// Start capturing
bool ciFlyCap::Obj::start(bool callback)
{
// Free resources first if already capturing
if (mCapturing)
stop();
// Connect, if needed
if (!isConnected())
connect();
// Bail if no camera
if (mCamera == 0)
return false;
// Initialize surface
mSurface.reset();
mSurface = Surface8u(mRawImage.GetCols(), mRawImage.GetRows(), false, mSurfaceChannelOrder);
mCallback = callback;
FlyCapture2::ImageEventCallback;
// Start capture
if(mCallback) {
mErr = mCamera->StartCapture(ciFlyCap::Obj::onImageGrabbed, this);
} else {
mErr = mCamera->StartCapture();
}
if (mErr != PGRERROR_OK)
{
showError();
stop();
return false;
}
// Default to application frame rate
mProperty.type = PropertyType::FRAME_RATE;
mErr = mCamera->GetProperty(&mProperty);
if (mErr != PGRERROR_OK)
{
mProperty.absControl = true;
mProperty.absValue = app::getFrameRate();
mErr = mCamera->SetProperty(&mProperty);
}
// Run update in separate thread
mCapturing = true;
mNewFrame = false;
if( ! mCallback) {
thread(&ciFlyCap::Obj::update, this);
}
// Return true if no error
return true;
}
void Kinect::enableVideo( bool enable )
{
bool toggle = mEnabledVideo != enable;
mEnabledVideo = enable;
if ( toggle ) {
if ( !mEnabledVideo ) {
mFrameRateVideo = 0.0f;
}
mVideoSurface = Surface8u( mVideoWidth, mVideoHeight, false, SurfaceChannelOrder::RGBA );
}
}
Surface8u RendererImpl2dGdi::copyWindowContents( const Area &area )
{
// Warning - if you step through this code with a debugger, the image returned
// will be of the foreground window (presumably your IDE) instead
::RECT clientRect;
::GetClientRect( mWnd, &clientRect );
Area clippedArea = area.getClipBy( Area( clientRect.left, clientRect.top, clientRect.right, clientRect.bottom ) );
::HDC hdc = ::GetDC( mWnd );
::HDC memDC = ::CreateCompatibleDC( hdc );
::HBITMAP copyBitmap = ::CreateCompatibleBitmap( hdc, clippedArea.getWidth(), clippedArea.getHeight() );
if( ! copyBitmap ) {
CI_LOG_E( "::CreateCompatibleBitmap() failed on copyWindowContents()" );
return Surface8u();
}
::GdiFlush();
// Copy the bits to our bitmap
::HGDIOBJ oldBitmap = ::SelectObject( memDC, copyBitmap );
if( ! ::BitBlt( memDC, 0, 0, clippedArea.getWidth(), clippedArea.getHeight(), hdc, clippedArea.x1, clippedArea.y1, SRCCOPY ) ){
CI_LOG_E( "BitBlt() failed on copyWindowContents()" );
return Surface8u();
}
::SelectObject( memDC, oldBitmap );
auto tempSurface = msw::convertHBitmap( copyBitmap );
Surface8u result( *tempSurface );
::DeleteObject( copyBitmap );
::ReleaseDC( NULL, hdc );
::DeleteDC( memDC );
return result;
}
Surface8u getNewSurface()
{
// try to find an available block of pixel data to wrap a surface around
for( size_t i = 0; i < mSurfaceData.size(); ++i ) {
if( ! mSurfaceUsed[i] ) {
mSurfaceUsed[i] = true;
Surface8u result( mSurfaceData[i].get(), mWidth, mHeight, mWidth * mSCO.getPixelInc(), mSCO );
result.setDeallocator( surfaceDeallocator, &mDeallocatorRefcon[i] );
return result;
}
}
// we couldn't find an available surface, so we'll need to allocate one
return Surface8u( mWidth, mHeight, mSCO.hasAlpha(), mSCO );
}
void HodginDidItApp::setupGraphics()
{
mDepthBuffer = new uint16_t[mDepthW*mDepthH];
mSurfDepth = Surface8u(mDepthW, mDepthH, true, SurfaceChannelOrder::RGBA);
mBlendAmt = S_BLEND_MAX;
mFont = gl::TextureFont::create(Font(loadAsset("IntelClear_RG.ttf"), 48));
mHello = "Hello.";
mQuestion = "Are You There?";
mCursor = '_';
mScreenText.clear();
mTexBg = gl::Texture(loadImage(loadAsset("bg_test.png")));
mPixelSize = Vec2f::one()/Vec2f(160,120);
}
bool CinderDSAPI::update()
{
bool retVal = mDSAPI->grab();
if (retVal)
{
if (mHasRgb)
mRgbFrame = Surface8u((uint8_t *)mDSRGB->getThirdImage(), mRgbWidth, mRgbHeight, mRgbWidth * 3, SurfaceChannelOrder::RGB);
if (mHasDepth)
mDepthFrame = Channel16u(mLRZWidth, mLRZHeight, int32_t(mLRZWidth*sizeof(uint16_t)), 1, mDSAPI->getZImage());
if (mHasLeft)
mLeftFrame = Channel8u(mLRZWidth, mLRZHeight, mLRZWidth, 1, (uint8_t *)mDSAPI->getLImage());
if (mHasRight)
mRightFrame = Channel8u(mLRZWidth, mLRZHeight, mLRZWidth, 1, (uint8_t *)mDSAPI->getRImage());
}
return retVal;;
}
Surface8u convertHBitmap( HBITMAP hbitmap )
{
// create a temporary DC
HDC hdc = ::CreateCompatibleDC( 0 );
// determine the dimensions first
BITMAP bm;
::GetObject( hbitmap, sizeof(BITMAP), &bm );
BITMAPINFO bmi;
memset( &bmi, 0, sizeof(BITMAPINFO) );
bmi.bmiHeader.biSize = sizeof(BITMAPINFOHEADER);
bmi.bmiHeader.biHeight = -bm.bmHeight;
bmi.bmiHeader.biWidth = bm.bmWidth;
bmi.bmiHeader.biPlanes = 1;
bmi.bmiHeader.biBitCount = 32;
bmi.bmiHeader.biCompression = BI_RGB;
bmi.bmiHeader.biSizeImage = 0;
bmi.bmiHeader.biXPelsPerMeter = 0;
bmi.bmiHeader.biYPelsPerMeter = 0;
bmi.bmiHeader.biClrUsed = 0;
bmi.bmiHeader.biClrImportant = 0;
int width = bmi.bmiHeader.biWidth;
int height = -bmi.bmiHeader.biHeight;
// allocate enough space to hold the result
// We use GlobalAlloc / GlobalFree to ensure 8-byte alignment
DWORD dwBmpSize = ((width * 32 + 31) / 32) * 4 * height;
uint8_t *data = reinterpret_cast<uint8_t*>( ::GlobalAlloc( GMEM_FIXED, dwBmpSize ) );
Surface8u result = Surface8u( data, width, height, width * 4, SurfaceChannelOrder::BGRX );
// have the Surface's destructor call this to call ::GlobalFree
result.setDeallocator( surfaceDeallocatorGlobalAlloc, data );
if( ::GetDIBits( hdc, hbitmap, 0, height, result.getData(), &bmi, DIB_RGB_COLORS ) == 0 )
throw std::exception( "Invalid HBITMAP" );
::ReleaseDC( NULL, hdc );
return result;
}
Surface8u colorizeBodyIndex( const Channel8u& bodyIndexChannel )
{
Surface8u surface;
if ( bodyIndexChannel ) {
surface = Surface8u( bodyIndexChannel.getWidth(), bodyIndexChannel.getHeight(), true, SurfaceChannelOrder::RGBA );
Channel8u::ConstIter iterChannel = bodyIndexChannel.getIter();
Surface8u::Iter iterSurface = surface.getIter();
while ( iterChannel.line() && iterSurface.line() ) {
while ( iterChannel.pixel() && iterSurface.pixel() ) {
size_t index = (size_t)iterChannel.v();
ColorA8u color( getBodyColor( index ), 0xFF );
if ( index == 0 || index > BODY_COUNT ) {
color.a = 0x00;
}
iterSurface.r() = color.r;
iterSurface.g() = color.g;
iterSurface.b() = color.b;
iterSurface.a() = color.a;
}
}
}
return surface;
}
bool CinderDSAPI::initRgb(const FrameSize &pRes, const int &pFPS)
{
ivec2 cSize;
if(setupStream(pRes, cSize))
{
mDSRGB = mDSAPI->accessThird();
if (mDSRGB)
{
if(mDSRGB->enableThird(true))
{
mHasRgb = mDSRGB->setThirdResolutionMode(true, cSize.x, cSize.y, pFPS, DS_RGB8);
if (mHasRgb)
{
mRgbWidth = cSize.x;
mRgbHeight = cSize.y;
mRgbFrame = Surface8u(mRgbWidth, mRgbHeight, false, SurfaceChannelOrder::RGB);
mDSRGB->getCalibIntrinsicsRectThird(mRgbIntrinsics);
mDSRGB->getCalibExtrinsicsZToRectThird(mZToRgb);
}
}
}
}
return mHasRgb;
}
Surface TextLayout::render( bool useAlpha, bool premultiplied )
{
Surface result;
// determine the extents for all the lines and the result surface
float totalHeight = 0, maxWidth = 0;
for( deque<shared_ptr<Line> >::iterator lineIt = mLines.begin(); lineIt != mLines.end(); ++lineIt ) {
(*lineIt)->calcExtents();
totalHeight = std::max( totalHeight, totalHeight + (*lineIt)->mHeight + (*lineIt)->mLeadingOffset );
if( (*lineIt)->mWidth > maxWidth )
maxWidth = (*lineIt)->mWidth;
}
// for the last line, instead of using the font info, we'll use the true height
/* if( ! mLines.empty() ) {
totalHeight = currentY - (mLines.back()->mAscent - mLines.back()->mDescent - mLines.back()->mLeadingOffset - mLines.back()->mLeading );
totalHeight += mLines.back()->mHeight;
}*/
// round up from the floating point sizes to get the number of pixels we'll need
int pixelWidth = (int)math<float>::ceil( maxWidth ) + mHorizontalBorder * 2;
int pixelHeight = (int)math<float>::ceil( totalHeight ) + mVerticalBorder * 2;
// Odd failure - return a NULL Surface
if( ( pixelWidth < 0 ) || ( pixelHeight < 0 ) )
return Surface();
// allocate the surface based on our collective extents
#if defined( CINDER_MAC )
result = Surface( pixelWidth, pixelHeight, useAlpha, (useAlpha)?SurfaceChannelOrder::RGBA:SurfaceChannelOrder::RGBX );
CGContextRef cgContext = cocoa::createCgBitmapContext( result );
ip::fill( &result, mBackgroundColor.premultiplied() );
float currentY = totalHeight + 1.0f + mVerticalBorder;
for( deque<shared_ptr<Line> >::iterator lineIt = mLines.begin(); lineIt != mLines.end(); ++lineIt ) {
// these are negated from Cinder's normal pixel coordinate system
currentY -= (*lineIt)->mAscent + (*lineIt)->mLeadingOffset;
(*lineIt)->render( cgContext, currentY, (float)mHorizontalBorder, pixelWidth );
currentY -= (*lineIt)->mDescent + (*lineIt)->mLeading;
}
// force all the rendering to finish and release the context
CGContextFlush( cgContext );
CGContextRelease( cgContext );
// since CGContextBitmaps are always premultiplied, if the caller didn't want that we'll have to undo it
if( ! premultiplied )
ip::unpremultiply( &result );
#elif defined( CINDER_MSW )
// I don't have a great explanation for this other than it seems to be necessary
pixelHeight += 1;
// prep our GDI and GDI+ resources
HDC dc = TextManager::instance()->getDc();
result = Surface8u( pixelWidth, pixelHeight, useAlpha, SurfaceConstraintsGdiPlus() );
Gdiplus::Bitmap *offscreenBitmap = msw::createGdiplusBitmap( result, premultiplied );
//Gdiplus::Bitmap *offscreenBitmap = new Gdiplus::Bitmap( pixelWidth, pixelHeight, (premultiplied) ? PixelFormat32bppPARGB : PixelFormat32bppARGB );
Gdiplus::Graphics *offscreenGraphics = Gdiplus::Graphics::FromImage( offscreenBitmap );
// high quality text rendering
offscreenGraphics->SetTextRenderingHint( Gdiplus::TextRenderingHintAntiAlias );
// fill the surface with the background color
offscreenGraphics->Clear( Gdiplus::Color( (BYTE)(mBackgroundColor.a * 255), (BYTE)(mBackgroundColor.r * 255),
(BYTE)(mBackgroundColor.g * 255), (BYTE)(mBackgroundColor.b * 255) ) );
// walk the lines and render them, advancing our Y offset along the way
float currentY = (float)mVerticalBorder;
for( deque<shared_ptr<Line> >::iterator lineIt = mLines.begin(); lineIt != mLines.end(); ++lineIt ) {
//currentY += (*lineIt)->mLeadingOffset + (*lineIt)->mAscent;
currentY += (*lineIt)->mLeadingOffset + (*lineIt)->mLeading;
(*lineIt)->render( offscreenGraphics, currentY, (float)mHorizontalBorder, (float)pixelWidth );
//currentY += (*lineIt)->mDescent + (*lineIt)->mLeading;
currentY += (*lineIt)->mAscent + (*lineIt)->mDescent;
}
GdiFlush();
delete offscreenBitmap;
delete offscreenGraphics;
#endif
return result;
}
void ShapeDetection::onDepth( openni::VideoFrameRef frame, const OpenNI::DeviceOptions& deviceOptions )
{
// convert frame from the camera to an OpenCV matrix
mInput = toOcv( OpenNI::toChannel16u(frame) );
cv::Mat thresh;
cv::Mat eightBit;
cv::Mat withoutBlack;
// remove black pixels from frame which get detected as noise
withoutBlack = removeBlack( mInput, mNearLimit, mFarLimit );
// convert matrix from 16 bit to 8 bit with some color compensation
withoutBlack.convertTo( eightBit, CV_8UC3, 0.1/1.0 );
// invert the image
cv::bitwise_not( eightBit, eightBit );
mContours.clear();
mApproxContours.clear();
// using a threshold to reduce noise
cv::threshold( eightBit, thresh, mThresh, mMaxVal, CV_8U );
// draw lines around shapes
cv::findContours( thresh, mContours, mHierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE );
vector<cv::Point> approx;
// approx number of points per contour
for ( int i = 0; i < mContours.size(); i++ ) {
cv::approxPolyDP(mContours[i], approx, 1, true );
mApproxContours.push_back( approx );
}
mShapes.clear();
// get data that we can later compare
mShapes = getEvaluationSet( mApproxContours, 75, 100000 );
// find the nearest match for each shape
for ( int i = 0; i < mTrackedShapes.size(); i++ ) {
Shape* nearestShape = findNearestMatch( mTrackedShapes[i], mShapes, 5000 );
// a tracked shape was found, update that tracked shape with the new shape
if ( nearestShape != NULL ) {
nearestShape->matchFound = true;
mTrackedShapes[i].centroid = nearestShape->centroid;
// get depth value from center point
float centerDepth = (float)mInput.at<short>( mTrackedShapes[i].centroid.y, mTrackedShapes[i].centroid.x );
// map 10 10000 to 0 1
mTrackedShapes[i].depth = lmap( centerDepth, (float)mNearLimit, (float)mFarLimit, 0.0f, 1.0f );
mTrackedShapes[i].lastFrameSeen = ci::app::getElapsedFrames();
mTrackedShapes[i].hull.clear();
mTrackedShapes[i].hull = nearestShape->hull;
mTrackedShapes[i].motion = nearestShape->motion;
Vec3f centerVec = Vec3f( mTrackedShapes[i].centroid.x, mTrackedShapes[i].centroid.y, 0.0f );
mTrackedShapes[i].mTrailPoint.arrive(centerVec);
mTrackedShapes[i].mTrailPoint.updateTrail();
}
}
// if shape->matchFound is false, add it as a new shape
for ( int i = 0; i < mShapes.size(); i++ ) {
if( mShapes[i].matchFound == false ){
// assign an unique ID
mShapes[i].ID = shapeUID;
mShapes[i].lastFrameSeen = ci::app::getElapsedFrames();
// starting point of the trail
mShapes[i].mTrailPoint.mLocation = Vec3f( mShapes[i].centroid.x, mShapes[i].centroid.y, 0.0f );
// add this new shape to tracked shapes
mTrackedShapes.push_back( mShapes[i] );
shapeUID++;
}
}
// if we didn't find a match for x frames, delete the tracked shape
for ( vector<Shape>::iterator it = mTrackedShapes.begin(); it != mTrackedShapes.end(); ) {
if ( ci::app::getElapsedFrames() - it->lastFrameSeen > 20 ) {
// remove the tracked shape
it = mTrackedShapes.erase(it);
} else {
++it;
}
}
mSurfaceDepth = Surface8u( fromOcv( mInput ) );
mSurfaceSubtract = Surface8u( fromOcv(eightBit) );
}
void Device::update()
{
if ( mFrameReader == 0 ) {
return;
}
IAudioBeamFrame* audioFrame = 0;
IBodyFrame* bodyFrame = 0;
IBodyIndexFrame* bodyIndexFrame = 0;
IColorFrame* colorFrame = 0;
IDepthFrame* depthFrame = 0;
IMultiSourceFrame* frame = 0;
IInfraredFrame* infraredFrame = 0;
ILongExposureInfraredFrame* infraredLongExposureFrame = 0;
HRESULT hr = mFrameReader->AcquireLatestFrame( &frame );
if ( SUCCEEDED( hr ) && mDeviceOptions.isAudioEnabled() ) {
// TODO audio
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyEnabled() ) {
IBodyFrameReference* frameRef = 0;
hr = frame->get_BodyFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyIndexEnabled() ) {
IBodyIndexFrameReference* frameRef = 0;
hr = frame->get_BodyIndexFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyIndexFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isColorEnabled() ) {
IColorFrameReference* frameRef = 0;
hr = frame->get_ColorFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &colorFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isDepthEnabled() ) {
IDepthFrameReference* frameRef = 0;
hr = frame->get_DepthFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &depthFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredEnabled() ) {
IInfraredFrameReference* frameRef = 0;
hr = frame->get_InfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredLongExposureEnabled() ) {
ILongExposureInfraredFrameReference* frameRef = 0;
hr = frame->get_LongExposureInfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredLongExposureFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) ) {
long long timeStamp = 0L;
// TODO audio
std::vector<Body> bodies;
int64_t bodyTime = 0L;
IBody* kinectBodies[ BODY_COUNT ] = { 0 };
Vec4f floorClipPlane = Vec4f::zero();
Channel8u bodyIndexChannel;
IFrameDescription* bodyIndexFrameDescription = 0;
int32_t bodyIndexWidth = 0;
int32_t bodyIndexHeight = 0;
uint32_t bodyIndexBufferSize = 0;
uint8_t* bodyIndexBuffer = 0;
int64_t bodyIndexTime = 0L;
Surface8u colorSurface;
IFrameDescription* colorFrameDescription = 0;
int32_t colorWidth = 0;
int32_t colorHeight = 0;
ColorImageFormat colorImageFormat = ColorImageFormat_None;
uint32_t colorBufferSize = 0;
uint8_t* colorBuffer = 0;
Channel16u depthChannel;
IFrameDescription* depthFrameDescription = 0;
int32_t depthWidth = 0;
int32_t depthHeight = 0;
uint16_t depthMinReliableDistance = 0;
uint16_t depthMaxReliableDistance = 0;
uint32_t depthBufferSize = 0;
uint16_t* depthBuffer = 0;
Channel16u infraredChannel;
IFrameDescription* infraredFrameDescription = 0;
int32_t infraredWidth = 0;
int32_t infraredHeight = 0;
uint32_t infraredBufferSize = 0;
uint16_t* infraredBuffer = 0;
Channel16u infraredLongExposureChannel;
IFrameDescription* infraredLongExposureFrameDescription = 0;
int32_t infraredLongExposureWidth = 0;
int32_t infraredLongExposureHeight = 0;
uint32_t infraredLongExposureBufferSize = 0;
uint16_t* infraredLongExposureBuffer = 0;
hr = depthFrame->get_RelativeTime( &timeStamp );
// TODO audio
if ( mDeviceOptions.isAudioEnabled() ) {
}
if ( mDeviceOptions.isBodyEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = bodyFrame->get_RelativeTime( &bodyTime );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyFrame->GetAndRefreshBodyData( BODY_COUNT, kinectBodies );
}
if ( SUCCEEDED( hr ) ) {
Vector4 v;
hr = bodyFrame->get_FloorClipPlane( &v );
floorClipPlane = toVec4f( v );
}
if ( SUCCEEDED( hr ) ) {
for ( uint8_t i = 0; i < BODY_COUNT; ++i ) {
IBody* kinectBody = kinectBodies[ i ];
if ( kinectBody != 0 ) {
uint8_t isTracked = false;
hr = kinectBody->get_IsTracked( &isTracked );
if ( SUCCEEDED( hr ) && isTracked ) {
Joint joints[ JointType_Count ];
kinectBody->GetJoints( JointType_Count, joints );
JointOrientation jointOrientations[ JointType_Count ];
kinectBody->GetJointOrientations( JointType_Count, jointOrientations );
uint64_t id = 0;
kinectBody->get_TrackingId( &id );
std::map<JointType, Body::Joint> jointMap;
for ( int32_t j = 0; j < JointType_Count; ++j ) {
Body::Joint joint(
toVec3f( joints[ j ].Position ),
toQuatf( jointOrientations[ j ].Orientation ),
joints[ j ].TrackingState
);
jointMap.insert( pair<JointType, Body::Joint>( static_cast<JointType>( j ), joint ) );
}
Body body( id, i, jointMap );
bodies.push_back( body );
}
}
}
}
}
if ( mDeviceOptions.isBodyIndexEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->get_RelativeTime( &bodyIndexTime );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->get_FrameDescription( &bodyIndexFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Width( &bodyIndexWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Height( &bodyIndexHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->AccessUnderlyingBuffer( &bodyIndexBufferSize, &bodyIndexBuffer );
}
if ( SUCCEEDED( hr ) ) {
bodyIndexChannel = Channel8u( bodyIndexWidth, bodyIndexHeight );
memcpy( bodyIndexChannel.getData(), bodyIndexBuffer, bodyIndexWidth * bodyIndexHeight * sizeof( uint8_t ) );
}
}
if ( mDeviceOptions.isColorEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_FrameDescription( &colorFrameDescription );
if ( SUCCEEDED( hr ) ) {
float vFov = 0.0f;
float hFov = 0.0f;
float dFov = 0.0f;
colorFrameDescription->get_VerticalFieldOfView( &vFov );
colorFrameDescription->get_HorizontalFieldOfView( &hFov );
colorFrameDescription->get_DiagonalFieldOfView( &dFov );
}
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Width( &colorWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Height( &colorHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_RawColorImageFormat( &colorImageFormat );
}
if ( SUCCEEDED( hr ) ) {
colorBufferSize = colorWidth * colorHeight * sizeof( uint8_t ) * 4;
colorBuffer = new uint8_t[ colorBufferSize ];
hr = colorFrame->CopyConvertedFrameDataToArray( colorBufferSize, reinterpret_cast<uint8_t*>( colorBuffer ), ColorImageFormat_Rgba );
if ( SUCCEEDED( hr ) ) {
colorSurface = Surface8u( colorWidth, colorHeight, false, SurfaceChannelOrder::RGBA );
memcpy( colorSurface.getData(), colorBuffer, colorWidth * colorHeight * sizeof( uint8_t ) * 4 );
}
delete [] colorBuffer;
colorBuffer = 0;
}
}
if ( mDeviceOptions.isDepthEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_FrameDescription( &depthFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Width( &depthWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Height( &depthHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMinReliableDistance( &depthMinReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMaxReliableDistance( &depthMaxReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->AccessUnderlyingBuffer( &depthBufferSize, &depthBuffer );
}
if ( SUCCEEDED( hr ) ) {
depthChannel = Channel16u( depthWidth, depthHeight );
memcpy( depthChannel.getData(), depthBuffer, depthWidth * depthHeight * sizeof( uint16_t ) );
}
}
if ( mDeviceOptions.isInfraredEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->get_FrameDescription( &infraredFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Width( &infraredWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Height( &infraredHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->AccessUnderlyingBuffer( &infraredBufferSize, &infraredBuffer );
}
if ( SUCCEEDED( hr ) ) {
infraredChannel = Channel16u( infraredWidth, infraredHeight );
memcpy( infraredChannel.getData(), infraredBuffer, infraredWidth * infraredHeight * sizeof( uint16_t ) );
}
}
if ( mDeviceOptions.isInfraredLongExposureEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->get_FrameDescription( &infraredLongExposureFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Width( &infraredLongExposureWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Height( &infraredLongExposureHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->AccessUnderlyingBuffer( &infraredLongExposureBufferSize, &infraredLongExposureBuffer );
}
if ( SUCCEEDED( hr ) ) {
infraredLongExposureChannel = Channel16u( infraredLongExposureWidth, infraredLongExposureHeight );
memcpy( infraredLongExposureChannel.getData(), infraredLongExposureBuffer, infraredLongExposureWidth * infraredLongExposureHeight * sizeof( uint16_t ) );
}
}
if ( SUCCEEDED( hr ) ) {
mFrame.mBodies = bodies;
mFrame.mChannelBodyIndex = bodyIndexChannel;
mFrame.mChannelDepth = depthChannel;
mFrame.mChannelInfrared = infraredChannel;
mFrame.mChannelInfraredLongExposure = infraredLongExposureChannel;
mFrame.mDeviceId = mDeviceOptions.getDeviceId();
mFrame.mSurfaceColor = colorSurface;
mFrame.mTimeStamp = timeStamp;
mFrame.mFloorClipPlane = floorClipPlane;
}
if ( bodyIndexFrameDescription != 0 ) {
bodyIndexFrameDescription->Release();
bodyIndexFrameDescription = 0;
}
if ( colorFrameDescription != 0 ) {
colorFrameDescription->Release();
colorFrameDescription = 0;
}
if ( depthFrameDescription != 0 ) {
depthFrameDescription->Release();
depthFrameDescription = 0;
}
if ( infraredFrameDescription != 0 ) {
infraredFrameDescription->Release();
infraredFrameDescription = 0;
}
if ( infraredLongExposureFrameDescription != 0 ) {
infraredLongExposureFrameDescription->Release();
infraredLongExposureFrameDescription = 0;
}
}
if ( audioFrame != 0 ) {
audioFrame->Release();
audioFrame = 0;
}
if ( bodyFrame != 0 ) {
bodyFrame->Release();
bodyFrame = 0;
}
if ( bodyIndexFrame != 0 ) {
bodyIndexFrame->Release();
bodyIndexFrame = 0;
}
if ( colorFrame != 0 ) {
colorFrame->Release();
colorFrame = 0;
}
if ( depthFrame != 0 ) {
depthFrame->Release();
depthFrame = 0;
}
if ( frame != 0 ) {
frame->Release();
frame = 0;
}
if ( infraredFrame != 0 ) {
infraredFrame->Release();
infraredFrame = 0;
}
if ( infraredLongExposureFrame != 0 ) {
infraredLongExposureFrame->Release();
infraredLongExposureFrame = 0;
}
}
void CinderOpenNISkeleton::setDepthSurface() {
int texWidth = gCinderOpenNISkeleton->mDepthMD.XRes();
int texHeight = gCinderOpenNISkeleton->mDepthMD.YRes();
const XnDepthPixel* pDepth = gCinderOpenNISkeleton->mDepthMD.Data();
const XnLabel* pLabels = gCinderOpenNISkeleton->mSceneMD.Data();
// Calculate the accumulative histogram - whatever that means
memset(gCinderOpenNISkeleton->pDepthHist, 0, MAX_DEPTH*sizeof(float));
unsigned int nX = 0;
unsigned int nValue = 0;
unsigned int nIndex = 0;
unsigned int nY = 0;
unsigned int nNumberOfPoints = 0;
unsigned int nHistValue = 0;
if(!gCinderOpenNISkeleton->bInitialized)
{
gCinderOpenNISkeleton->pDepthTexBuf = new unsigned char[texWidth*texHeight*3];
app::console() << "Initialised Buffer" <<endl;
gCinderOpenNISkeleton->bInitialized = true;
gCinderOpenNISkeleton->mDepthSurface = Surface8u( texWidth, texHeight, false ); // width, height, alpha?
}
for (nY=0; nY<texHeight; nY++)
{
for (nX=0; nX<texWidth; nX++)
{
nValue = *pDepth;
if (nValue != 0)
{
gCinderOpenNISkeleton->pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
gCinderOpenNISkeleton->pDepthHist[nIndex] += gCinderOpenNISkeleton->pDepthHist[nIndex-1];
}
if (nNumberOfPoints)
{
for (nIndex=1; nIndex<MAX_DEPTH; nIndex++)
{
gCinderOpenNISkeleton->pDepthHist[nIndex] =
(unsigned int)(256 * (1.0f - (gCinderOpenNISkeleton->pDepthHist[nIndex] / nNumberOfPoints)));
}
}
pDepth = gCinderOpenNISkeleton->mDepthMD.Data();
Area area( 0, 0, texWidth, texHeight );
Surface::Iter iter = gCinderOpenNISkeleton->mDepthSurface.getIter( area );
while( iter.line() ) {
while( iter.pixel() ) {
iter.r() = 0;
iter.g() = 0;
iter.b() = 0;
if ( *pLabels != 0) // Buh?
{
nValue = *pDepth;
XnLabel label = *pLabels;
XnUInt32 nColorID = label % nColors;
if (label == 0)
{
nColorID = nColors;
}
if (nValue != 0)
{
nHistValue = gCinderOpenNISkeleton->pDepthHist[nValue];
iter.r() = nHistValue * Colors[nColorID][0];
iter.g() = nHistValue * Colors[nColorID][1];
iter.b() = nHistValue * Colors[nColorID][2];
}
//app::console() << "PLABEL with Colour: " << label % nColors << endl;
}
else {
nValue = *pDepth;
//app::console() << "nValue: " << nValue << endl;
if (nValue != 0)
{
nHistValue = gCinderOpenNISkeleton->pDepthHist[nValue];
//app::console() << "nHistValue: " << nHistValue << endl;
iter.r() = nHistValue;
iter.g() = nHistValue;
iter.b() = nHistValue;
}
}
pDepth++;
pLabels++;
}
}
gl::clear( Color( 0, 0, 0 ) );
gl::draw(gl::Texture(gCinderOpenNISkeleton->mDepthSurface));
}