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added livefeed camera view using a Kinect V2 and libfreenect2 library

This commit is contained in:
Thomas FILLOD 2022-04-20 21:48:57 +02:00
parent f1e2832eef
commit d78e094641
31 changed files with 4914 additions and 17 deletions
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's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
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660
CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp Normal file
View File

@ -0,0 +1,660 @@
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('0' + (((n) / 10000)%10)), \
('0' + (((n) / 1000)%10)), \
('0' + (((n) / 100)%10)), \
('0' + (((n) / 10)%10)), \
('0' + ((n) % 10))
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('0' + ((n)>>28 & 0xF)), \
('0' + ((n)>>24 & 0xF)), \
('0' + ((n)>>20 & 0xF)), \
('0' + ((n)>>16 & 0xF)), \
('0' + ((n)>>12 & 0xF)), \
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char const info_version[] = {
'I', 'N', 'F', 'O', ':',
'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
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']','\0'};
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char const info_version_internal[] = {
'I', 'N', 'F', 'O', ':',
'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
'i','n','t','e','r','n','a','l','[',
COMPILER_VERSION_INTERNAL,']','\0'};
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char const info_simulate_version[] = {
'I', 'N', 'F', 'O', ':',
's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
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# ifdef SIMULATE_VERSION_MINOR
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project(OpTests)
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/*
-- Georgia Tech 2016 Spring
--
-- This is a sample code to show how to use the libfreenet2 with OpenCV
--
-- The code will streams RGB, IR and Depth images from an Kinect sensor.
-- To use multiple Kinect sensor, simply initial other "listener" and "frames"
-- This code refered from sample code provided from libfreenet2: Protonect.cpp
-- https://github.com/OpenKinect/libfreenect2
-- and another discussion from: http://answers.opencv.org/question/76468/opencvkinect-onekinect-for-windows-v2linuxlibfreenect2/
-- Contact: Chih-Yao Ma at <cyma@gatech.edu>
*/
//! [headers]
#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <opencv2/opencv.hpp>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
//! [headers]
//using namespace std;
//using namespace cv;
bool protonect_shutdown = false; // Whether the running application should shut down.
void sigint_handler(int s)
{
protonect_shutdown = true;
}
int main()
{
std::cout << "Streaming from Kinect One sensor!" << std::endl;
//! [context]
libfreenect2::Freenect2 freenect2;
libfreenect2::Freenect2Device *dev = 0;
libfreenect2::PacketPipeline *pipeline = 0;
//! [context]
//! [discovery]
if(freenect2.enumerateDevices() == 0)
{
std::cout << "no device connected!" << std::endl;
return -1;
}
std::string serial = freenect2.getDefaultDeviceSerialNumber();
std::cout << "SERIAL: " << serial << std::endl;
if(pipeline)
{
//! [open]
dev = freenect2.openDevice(serial, pipeline);
//! [open]
} else {
dev = freenect2.openDevice(serial);
}
if(dev == 0)
{
std::cout << "failure opening device!" << std::endl;
return -1;
}
signal(SIGINT, sigint_handler);
protonect_shutdown = false;
//! [listeners]
libfreenect2::SyncMultiFrameListener listener(libfreenect2::Frame::Color);// |
//libfreenect2::Frame::Depth |
//libfreenect2::Frame::Ir);
libfreenect2::FrameMap frames;
dev->setColorFrameListener(&listener);
//dev->setIrAndDepthFrameListener(&listener);
//! [listeners]
//! [start]
dev->start();
std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
//! [start]
//! [registration setup]
//libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
//libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4), depth2rgb(1920, 1080 + 2, 4); // check here (https://github.com/OpenKinect/libfreenect2/issues/337) and here (https://github.com/OpenKinect/libfreenect2/issues/464) why depth2rgb image should be bigger
//! [registration setup]
cv::Mat rgbmat;//, depthmat, depthmatUndistorted, irmat, rgbd, rgbd2;
//! [loop start]
while(!protonect_shutdown)
{
listener.waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
//libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
//libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
//! [loop start]
cv::Mat(rgb->height, rgb->width, CV_8UC4, rgb->data).copyTo(rgbmat);
//cv::Mat(ir->height, ir->width, CV_32FC1, ir->data).copyTo(irmat);
//cv::Mat(depth->height, depth->width, CV_32FC1, depth->data).copyTo(depthmat);
cv::imshow("rgb", rgbmat);
//cv::imshow("ir", irmat / 4096.0f);
//cv::imshow("depth", depthmat / 4096.0f);
//! [registration]
//registration->apply(rgb, depth, &undistorted, &registered, true, &depth2rgb);
//! [registration]
//cv::Mat(undistorted.height, undistorted.width, CV_32FC1, undistorted.data).copyTo(depthmatUndistorted);
//cv::Mat(registered.height, registered.width, CV_8UC4, registered.data).copyTo(rgbd);
//cv::Mat(depth2rgb.height, depth2rgb.width, CV_32FC1, depth2rgb.data).copyTo(rgbd2);
//cv::imshow("undistorted", depthmatUndistorted / 4096.0f);
//cv::imshow("registered", rgbd);
//cv::imshow("depth2RGB", rgbd2 / 4096.0f);
int key = cv::waitKey(1);
protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escape
//! [loop end]
listener.release(frames);
}
//! [loop end]
//! [stop]
dev->stop();
dev->close();
//! [stop]
//delete registration;
std::cout << "Streaming Ends!" << std::endl;
return 0;
}

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message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()
if(CMAKE_INSTALL_COMPONENT)
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
else()
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "/home/tom/Documents/ECAM stuff/repositories/SignalLab1/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")

14
makefile
View File

@ -1,14 +0,0 @@
all: ppg
g++ -o ppg_program ppg.o
ppg:
g++ -c ppg.cpp
clean:
rm *.o
rm a.out

116
ppg.cpp
View File

@ -1,13 +1,125 @@
//some code taken from file with this header:
/*
-- Georgia Tech 2016 Spring
--
-- This is a sample code to show how to use the libfreenet2 with OpenCV
--
-- The code will streams RGB, IR and Depth images from an Kinect sensor.
-- To use multiple Kinect sensor, simply initial other "listener" and "frames"
-- This code refered from sample code provided from libfreenet2: Protonect.cpp
-- https://github.com/OpenKinect/libfreenect2
-- and another discussion from: http://answers.opencv.org/question/76468/opencvkinect-onekinect-for-windows-v2linuxlibfreenect2/
-- Contact: Chih-Yao Ma at <cyma@gatech.edu>
*/
#include<iostream>
#include "opencv2/opencv.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
bool protonect_shutdown = false; // Whether the running application should shut down.
void sigint_handler(int s)
{
protonect_shutdown = true;
}
int main() int main()
{ {
std::cout<<"PPG algorithm"<<std::endl; std::cout << "Streaming from Kinect One sensor!" << std::endl;
//! [context]
libfreenect2::Freenect2 freenect2;
libfreenect2::Freenect2Device *dev = 0;
libfreenect2::PacketPipeline *pipeline = 0;
//! [context]
//! [discovery]
if(freenect2.enumerateDevices() == 0)
{
std::cout << "no device connected!" << std::endl;
return -1;
}
std::string serial = freenect2.getDefaultDeviceSerialNumber();
std::cout << "SERIAL: " << serial << std::endl;
if(pipeline)
{
//! [open]
dev = freenect2.openDevice(serial, pipeline);
//! [open]
} else {
dev = freenect2.openDevice(serial);
}
if(dev == 0)
{
std::cout << "failure opening device!" << std::endl;
return -1;
}
signal(SIGINT, sigint_handler);
protonect_shutdown = false;
//! [listeners]
libfreenect2::SyncMultiFrameListener listener(libfreenect2::Frame::Color);
libfreenect2::FrameMap frames;
dev->setColorFrameListener(&listener);
//! [listeners]
//! [start]
dev->start();
std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
//! [start]
cv::Mat rgbmat;
while(!protonect_shutdown)
{
listener.waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
cv::Mat(rgb->height, rgb->width, CV_8UC4, rgb->data).copyTo(rgbmat);
cv::imshow("rgb", rgbmat);
if(cv::waitKey(1) >= 0){//the listener waits for frames, there is no need to limit speed ourselves
protonect_shutdown = true;
}
listener.release(frames);
}
//! [loop end]
//! [stop]
dev->stop();
dev->close();
//! [stop]
std::cout << "Streaming Ends!" << std::endl;
return 0; return 0;
} }