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/****************************************************************************
* *
* OpenNI 1.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* OpenNI is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* OpenNI is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with OpenNI. If not, see <http://www.gnu.org/licenses/>. *
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnOpenNI.h>
#include <XnLog.h>
#include <XnCppWrapper.h>
#include <XnPropNames.h>
//---------------------------------------------------------------------------
// Defines
//---------------------------------------------------------------------------
#define SAMPLE_XML_PATH "/etc/openni/SamplesConfig.xml"
//---------------------------------------------------------------------------
// Macros
//---------------------------------------------------------------------------
#define CHECK_RC(rc, what) \
if (rc != XN_STATUS_OK) \
{ \
printf("%s failed: %s\n", what, xnGetStatusString(rc)); \
return rc; \
}
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
using namespace xn;
void transformDepthMD(DepthMetaData& depthMD)
{
DepthMap& depthMap = depthMD.WritableDepthMap();
for (XnUInt32 y = 0; y < depthMap.YRes(); y++)
{
for (XnUInt32 x = 0; x < depthMap.XRes(); x++)
{
//Punch vertical cut lines in the depth image
if ((x % 2) == 0)
{
depthMap(x, y) = 0;
}
}
}
}
int main(int argc, char* argv[])
{
XnStatus nRetVal = XN_STATUS_OK;
nRetVal = xnLogInitFromXmlFile(SAMPLE_XML_PATH);
if (nRetVal != XN_STATUS_OK)
{
printf("Log couldn't be opened: %s. Running without log", xnGetStatusString(nRetVal));
}
if (argc < 3)
{
printf("usage: %s <inputFile> <outputFile>\n", argv[0]);
return -1;
}
const char* strInputFile = argv[1];
const char* strOutputFile = argv[2];
Context context;
nRetVal = context.Init();
CHECK_RC(nRetVal, "Init");
// open input file
Player player;
nRetVal = context.OpenFileRecording(strInputFile, player);
CHECK_RC(nRetVal, "Open input file");
// Get depth node from recording
DepthGenerator depth;
nRetVal = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth);
CHECK_RC(nRetVal, "Find depth generator");
// Create mock node based on depth node from recording
MockDepthGenerator mockDepth;
nRetVal = mockDepth.CreateBasedOn(depth);
CHECK_RC(nRetVal, "Create mock depth node");
// create recorder
Recorder recorder;
nRetVal = recorder.Create(context);
CHECK_RC(nRetVal, "Create recorder");
nRetVal = recorder.SetDestination(XN_RECORD_MEDIUM_FILE, strOutputFile);
CHECK_RC(nRetVal, "Set recorder destination file");
// add depth node to recorder
nRetVal = recorder.AddNodeToRecording(mockDepth);
CHECK_RC(nRetVal, "Add node to recording");
nRetVal = player.SetRepeat(FALSE);
XN_IS_STATUS_OK(nRetVal);
XnUInt32 nNumFrames = 0;
nRetVal = player.GetNumFrames(depth.GetName(), nNumFrames);
CHECK_RC(nRetVal, "Get player number of frames");
DepthMetaData depthMD;
while ((nRetVal = depth.WaitAndUpdateData()) != XN_STATUS_EOF)
{
CHECK_RC(nRetVal, "Read next frame");
// Get depth meta data
depth.GetMetaData(depthMD);
//-----------------------------------------------//
// Transform depth! This is the interesting part //
//-----------------------------------------------//
/* Enable the depth data to be modified. This is done implicitly by depthMD.WritableDepthMap(),
but we're calling it just to be clear. */
nRetVal = depthMD.MakeDataWritable();
CHECK_RC(nRetVal, "Make depth data writable");
transformDepthMD(depthMD);
// Pass the transformed data to the mock depth generator
nRetVal = mockDepth.SetData(depthMD);
CHECK_RC(nRetVal, "Set mock node new data");
/* We need to call recorder.Record explicitly because we're not using WaitAndUpdateAll(). */
nRetVal = recorder.Record();
CHECK_RC(nRetVal, "Record");
printf("Recorded: frame %u out of %u\r", depthMD.FrameID(), nNumFrames);
}
printf("\n");
return 0;
}
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