_depth) {//pot
eleni@12 63 }
eleni@2 64 }
eleni@2 65
eleni@2 66 void video_cb(freenect_device *kin_dev, void *video, uint32_t time)
eleni@2 67 {
eleni@4 68 if(!video || !frame) {
eleni@2 69 has_video = false;
eleni@2 70 return;
eleni@2 71 }
eleni@2 72
eleni@5 73 /* freenect video data to cv mat: */
eleni@5 74 unsigned char* src = (unsigned char*)video;
eleni@5 75 unsigned char* dest = frame->video_buf.data;
eleni@5 76
eleni@5 77 for(int i=0; i<KINECT_VIDEO_HEIGHT * KINECT_VIDEO_WIDTH; i++) {
eleni@5 78 dest[0] = src[2];
eleni@5 79 dest[1] = src[1];
eleni@5 80 dest[2] = src[0];
eleni@5 81 dest += 3;
eleni@5 82 src += 3;
eleni@5 83 }
eleni@2 84 has_video = true;
eleni@1 85 }
eleni@1 86
eleni@1 87 void depth_cb(freenect_device *kin_dev, void *depth, uint32_t time)
eleni@1 88 {
eleni@5 89 if(!depth || !frame) {
eleni@2 90 has_depth = false;
eleni@2 91 return;
eleni@2 92 }
eleni@2 93
eleni@5 94 /* freenect depth data to cv mat: */
eleni@8 95 uint16_t* src = (uint16_t*)depth;
eleni@9 96 uint8_t* dest = (uint8_t*)frame->depth_buf.data;
eleni@5 97
eleni@8 98 for(int i=0; i<KINECT_DEPTH_HEIGHT * KINECT_DEPTH_WIDTH; i++) {
eleni@8 99 uint16_t val = *src;
eleni@8 100 if(val >= 2047) {
eleni@11 101 val = 2047;
eleni@8 102 }
eleni@9 103 *dest = val >> 3;
eleni@8 104 src++;
eleni@8 105 dest++;
eleni@8 106 }
eleni@5 107
eleni@11 108 // cv::GaussianBlur(frame->depth_buf, frame->depth_buf, cv::Size(3, 3), 0.5);
eleni@10 109
eleni@11 110 /*
eleni@11 111 //Inpaint to fill the regions
eleni@11 112 //^ val = 0 instead of 2047 and:
eleni@10 113 cv::Mat mask = 255 - frame->depth_buf;
eleni@10 114 cv::threshold(mask, mask, 254, 255, 3);
eleni@10 115 cv::inpaint(frame->depth_buf, mask, frame->depth_buf, 1, cv::INPAINT_NS);
eleni@11 116 */
eleni@2 117 has_depth = true;
eleni@1 118 }
eleni@5 119
eleni@5 120 bool save_video_ppm(void *video, int w, int h)
eleni@5 121 {
eleni@5 122 FILE *fp;
eleni@5 123 if(!(fp = fopen("test_video.ppm", "wb"))) {
eleni@5 124 fprintf(stderr, "Failed to open video file for writing.\n");
eleni@5 125 return false;
eleni@5 126 }
eleni@6 127 fprintf(fp, "P6\n%d %d\n255\n", w, h);
eleni@6 128 unsigned char *ptr = (unsigned char*)video;
eleni@5 129 for(int i=0; i<w * h * 3; i++) {
eleni@5 130 fputc(*ptr, fp);
eleni@5 131 ptr++;
eleni@5 132 }
eleni@5 133 fclose(fp);
eleni@5 134 return true;
eleni@5 135 }