#include "cinder/app/AppBasic.h"
#include "cinder/imageio.h"
#include "cinder/gl/gl.h"
#include "cinder/gl/Texture.h"
#include "VOpenNIHeaders.h"
using namespace ci;
using namespace ci::app;
using namespace std;
class ImageSourceKinectColor : public ImageSource
{
public:
ImageSourceKinectColor( uint8_t *buffer, int width, int height )
: ImageSource(), mData( buffer ), _width(width), _height(height)
{
setSize( _width, _height );
setColorModel( ImageIo::CM_RGB );
setChannelOrder( ImageIo::RGB );
setDataType( ImageIo::UINT8 );
}
~ImageSourceKinectColor()
{
// mData is actually a ref. It's released from the device.
/*if( mData ) {
delete[] mData;
mData = NULL;
}*/
}
virtual void load( ImageTargetRef target )
{
ImageSource::RowFunc func = setupRowFunc( target );
for( uint32_t row = 0; row < _height; ++row )
((*this).*func)( target, row, mData + row * _width * 3 );
}
protected:
uint32_t _width, _height;
uint8_t *mData;
};
class ImageSourceKinectDepth : public ImageSource
{
public:
ImageSourceKinectDepth( uint16_t *buffer, int width, int height )
: ImageSource(), mData( buffer ), _width(width), _height(height)
{
setSize( _width, _height );
setColorModel( ImageIo::CM_GRAY );
setChannelOrder( ImageIo::Y );
setDataType( ImageIo::UINT16 );
}
~ImageSourceKinectDepth()
{
// mData is actually a ref. It's released from the device.
/*if( mData ) {
delete[] mData;
mData = NULL;
}*/
}
virtual void load( ImageTargetRef target )
{
ImageSource::RowFunc func = setupRowFunc( target );
for( uint32_t row = 0; row < _height; ++row )
((*this).*func)( target, row, mData + row * _width );
}
protected:
uint32_t _width, _height;
uint16_t *mData;
};
class kinectBasicApp : public AppBasic
{
public:
static const int WIDTH = 1280;
static const int HEIGHT = 720;
static const int KINECT_COLOR_WIDTH = 640; //1280;
static const int KINECT_COLOR_HEIGHT = 480; //1024;
static const int KINECT_COLOR_FPS = 30; //15;
static const int KINECT_DEPTH_WIDTH = 640;
static const int KINECT_DEPTH_HEIGHT = 480;
static const int KINECT_DEPTH_FPS = 30;
void setup();
void mouseDown( MouseEvent event );
void update();
void draw();
ImageSourceRef getColorImage()
{
// register a reference to the active buffer
uint8_t *activeColor = _device0->getColorMap();
return ImageSourceRef( new ImageSourceKinectColor( activeColor, KINECT_COLOR_WIDTH, KINECT_COLOR_HEIGHT ) );
}
ImageSourceRef getUserColorImage( int id )
{
// register a reference to the active buffer
uint8_t *activeColor = _manager->getUser(id)->getPixels();
return ImageSourceRef( new ImageSourceKinectColor( activeColor, KINECT_COLOR_WIDTH, KINECT_COLOR_HEIGHT ) );
}
ImageSourceRef getDepthImage()
{
// register a reference to the active buffer
uint16_t *activeDepth = _device0->getDepthMap();
return ImageSourceRef( new ImageSourceKinectDepth( activeDepth, KINECT_DEPTH_WIDTH, KINECT_DEPTH_HEIGHT ) );
}
ImageSourceRef getDepthImage24()
{
// register a reference to the active buffer
uint8_t *activeDepth = _device0->getDepthMap24();
return ImageSourceRef( new ImageSourceKinectColor( activeDepth, KINECT_DEPTH_WIDTH, KINECT_DEPTH_HEIGHT ) );
}
public: // Members
V::OpenNIDeviceManager* _manager;
V::OpenNIDevice* _device0;
gl::Texture mColorTex;
gl::Texture mDepthTex;
};
void kinectBasicApp::setup()
{
_manager = V::OpenNIDeviceManager::InstancePtr();
//_device0 = _manager->createDevice( "data/configIR.xml" );
_device0 = _manager->createDevice( V::NODE_TYPE_IR | V::NODE_TYPE_DEPTH ); // Create manually.
if( !_device0 )
{
console() << "(App) couldn't init device0\n" << std::endl;
//OutputDebugStringA( "(App) Couldn't init device0\n" );
exit(0);
}
_device0->setPrimaryBuffer( V::NODE_TYPE_DEPTH );
_manager->start();
gl::Texture::Format format;
gl::Texture::Format depthFormat;
mColorTex = gl::Texture( KINECT_COLOR_WIDTH, KINECT_COLOR_HEIGHT, format );
mDepthTex = gl::Texture( KINECT_DEPTH_WIDTH, KINECT_DEPTH_HEIGHT, format );
}
void kinectBasicApp::mouseDown( MouseEvent event )
{
}
void kinectBasicApp::update()
{
// Update textures
mColorTex.update( getColorImage() );
mDepthTex.update( getDepthImage24() ); // Histogram
//mDepthTex.update( getDepthImage() ); // Raw depthmap
}
void kinectBasicApp::draw()
{
// clear out the window with black
gl::clear( Color( 0, 0, 0 ) );
float sx = 320;
float sy = 240;
float xoff = 10;
float yoff = 10;
glEnable( GL_TEXTURE_2D );
gl::color( cinder::ColorA(1, 1, 1, 1) );
gl::draw( mDepthTex, Rectf( xoff, yoff, xoff+sx, yoff+sy) );
gl::draw( mColorTex, Rectf( xoff+sx*1, yoff, xoff+sx*2, yoff+sy) );
}
CINDER_APP_BASIC( kinectBasicApp, RendererGl )
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