cvdemo.c

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#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <stdio.h>
#include "libfreenect_cv.h"

IplImage *GlViewColor(IplImage *depth)
{
        static IplImage *image = 0;
        if (!image) image = cvCreateImage(cvSize(640,480), 8, 3);
        unsigned char *depth_mid = (unsigned char*)(image->imageData);
        int i;
        for (i = 0; i < 640*480; i++) {
                int lb = ((short *)depth->imageData)[i] % 256;
                int ub = ((short *)depth->imageData)[i] / 256;
                switch (ub) {
                        case 0:
                                depth_mid[3*i+2] = 255;
                                depth_mid[3*i+1] = 255-lb;
                                depth_mid[3*i+0] = 255-lb;
                                break;
                        case 1:
                                depth_mid[3*i+2] = 255;
                                depth_mid[3*i+1] = lb;
                                depth_mid[3*i+0] = 0;
                                break;
                        case 2:
                                depth_mid[3*i+2] = 255-lb;
                                depth_mid[3*i+1] = 255;
                                depth_mid[3*i+0] = 0;
                                break;
                        case 3:
                                depth_mid[3*i+2] = 0;
                                depth_mid[3*i+1] = 255;
                                depth_mid[3*i+0] = lb;
                                break;
                        case 4:
                                depth_mid[3*i+2] = 0;
                                depth_mid[3*i+1] = 255-lb;
                                depth_mid[3*i+0] = 255;
                                break;
                        case 5:
                                depth_mid[3*i+2] = 0;
                                depth_mid[3*i+1] = 0;
                                depth_mid[3*i+0] = 255-lb;
                                break;
                        default:
                                depth_mid[3*i+2] = 0;
                                depth_mid[3*i+1] = 0;
                                depth_mid[3*i+0] = 0;
                                break;
                }
        }
        return image;
}

int main(int argc, char **argv)
{
        while (cvWaitKey(10) < 0) {
                IplImage *image = freenect_sync_get_rgb_cv(0);
                if (!image) {
                    printf("Error: Kinect not connected?\n");
                    return -1;
                }
                cvCvtColor(image, image, CV_RGB2BGR);
                IplImage *depth = freenect_sync_get_depth_cv(0);
                if (!depth) {
                    printf("Error: Kinect not connected?\n");
                    return -1;
                }
                cvShowImage("RGB", image);
                cvShowImage("Depth", GlViewColor(depth));
        }
        return 0;
}