main_r01.cpp

#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;

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();

        // update 16 bit depth matrix
        memcpy(depthRaw.data, sensor->getDepthData(), XRES*YRES*2);
        depthRaw.convertTo(depthShow, CV_8U, 255.0/4096.0);

        //static binary threshold
        depthShow = (depthShow > 20) & (depthShow < 150);

        printf("center depth value: %d\n",depthRaw.at<short>(XRES/2,YRES/2));

        imshow("debugFrame", depthShow);

        key = waitKey(10);

    }

    delete sensor;

    return 0;
}