simple_viewer.rs

// Rust implementation of the OpenNI2 C++ sample
// https://github.com/OpenNI/OpenNI2/blob/master/Samples/SimpleViewer/main.cpp

extern crate minifb;
extern crate openni2;
use minifb::{ Window, Key, KeyRepeat, WindowOptions, Scale };
use std::process;
use openni2::{
    Status,
    Device,
    SensorType,
    OniDepthPixel,
    OniRGB888Pixel,
    Frame,
};

pub fn depth_histogram(hist: &mut [f32], frame: &Frame<OniDepthPixel>) {
    let pixels = frame.pixels();
    let mut count = 0usize;
    for h in hist.iter_mut() {
        *h = 0f32;
    }

    for px in pixels {
        if *px != 0 {
            hist[*px as usize] += 1.0;
            count += 1;
        }
    }

    for i in 1..hist.len() {
        hist[i] += hist[i-1];
    }
    if count > 0 {
        for px in hist.iter_mut().skip(1) {
            *px = 256f32 * (1.0f32 - (*px / count as f32));
        }
    }
}

fn main() -> Result<(), Status> {
    openni2::init()?;
    let device = Device::open_default()?;
    let depth = device.create_stream(SensorType::DEPTH)?;
    let color = device.create_stream(SensorType::COLOR)?;

    let mut window = match Window::new("OpenNI2 Simple Viewer", 320, 240, WindowOptions {
        resize: false,
        scale: Scale::X2,
        ..Default::default()
    }) {
        Ok(window) => window,
        Err(_) => process::exit(1),
    };

    color.start()?;
    depth.start()?;

    let mut mirror = color.get_mirroring()?;
    let mut display_color = true;
    let mut display_depth = false;
    let mut histogram = vec![0f32; 10000].into_boxed_slice();
    let mut buffer = vec![0u32; 320 * 240].into_boxed_slice();
    while window.is_open() && !window.is_key_down(Key::Escape) {
        let color_frame = color.read_frame::<OniRGB888Pixel>().expect("Color frame not available to read.");
        let depth_frame = depth.read_frame::<OniDepthPixel>().expect("Depth frame not available to read.");
        depth_histogram(&mut histogram, &depth_frame);
        for (i, (color, depth)) in color_frame.pixels().iter().zip(depth_frame.pixels()).enumerate() {
            if display_depth && *depth > 0 {
                // let brightness = (depth / 256) as u32;
                let brightness = histogram[*depth as usize] as u32;
                buffer[i] = brightness << 16 | brightness << 8 | brightness;
            } else if display_color {
                buffer[i] = ((color.r as u32) << 16) | ((color.g as u32) << 8) | (color.b as u32);
            } else {
                buffer[i] = 0;
            }
        }
        window.update_with_buffer(&buffer).expect("Couldn't write to minifb");
        window.get_keys_pressed(KeyRepeat::No).map(|keys| {
            for t in keys {
                match t {
                    Key::Key1 | Key::NumPad1 => {
                        display_color = true;
                        display_depth = true;
                        device.set_image_registration(true).unwrap();
                    },
                    Key::Key2 | Key::NumPad2 => {
                        display_color = true;
                        display_depth = false;
                        device.set_image_registration(false).unwrap();
                    },
                    Key::Key3 | Key::NumPad3 => {
                        display_color = false;
                        display_depth = true;
                        device.set_image_registration(false).unwrap();
                    },
                    Key::M => {
                        color.set_mirroring(!mirror).unwrap();
                        depth.set_mirroring(!mirror).unwrap();
                        mirror =! mirror;
                    },
                    _ => (),
                }
            }
        });
    }

    color.stop();
    depth.stop();
    Ok(())
}