CL

convert kinect depth image to real world dimensions

2014-04-04T18:23:59-08:00

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++

2011-02-03T21:45:00-08:00

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

2010-11-22T21:46:38-08:00

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

-fodi