Permalink
Switch branches/tags
Nothing to show
Find file
Fetching contributors…
Cannot retrieve contributors at this time
71 lines (50 sloc) 1.59 KB
#include "SkeletonSensor.h"
// openCV
#include <opencv/highgui.h>
#include <opencv/cv.h>
using namespace cv;
#include <iostream>
using namespace std;
// globals
SkeletonSensor* sensor;
const unsigned int XRES = 640;
const unsigned int YRES = 480;
const float DEPTH_SCALE_FACTOR = 255./4096.;
const unsigned int BIN_THRESH_OFFSET = 5;
int main(int argc, char** argv)
{
// initialize the kinect
sensor = new SkeletonSensor();
sensor->initialize();
Mat depthRaw(YRES, XRES, CV_16UC1);
Mat depthShow(YRES, XRES, CV_8UC1);
namedWindow("debugFrame", CV_WINDOW_AUTOSIZE);
int key = 0;
while(key != 27 && key != 'q')
{
sensor->waitForDeviceUpdateOnUser();
int handDepth;
if(sensor->getNumTrackedUsers() > 0)
{
Skeleton skel = sensor->getSkeleton(sensor->getUID(0));
SkeletonPoint rightHand = skel.rightHand;
if(rightHand.confidence == 1.0)
{
handDepth = rightHand.z * (DEPTH_SCALE_FACTOR);
printf("Hand depth = %d\n", handDepth);
}
}
else
handDepth = -1;
// update 16 bit depth matrix
memcpy(depthRaw.data, sensor->getDepthData(), XRES*YRES*2);
depthRaw.convertTo(depthShow, CV_8U, DEPTH_SCALE_FACTOR);
//static binary threshold
if(handDepth != -1)
depthShow = (depthShow > (handDepth - BIN_THRESH_OFFSET)) & (depthShow < (handDepth + BIN_THRESH_OFFSET));
imshow("debugFrame", depthShow);
key = waitKey(10);
}
delete sensor;
return 0;
}