CL Copyright (c) 2014 ExpressionEngine tag:https:,2014:04:04 convert kinect depth image to real world dimensions tag:https:,2014:/codelaboratories.com/forums/viewthread/.1121 2014-04-04T18:23:59Z metwally shoier I am working on a robot that uses kinect to avoid obstacles I am using Visual Studio C++, OpenCV library, and code laboratories drivers (CL NUI Platform).And want to convert the depth image to a real world dimensions.

Thanks in advance

Here is my code:
[// Jim Vaughn
// Displays the color and depth information using OpenCV

#include “stdafx.h”

#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <opencv/highgui.h>

#include <CLNUIDevice.h>


using namespace std;

void displayKinectImage();

int _tmain(int argc, _TCHAR* argv[])
{
  displayKinectImage();
}

void displayKinectImage() {
  PDWORD rgb32_data = (PDWORD)malloc(640 * 480 * 4);
  PDWORD depth32_data = (PDWORD)malloc(640 * 480 * 4);

  CLNUICamera cam = CreateNUICamera(GetNUIDeviceSerial(0));
  CLNUIMotor motor = CreateNUIMotor(GetNUIDeviceSerial(0));

  StartNUICamera(cam);

  cvNamedWindow(“Image”, CV_WINDOW_AUTOSIZE);
  cvNamedWindow(“Depth”, CV_WINDOW_AUTOSIZE);
  cvNamedWindow(“Grey”, CV_WINDOW_AUTOSIZE);

  IplImage *rgb32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);
  IplImage *grey;
  IplImage *depth32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);;

  do {
      GetNUICameraColorFrameRGB32(cam, rgb32_data);
      GetNUICameraDepthFrameRGB32(cam, depth32_data);

      rgb32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);
      grey = cvCreateImage(cvSize(640, 480), 8, 1);
      depth32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);

      cvSetData(rgb32, rgb32_data, rgb32->widthStep);
      cvSetData(depth32, depth32_data, depth32->widthStep);

      // Convert RGB32 to greyscale
      cvCvtColor(depth32, grey, CV_RGB2GRAY);

      cvShowImage(“Image”, rgb32);
      cvShowImage(“Grey”, grey);
      cvShowImage(“Depth”, depth32);

      cvReleaseImageHeader(&rgb32;);
      cvReleaseImage(&grey;);
      cvReleaseImageHeader(&depth32;);

      cvWaitKey(1);

  } while (!GetAsyncKeyState(0x50));


  free(rgb32_data);
  free(depth32_data);

}
]

]]> Code: Kinect with OpenCV 2.2 in C++ tag:https:,2011:/codelaboratories.com/forums/viewthread/.518 2011-02-03T21:45:00Z 2011-02-17T21:22:28Z thesmileman A lot of people on this forum and around these here interwebs have been asking how to get the kinect working with OpenCV in C++. Here is the basic code to display the RGB image and the depth image as both a colormap and as greyscale. This is for OpenCV 2.2 which is the latest version. If you want to use an earlier version your includes will be different.

NOTE: The calls to StopNUICamera(), DestroyNUIMotor(motor), and DestroyNUICamera() are commented out because they still throw an error when called. It doesn’t seem to be a problem though.

// Jim Vaughn
// Displays the color and depth information using OpenCV

#include "stdafx.h"

#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <opencv/highgui.h>

#include <CLNUIDevice.h>


using namespace std;

void displayKinectImage();

int _tmain(int argc, _TCHAR* argv[])
{
    displayKinectImage();
}

void displayKinectImage() {
    PDWORD rgb32_data = (PDWORD) malloc(640*480*4);
    PDWORD depth32_data = (PDWORD) malloc(640*480*4);

    CLNUICamera cam = CreateNUICamera(GetNUIDeviceSerial(0));
    CLNUIMotor motor = CreateNUIMotor(GetNUIDeviceSerial(0));

    StartNUICamera(cam);

    cvNamedWindow("Image", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("Depth", CV_WINDOW_AUTOSIZE);
    cvNamedWindow("Grey", CV_WINDOW_AUTOSIZE);

    IplImage *rgb32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);
    IplImage *grey;
    IplImage *depth32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);;

    do {
        GetNUICameraColorFrameRGB32(cam, rgb32_data);
        GetNUICameraDepthFrameRGB32(cam, depth32_data);

        rgb32 = cvCreateImageHeader(cvSize(640,480), 8, 4);
        grey = cvCreateImage(cvSize(640, 480), 8, 1);
        depth32 = cvCreateImageHeader(cvSize(640, 480), 8, 4);

        cvSetData(rgb32, rgb32_data, rgb32->widthStep);
        cvSetData(depth32, depth32_data, depth32->widthStep);

        // Convert RGB32 to greyscale
        cvCvtColor(depth32, grey, CV_RGB2GRAY);

        cvShowImage("Image", rgb32);
        cvShowImage("Grey", grey);
        cvShowImage("Depth", depth32);

        cvReleaseImageHeader(&rgb32;);
        cvReleaseImage(&grey;);
        cvReleaseImageHeader(&depth32;);

        cvWaitKey(1);

    } while (!GetAsyncKeyState(0x50));


    free(rgb32_data);
    free(depth32_data);

    //StopNUICamera(cam);

    //DestroyNUIMotor(motor);

    //DestroyNUICamera(cam);

} 
]]> Getting started with Kinect tag:https:,2010:/codelaboratories.com/forums/viewthread/.422 2010-11-22T21:46:38Z fodi Hi,

I’m an ASP.Net developer and I only found out that the Kinect had been ‘Windows 7 enabled’ this morning. I rushed straight out and grabbed one.

I want to make this my summer (in Australia) project. I don’t have much experience working with cameras, motors, accelerometers, etc..

Can someone suggest a good place to get started? Books, code samples, all welcome. I’d prefer to stick with C# if possible, but I can jump into C if necessary.


Thanks and Thanks to AlexP smile

-fodi

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