From b4b09b007073dc612d0b17f12951d2e4da5ddef9 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Fri, 28 Jun 2013 17:31:49 -0700
Subject: [PATCH] Back up and running, now with OpenNI rather than libfreenect.

---
 interface/CMakeLists.txt |  2 +-
 interface/src/Webcam.cpp | 56 ++++++++++++++++++++++++++++------------
 interface/src/Webcam.h   | 10 +++++--
 3 files changed, 48 insertions(+), 20 deletions(-)

diff --git a/interface/CMakeLists.txt b/interface/CMakeLists.txt
index 941a321c22..827a67cbff 100755
--- a/interface/CMakeLists.txt
+++ b/interface/CMakeLists.txt
@@ -96,7 +96,7 @@ find_package(NITE)
 
 # let the source know that we have OpenNI/NITE for Kinect
 if (OPENNI_FOUND AND NITE_FOUND)
-    add_definitions(-DHAVE_NITE)
+    add_definitions(-DHAVE_OPENNI)
     include_directories(SYSTEM ${OPENNI_INCLUDE_DIRS} ${NITE_INCLUDE_DIRS})
     target_link_libraries(${TARGET_NAME} ${OPENNI_LIBRARIES} ${NITE_LIBRARIES})
 endif (OPENNI_FOUND AND NITE_FOUND)
diff --git a/interface/src/Webcam.cpp b/interface/src/Webcam.cpp
index e18c2c5aa8..805007ddc6 100644
--- a/interface/src/Webcam.cpp
+++ b/interface/src/Webcam.cpp
@@ -210,7 +210,7 @@ void Webcam::setFrame(const Mat& frame, int format, const Mat& depth, const Rota
     QTimer::singleShot(qMax((int)remaining / 1000, 0), _grabber, SLOT(grabFrame()));
 }
 
-FrameGrabber::FrameGrabber() : _capture(0), _searchWindow(0, 0, 0, 0) {
+FrameGrabber::FrameGrabber() : _initialized(false), _capture(0), _searchWindow(0, 0, 0, 0) {
 }
 
 FrameGrabber::~FrameGrabber() {
@@ -224,24 +224,38 @@ void FrameGrabber::reset() {
 }
 
 void FrameGrabber::grabFrame() {
-    if (_capture == 0 && !init()) {
+    if (!(_initialized || init())) {
         return;
     }
     int format = GL_BGR;
-    IplImage* image = cvQueryFrame(_capture);
-    if (image == 0) {
-        // try again later
-        QMetaObject::invokeMethod(this, "grabFrame", Qt::QueuedConnection);
-        return;
-    }
+    Mat frame;
     
-    // make sure it's in the format we expect
-    if (image->nChannels != 3 || image->depth != IPL_DEPTH_8U || image->dataOrder != IPL_DATA_ORDER_PIXEL ||
-            image->origin != 0) {
-        printLog("Invalid webcam image format.\n");
-        return;
+#ifdef HAVE_OPENNI
+    if (_depthGenerator.IsValid()) {
+        _xnContext.WaitAnyUpdateAll();
+        frame = Mat(_imageMetaData.YRes(), _imageMetaData.XRes(), CV_8UC3, (void*)_imageGenerator.GetImageMap());
+        format = GL_RGB;
+        
+        Mat depth = Mat(_depthMetaData.YRes(), _depthMetaData.XRes(), CV_16UC1, (void*)_depthGenerator.GetDepthMap());
+        depth.convertTo(_grayDepthFrame, CV_8UC1, 256.0 / 2048.0);
+    }
+#endif
+
+    if (frame.empty()) {
+        IplImage* image = cvQueryFrame(_capture);
+        if (image == 0) {
+            // try again later
+            QMetaObject::invokeMethod(this, "grabFrame", Qt::QueuedConnection);
+            return;
+        }
+        // make sure it's in the format we expect
+        if (image->nChannels != 3 || image->depth != IPL_DEPTH_8U || image->dataOrder != IPL_DATA_ORDER_PIXEL ||
+                image->origin != 0) {
+            printLog("Invalid webcam image format.\n");
+            return;
+        }
+        frame = image;
     }
-    Mat frame = image;
     
     // if we don't have a search window (yet), try using the face cascade
     int channels = 0;
@@ -274,10 +288,12 @@ void FrameGrabber::grabFrame() {
         _searchWindow = faceRect.boundingRect();
     }   
     QMetaObject::invokeMethod(Application::getInstance()->getWebcam(), "setFrame",
-        Q_ARG(cv::Mat, frame), Q_ARG(int, format), Q_ARG(cv::Mat, Mat()), Q_ARG(cv::RotatedRect, faceRect));
+        Q_ARG(cv::Mat, frame), Q_ARG(int, format), Q_ARG(cv::Mat, _grayDepthFrame), Q_ARG(cv::RotatedRect, faceRect));
 }
 
 bool FrameGrabber::init() {
+    _initialized = true;
+
     // load our face cascade
     switchToResourcesParentIfRequired();
     if (!_faceCascade.load("resources/haarcascades/haarcascade_frontalface_alt.xml")) {
@@ -286,9 +302,15 @@ bool FrameGrabber::init() {
     }
 
     // first try for a Kinect
-#ifdef HAVE_NITE
+#ifdef HAVE_OPENNI
     _xnContext.Init();
-    
+    if (_depthGenerator.Create(_xnContext) == XN_STATUS_OK && _imageGenerator.Create(_xnContext) == XN_STATUS_OK) {
+        _depthGenerator.GetMetaData(_depthMetaData);
+        _imageGenerator.SetPixelFormat(XN_PIXEL_FORMAT_RGB24);
+        _imageGenerator.GetMetaData(_imageMetaData);
+        _xnContext.StartGeneratingAll();
+        return true;
+    }
 #endif
 
     // next, an ordinary webcam
diff --git a/interface/src/Webcam.h b/interface/src/Webcam.h
index b9a2f0e6fe..660a79fc22 100644
--- a/interface/src/Webcam.h
+++ b/interface/src/Webcam.h
@@ -17,7 +17,7 @@
 
 #include <opencv2/opencv.hpp>
 
-#ifdef HAVE_NITE
+#ifdef HAVE_OPENNI
     #include <XnCppWrapper.h>
 #endif
 
@@ -92,6 +92,7 @@ private:
     bool init();
     void updateHSVFrame(const cv::Mat& frame, int format);
     
+    bool _initialized;
     CvCapture* _capture;
     cv::CascadeClassifier _faceCascade;
     cv::Mat _hsvFrame;
@@ -99,9 +100,14 @@ private:
     cv::SparseMat _histogram;
     cv::Mat _backProject;
     cv::Rect _searchWindow;
+    cv::Mat _grayDepthFrame;
 
-#ifdef HAVE_NITE
+#ifdef HAVE_OPENNI
     xn::Context _xnContext;
+    xn::DepthGenerator _depthGenerator;
+    xn::ImageGenerator _imageGenerator;
+    xn::DepthMetaData _depthMetaData;
+    xn::ImageMetaData _imageMetaData;
 #endif
 };