After struggling several days with all stuff related to OpenKinect (libfreenect) and Microsoft Visual Studio 2008, finally I could execute the experiment on getting the Kinect RGB-Depth image wrapped with the OpenCV2.1 library functions.
Special thanks to Tisham Dhar who wrote a very nice article on his blog :
http://whatnicklife.blogspot.com
You can access the source code from his google code page : freenectopencv.cpp
Or, the below code is taken from Tisham’s page which then combined with Canny Filter operation :
(comment out all the glview.c code and replace with the below source code)
/* freenectopencv.cpp
Copyright (C) 2010 Arne Bernin
This code is licensed to you under the terms of the GNU GPL, version 2 or version 3;
see:
http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt
http://www.gnu.org/licenses/gpl-3.0.txt
*/
/*
* Makefile for ubuntu, assumes that libfreenect.a is in /usr/lib, and libfreenect.h is in /usr/include
*
* make sure you have the latest version of freenect from git!
***************************************************************************************************************************
* Makefile
***************************************************************************************************************************
CXXFLAGS = -O2 -g -Wall -fmessage-length=0 `pkg-config opencv --cflags ` -I /usr/include/libusb-1.0
OBJS = freenectopencv.o
LIBS = `pkg-config opencv --libs` -lfreenect
TARGET = kinectopencv
$(TARGET): $(OBJS)
$(CXX) -o $(TARGET) $(OBJS) $(LIBS)
all: $(TARGET)
clean:
rm -f $(OBJS) $(TARGET)
*************************************************************************************************** * End of Makefile
***************************************************************************************************
*/
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <libfreenect.h>
#include <pthread.h>
#define CV_NO_BACKWARD_COMPATIBILITY
#include <cv.h>
#include <highgui.h>
#define FREENECTOPENCV_WINDOW_D "Depthimage"
#define FREENECTOPENCV_WINDOW_N "Normalimage"
#define FREENECTOPENCV_RGB_DEPTH 3
#define FREENECTOPENCV_DEPTH_DEPTH 1
#define FREENECTOPENCV_RGB_WIDTH 640
#define FREENECTOPENCV_RGB_HEIGHT 480
#define FREENECTOPENCV_DEPTH_WIDTH 640
#define FREENECTOPENCV_DEPTH_HEIGHT 480
IplImage* depthimg = 0;
IplImage* rgbimg = 0;
IplImage* tempimg = 0;
IplImage* canny_img = 0;
IplImage* canny_temp = 0;
pthread_mutex_t mutex_depth = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t mutex_rgb = PTHREAD_MUTEX_INITIALIZER;
pthread_t cv_thread;
// callback for depthimage, called by libfreenect
void depth_cb(freenect_device *dev, void *depth, uint32_t timestamp)
{
cv::Mat depth8;
cv::Mat mydepth = cv::Mat( FREENECTOPENCV_DEPTH_WIDTH,FREENECTOPENCV_DEPTH_HEIGHT, CV_16UC1, depth);
mydepth.convertTo(depth8, CV_8UC1, 1.0/4.0);
pthread_mutex_lock( &mutex_depth );
memcpy(depthimg->imageData, depth8.data, 640*480);
// unlock mutex
pthread_mutex_unlock( &mutex_depth );
}
// callback for rgbimage, called by libfreenect
void rgb_cb(freenect_device *dev, void *rgb, uint32_t timestamp)
{
// lock mutex for opencv rgb image
pthread_mutex_lock( &mutex_rgb );
memcpy(rgbimg->imageData, rgb, FREENECT_VIDEO_RGB_SIZE);
// unlock mutex
pthread_mutex_unlock( &mutex_rgb );
}
/*
* thread for displaying the opencv content
*/
void *cv_threadfunc (void *ptr) {
cvNamedWindow( FREENECTOPENCV_WINDOW_D, CV_WINDOW_AUTOSIZE );
cvNamedWindow( FREENECTOPENCV_WINDOW_N, CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Canny Image", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Depth Canny", CV_WINDOW_AUTOSIZE );
depthimg = cvCreateImage(cvSize(FREENECTOPENCV_DEPTH_WIDTH, FREENECTOPENCV_DEPTH_HEIGHT), IPL_DEPTH_8U, FREENECTOPENCV_DEPTH_DEPTH);
rgbimg = cvCreateImage(cvSize(FREENECTOPENCV_RGB_WIDTH, FREENECTOPENCV_RGB_HEIGHT), IPL_DEPTH_8U, FREENECTOPENCV_RGB_DEPTH);
tempimg = cvCreateImage(cvSize(FREENECTOPENCV_RGB_WIDTH, FREENECTOPENCV_RGB_HEIGHT), IPL_DEPTH_8U, FREENECTOPENCV_RGB_DEPTH);
canny_img = cvCreateImage(cvSize(FREENECTOPENCV_RGB_WIDTH, FREENECTOPENCV_RGB_HEIGHT), IPL_DEPTH_8U, 1);
canny_temp = cvCreateImage(cvSize(FREENECTOPENCV_DEPTH_WIDTH, FREENECTOPENCV_DEPTH_HEIGHT), IPL_DEPTH_8U, FREENECTOPENCV_DEPTH_DEPTH);
// use image polling
while (1) {
//lock mutex for depth image
pthread_mutex_lock( &mutex_depth );
// show image to window
cvCanny(depthimg, canny_temp, 50.0, 200.0, 3);
cvCvtColor(depthimg,tempimg,CV_GRAY2BGR);
cvCvtColor(tempimg,tempimg,CV_HSV2BGR);
cvShowImage(FREENECTOPENCV_WINDOW_D,tempimg);
cvShowImage("Depth Canny", canny_temp);
//unlock mutex for depth image
pthread_mutex_unlock( &mutex_depth );
//lock mutex for rgb image
pthread_mutex_lock( &mutex_rgb );
// show image to window
cvCvtColor(rgbimg,tempimg,CV_BGR2RGB);
cvCvtColor(tempimg, canny_img, CV_BGR2GRAY);
cvShowImage(FREENECTOPENCV_WINDOW_N, tempimg);
// Canny filter
cvCanny(canny_img, canny_img, 50.0, 200.0, 3);
cvShowImage("Canny Image", canny_img);
//unlock mutex
pthread_mutex_unlock( &mutex_rgb );
// wait for quit key
if( cvWaitKey( 15 )==27 )
break;
}
pthread_exit(NULL);
return NULL;
}
int main(int argc, char **argv)
{
freenect_context *f_ctx;
freenect_device *f_dev;
int res = 0;
int die = 0;
printf("Kinect camera test\n");
if (freenect_init(&f_ctx, NULL) < 0) {
printf("freenect_init() failed\n");
return 1;
}
if (freenect_open_device(f_ctx, &f_dev, 0) < 0) {
printf("Could not open device\n");
return 1;
}
freenect_set_depth_callback(f_dev, depth_cb);
freenect_set_video_callback(f_dev, rgb_cb);
freenect_set_video_format(f_dev, FREENECT_VIDEO_RGB);
// create opencv display thread
res = pthread_create(&cv_thread, NULL, cv_threadfunc, (void*) depthimg);
if (res) {
printf("pthread_create failed\n");
return 1;
}
printf("init done\n");
freenect_start_depth(f_dev);
freenect_start_video(f_dev);
while(!die && freenect_process_events(f_ctx) >= 0 );
}
Please notice that I am using : libfreenect for Windows + Microsoft Visual Studio 9 (2008) + OpenCV 2.1
Catatan Fahmi 
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