kinect_recorder.cpp

// KinectRecorder.cpp : Defines the entry point for the console application.
//

#include "stdafx.h"

#include <iostream>
#include <fstream>

// OpenCV Header
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <Windows.h>
// OpenNI Header
#include <OpenNI.h>
#include <vector>


using namespace std;
using namespace cv;
using namespace openni;

string data_path = "D:\\xuanchong\\data\\";
string case_name = "xuanchong_11_27";

const int DEVNUM = 2;

int _tmain(int argc, _TCHAR* argv[])
{
	SYSTEMTIME st;
	//cout << "Please input the case name" << endl;
	//cin >> case_name;
	// 1. Initial OpenNI
	if( OpenNI::initialize() != STATUS_OK )
	{
		cerr << "OpenNI Initial Error: " 
			<< OpenNI::getExtendedError() << endl;
		return -1;
	}


	Array<DeviceInfo> devinfs;
	OpenNI::enumerateDevices(&devinfs);
	int devcnt = DEVNUM;
	DeviceInfo df;
	Device devlist[DEVNUM];
	VideoStream depths[DEVNUM];
	VideoStream colors[DEVNUM];
	Recorder recs[DEVNUM];
	ofstream log_file;
	log_file.open (data_path + case_name + ".log");
	log_file << case_name << endl;


	// 2. Open Devices
	for (int i = 0; i < devcnt; i++)
	{
		
		df = devinfs[i];
		Device &mDevice = devlist[i];
		if( mDevice.open( df.getUri() ) != STATUS_OK )
		{
			cerr << "Can't Open Device" << i << ": "
				<< OpenNI::getExtendedError() << endl;
			return -1;
		}
		
		
		// 3. Create depth stream
		VideoStream & mDepthStream = depths[i];
		if( mDevice.hasSensor( SENSOR_DEPTH ) )
		{
			if( mDepthStream.create( mDevice, SENSOR_DEPTH ) == STATUS_OK )
			{
				// 3a. set video mode
				VideoMode mMode;
				mMode.setResolution( 640, 480 );
				mMode.setFps( 30 );
				mMode.setPixelFormat( PIXEL_FORMAT_DEPTH_1_MM );

				if( mDepthStream.setVideoMode( mMode) != STATUS_OK )
				{
					cout << "Can't apply VideoMode: "
						<< OpenNI::getExtendedError() << endl;
				}
			}
			else
			{
				cerr << "Can't create depth stream on device: "
					<< OpenNI::getExtendedError() << endl;
				return -1;
			}
		}
		else
		{
			cerr << "ERROR: This device does not have depth sensor" << endl;
			return -1;
		}
		
		// 4. Create color stream
		VideoStream &mColorStream = colors[i];
		if( mDevice.hasSensor( SENSOR_COLOR ) )
		{
			if( mColorStream.create( mDevice, SENSOR_COLOR ) == STATUS_OK )
			{
				// 4a. set video mode
				VideoMode mMode;
				mMode.setResolution( 640, 480 );
				mMode.setFps( 30 );
				mMode.setPixelFormat( PIXEL_FORMAT_RGB888 );

				if( mColorStream.setVideoMode( mMode) != STATUS_OK )
				{
					cout << "Can't apply VideoMode: " 
						<< OpenNI::getExtendedError() << endl;
				}

				// 4b. image registration
				//if( mDevice.isImageRegistrationModeSupported(
				//	IMAGE_REGISTRATION_DEPTH_TO_COLOR ) )
				//{
				//	mDevice.setImageRegistrationMode( IMAGE_REGISTRATION_DEPTH_TO_COLOR );
				//}
			}
			else
			{
				cerr << "Can't create color stream on device: "
					<< OpenNI::getExtendedError() << endl;
				return -1;
			}
		}
		
		// 5. create OpenCV Window
		char ddn[100],cdn[100],odn[100];
		sprintf_s(cdn, "color%d",i);
		sprintf_s(ddn, "depth%d",i);
		sprintf_s(odn, "kinect%d",i);
		namedWindow( ddn,  CV_WINDOW_AUTOSIZE );
		namedWindow( cdn,  CV_WINDOW_AUTOSIZE );
		
		//VideoWriter colorv,depthv;
		//depthv.open(data_path+string(ddn)+case_name+string(".avi"),CV_FOURCC('D','I','V','X'),30,Size(640, 480));
		//colorv.open(data_path+string(cdn)+case_name+string(".avi"),CV_FOURCC('D','I','V','X'),30,Size(640, 480));
		
		Recorder & rec = recs[i];
		string p_name = data_path+case_name+"_"+string(odn)+string(".oni");
		cout << p_name << endl;
		//string name = "./data/foo.oni";
		rec.create(p_name.c_str());
		//rec.create(p_name.c_str());
		//rec.create((data_path+string(odn)+case_name+string(".oni")).c_str());
		
		rec.attach(mColorStream,true);
		rec.attach(mDepthStream,true);
		
		mDepthStream.start();
		mColorStream.start();

	}



	// 6. start

	VideoFrameRef  mColorFrame;
	VideoFrameRef  mDepthFrame;

	int iMaxDepth = depths[0].getMaxPixelValue();
	bool isrecording = false;

	int frame= 0;
	while( true )
	{
		/*
		for (int i = 0; i < devcnt; i++)
		{
			VideoStream & mColorStream = colors[i];
			VideoStream & mDepthStream = depths[i];
			char ddn[100],cdn[100],odn[100];
			sprintf_s(cdn, "color%d",i);
			sprintf_s(ddn, "depth%d",i);
			sprintf_s(odn, "kinect%d",i);
			// 7. check is color stream is available
			if( mColorStream.isValid() )
			{
				// 7a. get color frame
				if( mColorStream.readFrame( &mColorFrame ) == STATUS_OK )
				{
					// 7b. convert data to OpenCV format
					const Mat mImageRGB(
						mColorFrame.getHeight(), mColorFrame.getWidth(),
						CV_8UC3, (void*)mColorFrame.getData() );
					// 7c. convert form RGB to BGR
					Mat cImageBGR;
					//cvtColor( mImageRGB, cImageBGR, CV_RGB2BGR );
					
					// 7d. show image
					//imshow( cdn, cImageBGR );
					//if (isrecording) colorv << cImageBGR;
				}
			}

			// 8a. get depth frame
			
			if( mDepthStream.readFrame( &mDepthFrame ) == STATUS_OK )
			{
				// 8b. convert data to OpenCV format
				const Mat mImageDepth(
					mDepthFrame.getHeight(), mDepthFrame.getWidth(),
					CV_16UC1, (void*)mDepthFrame.getData() );
				// 8c. re-map depth data [0,Max] to [0,255]
				Mat mScaledDepth;
				//mImageDepth.convertTo( mScaledDepth, CV_8U, 255.0 / iMaxDepth );
				// 8d. show image

				//imshow( ddn, mScaledDepth );
				//imshow( "DepthEdge", mde);
				//if (isrecording) depthv << mScaledDepth;
			}
		}
		*/
		if( isrecording )
		{
			GetLocalTime(&st);
			log_file << frame << " " << st.wHour << ":" << st.wMinute << ":" << st.wSecond << "." << st.wMilliseconds << endl;
		}
		
		// 6a. check keyboard
		int key = waitKey(1);
		if( key == 'q' ) break;
		else if (key == 's') 
		{
			if (isrecording) continue;
			isrecording = true;
			frame = 0;
			cout << "Recording ... " << endl;
			for (int i = 0; i < devcnt; i++)
			{
				recs[i].start();
			}
			GetLocalTime(&st);
			printf("%s\n%u:%u:%u.%u\n",case_name.c_str(), st.wHour,st.wMinute,st.wSecond,st.wMilliseconds);
			//log_file << st.wHour << ":" << st.wMinute << ":" << st.wSecond << "." << st.wMilliseconds << endl;
		}
		frame++;
	}

	
	// 9. stop
	for (int i = 0; i < devcnt; i++)
	{
		recs[i].stop();
		depths[i].destroy();
		colors[i].destroy();
		devlist[i].close();
	}
	GetLocalTime(&st);
	printf("%u:%u:%u.%u\n", st.wHour,st.wMinute,st.wSecond,st.wMilliseconds);
	//log_file << st.wHour << ":" << st.wMinute << ":" << st.wSecond << "." << st.wMilliseconds << endl;
	log_file.close();
	//fclose(tsf);
	//rec.destroy();
	OpenNI::shutdown();

	return 0;
}