Beispiel #1
0
  void initialize()
  {
    createInstance();

    // Kinectの設定を初期化する
    ERROR_CHECK( kinect->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON ) );

    // RGBカメラを初期化する
    ERROR_CHECK( kinect->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, CAMERA_RESOLUTION,
      0, 2, 0, &imageStreamHandle ) );

    // 距離カメラを初期化する
    ERROR_CHECK( kinect->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, CAMERA_RESOLUTION,
      0, 2, 0, &depthStreamHandle ) );

    // Nearモード
    //ERROR_CHECK( kinect->NuiImageStreamSetImageFrameFlags(
    //  depthStreamHandle, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE ) );

    // スケルトンを初期化する
    ERROR_CHECK( kinect->NuiSkeletonTrackingEnable( 0, NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT ) );

    // フレーム更新イベントのハンドルを作成する
    streamEvent = ::CreateEvent( 0, TRUE, FALSE, 0 );
    ERROR_CHECK( kinect->NuiSetFrameEndEvent( streamEvent, 0 ) );

    // 指定した解像度の、画面サイズを取得する
    ::NuiImageResolutionToSize(CAMERA_RESOLUTION, width, height );
  }
Beispiel #2
0
 ~KinectSample()
 {
   // 終了処理
   if ( kinect != 0 ) {
     kinect->NuiShutdown();
     kinect->Release();
   }
 }
/// <summary>
/// Create the first connected Kinect found 
/// </summary>
/// <returns>indicates success or failure</returns>
HRESULT CSkeletonBasics::CreateFirstConnected()
{
    INuiSensor * pNuiSensor;

    int iSensorCount = 0;
    HRESULT hr = NuiGetSensorCount(&iSensorCount);
    if (FAILED(hr))
    {
        return hr;
    }

    // Look at each Kinect sensor
    for (int i = 0; i < iSensorCount; ++i)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr))
        {
            continue;
        }

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr)
        {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

    if (NULL != m_pNuiSensor)
    {
        // Initialize the Kinect and specify that we'll be using skeleton
        hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON); 
        if (SUCCEEDED(hr))
        {
            // Create an event that will be signaled when skeleton data is available
            m_hNextSkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);

            // Open a skeleton stream to receive skeleton data
            hr = m_pNuiSensor->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, 0); 
        }
    }

    if (NULL == m_pNuiSensor || FAILED(hr))
    {
        SetStatusMessage(L"No ready Kinect found!");
        return E_FAIL;
    }

    return hr;
}
Beispiel #4
0
  void drawRgbImage( cv::Mat& image )
  {
      // RGBカメラのフレームデータを取得する
      NUI_IMAGE_FRAME imageFrame = { 0 };
      ERROR_CHECK( kinect->NuiImageStreamGetNextFrame(
        imageStreamHandle, INFINITE, &imageFrame ) );

      // 画像データを取得する
      NUI_LOCKED_RECT colorData;
      imageFrame.pFrameTexture->LockRect( 0, &colorData, 0, 0 );

      // 画像データをコピーする
      image = cv::Mat( height, width, CV_8UC4, colorData.pBits );

      // フレームデータを解放する
      ERROR_CHECK( kinect->NuiImageStreamReleaseFrame( imageStreamHandle, &imageFrame ) );
  }
		/**
			@brief	Create kinect sensor
		*/
		INuiSensor* KinectContext::Create(const OLECHAR* strInstanceId)
		{
			INuiSensor* sensor = NULL;
			HRESULT ret = ::NuiCreateSensorById(strInstanceId, &sensor);
			if (SUCCEEDED(ret)) {
				lock_.lock();
				int size = (int)kinects_.size();
				for(int i = 0; i < size; i++){
					if(0 == wcscmp(kinects_[i]->uniqueId_, sensor->NuiDeviceConnectionId())){
						std::wcout << "Kinect[" << kinects_[i]->index_ << "] is connected, Device Name:: " << sensor->NuiDeviceConnectionId() << "\n" << std::endl;
						lock_.unlock();
						return sensor;
					}
				}
				lock_.unlock();
			}
			return NULL;
		}
		/**
			@brief	Create kinect sensor
		*/
		INuiSensor* KinectContext::Create(int index)
		{
			INuiSensor* sensor = NULL;
			HRESULT ret = ::NuiCreateSensorByIndex(index, &sensor);
			if (SUCCEEDED(ret)) {
				lock_.lock();
				int size = (int)kinects_.size();
				for(int i = 0; i < size; i++){
					if(kinects_[i]->index_ == sensor->NuiInstanceIndex()){
						std::wcout << "Kinect[" << kinects_[i]->index_ << "] is connected, Device Name:: " << sensor->NuiDeviceConnectionId() << "\n" << std::endl;
						lock_.unlock();
						return sensor;
					}
				}
				lock_.unlock();
			}
			return NULL;
		}
Beispiel #7
0
HRESULT KinectManager::initialize()
{
	INuiSensor * nui;
	int nuiCount = 0;
	HRESULT hr;


	NuiSetDeviceStatusCallback(OnSensorStatusChanged, NULL);

	hr = NuiGetSensorCount(&nuiCount);
	if ( FAILED(hr))
	{
		return hr;
	}

	// Look at each kinect sensor
	for (int i = 0; i < nuiCount; i++)
	{
		// Create the sensor so we can check status, if we can't create it, move on.
		hr = NuiCreateSensorByIndex(i, &nui);
		if (FAILED(hr))
		{
			continue;
		}

		// Get the status of the sensor, and if connected, then we can initialize it.
		hr = nui->NuiStatus();

		if (S_OK == hr)
		{
			nuiList.push_front(nui);
		}

		// This sensor was not okay, so we release it (into the wild!) since we're not using it.
		nui->Release();
	}

	return hr;


}
Beispiel #8
0
INuiSensor*
GetNuiPointer()
{
    int sensorCount = 0;
    INuiSensor *nuiSensor = NULL;
    HRESULT hr = NuiGetSensorCount(&sensorCount);

	if (FAILED(hr))
	{
		throw "Failed to get NUI sensor count";
	}
	

    // Look at each Kinect sensor
    for (int i=0; i<sensorCount; i++)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &nuiSensor);
        if (FAILED(hr)) continue;

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = nuiSensor->NuiStatus();
        if (S_OK == hr) break;

        // This sensor wasn't OK, so release it since we're not using it
        nuiSensor->Release();
    }

    // If we couldn't get an instance, return failure
	if (NULL == nuiSensor)
	{
		throw "Failed to get NUI Sensor instance";
	}

    // Initialize the Kinect and specify that we'll be using depth
    hr = nuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR
            | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX);

    if (FAILED(hr)) return NULL;
    else return nuiSensor;
}
/// <summary>
/// Enumerate and construct all the sensors when the app starts up
/// </summary>
void CMainWindow::EnumerateSensors()
{
    int iCount = 0;
    HRESULT hr = NuiGetSensorCount(&iCount);
    if (FAILED(hr))
    {
        return;
    }

    for (int i = 0; i < iCount; ++i)
    {
        INuiSensor* pNuiSensor = nullptr;

        if (SUCCEEDED(NuiCreateSensorByIndex(i, &pNuiSensor)))
        {
            UpdateMainWindow(pNuiSensor->NuiDeviceConnectionId(), pNuiSensor->NuiStatus());
        }

        SafeRelease(pNuiSensor);
    }
}
Beispiel #10
0
  // スケルトンを使用してマウス操作を行う
  void skeletonMouse()
  {
    // スケルトンのフレームを取得する
    NUI_SKELETON_FRAME skeletonFrame = { 0 };
    kinect->NuiSkeletonGetNextFrame( 0, &skeletonFrame );

    // トラッキングしている最初のスケルトンを探す
    NUI_SKELETON_DATA* skeletonData = 0;
    for ( int i = 0; i < NUI_SKELETON_COUNT; ++i ) {
      NUI_SKELETON_DATA& data = skeletonFrame.SkeletonData[i];
      if ( data.eTrackingState == NUI_SKELETON_TRACKED ) {
        skeletonData = &data;
        break;
      }
    }
    // 追跡しているスケルトンがなければ終了
    if ( skeletonData == 0 ) {
      return;
    }

    // 右手が追跡されていなければ終了
    if ( skeletonData->eSkeletonPositionTrackingState[NUI_SKELETON_POSITION_HAND_RIGHT]
      == NUI_SKELETON_POSITION_NOT_TRACKED ) {
        return;
    }



    // 右手の座標を取得する
    Vector4 rh = skeletonData->SkeletonPositions[NUI_SKELETON_POSITION_HAND_RIGHT];

    // 右手の座標を、Depthの座標(2次元)に変換する
    FLOAT depthX = 0, depthY = 0;
    ::NuiTransformSkeletonToDepthImage( rh, &depthX, &depthY, CAMERA_RESOLUTION );

    // スクリーン座標を取得する
    SIZE screen = {
      ::GetSystemMetrics( SM_CXVIRTUALSCREEN ),
      ::GetSystemMetrics( SM_CYVIRTUALSCREEN )
    };

    // 右手の座標を、スクリーン座標に変換する
    int x = (depthX * screen.cx) / width;
    int y = (depthY * screen.cy) / height;

    // マウスを動かす
    SendInput::MouseMove( x, y, screen );

    // クリックを認識した場合に、右クリックを行う
    if ( isClicked( FramePoint( skeletonFrame.liTimeStamp.QuadPart, depthX, depthY ) ) ) {
      SendInput::LeftClick();
    }
  }
Beispiel #11
0
/// <summary>
/// Funcion que crea la primera conexion de la aplicacion con Kinect. Comprueba e inicializa los sensores.
/// </summary>
/// <returns>Devuelve un HRESULT con las banderas de los flags inicializados y los que no.</returns>
HRESULT CreateFirstConnected() {
    INuiSensor * pNuiSensor;
    HRESULT hr;

    int iSensorCount = 0;
    hr = NuiGetSensorCount(&iSensorCount);
    if (FAILED(hr)) {
        return hr;
    }

    // Look at each Kinect sensor
    for (int i = 0; i < iSensorCount; ++i) {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr)) {
            continue;
        }

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr) {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

	// Initialize the Kinect and specify that we'll be using depth
	DWORD dwFlags = 0;
	if (m_bProcessColor) dwFlags |= NUI_INITIALIZE_FLAG_USES_COLOR;
	if (m_bProcessDepth) 
		m_bUserDetection ? (dwFlags |= NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX) : (dwFlags |= NUI_INITIALIZE_FLAG_USES_DEPTH);
	if (m_bProcessSkeleton)
		dwFlags |= NUI_INITIALIZE_FLAG_USES_SKELETON;

    hr = m_pNuiSensor->NuiInitialize(dwFlags);
    return hr;
}
Beispiel #12
0
  void initialize()
  {
    createInstance();

    // Kinectの設定を初期化する
    ERROR_CHECK( kinect->NuiInitialize( 
      NUI_INITIALIZE_FLAG_USES_COLOR | 
      NUI_INITIALIZE_FLAG_USES_SKELETON ) );

    // RGBカメラを初期化する
    ERROR_CHECK( kinect->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, CAMERA_RESOLUTION,
      0, 2, 0, &imageStreamHandle ) );

    // スケルトンを初期化する
    ERROR_CHECK( kinect->NuiSkeletonTrackingEnable(
      0, NUI_SKELETON_TRACKING_FLAG_SUPPRESS_NO_FRAME_DATA ) );

    // フレーム更新イベントのハンドルを作成する
    streamEvent = ::CreateEvent( 0, TRUE, FALSE, 0 );
    ERROR_CHECK( kinect->NuiSetFrameEndEvent( streamEvent, 0 ) );

    // 指定した解像度の、画面サイズを取得する
    ::NuiImageResolutionToSize(CAMERA_RESOLUTION, width, height );
  }
Beispiel #13
0
  void getJoint( Vector4 position, int part )
  {
    FLOAT depthX = 0, depthY = 0;
    ::NuiTransformSkeletonToDepthImage( position, &depthX, &depthY, CAMERA_RESOLUTION );

    LONG colorX = 0;
    LONG colorY = 0;

    kinect->NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(
      CAMERA_RESOLUTION, CAMERA_RESOLUTION,
      0, (LONG)depthX , (LONG)depthY, 0, &colorX, &colorY );
	
	kinectX[part] = (int)colorX;
	kinectY[part] = (int)colorY;
	
  }
Beispiel #14
0
  void createInstance()
  {
    // 接続されているKinectの数を取得する
    int count = 0;
    ERROR_CHECK( ::NuiGetSensorCount( &count ) );
    if ( count == 0 ) {
      throw std::runtime_error( "Kinect を接続してください" );
    }

    // 最初のKinectのインスタンスを作成する
    ERROR_CHECK( ::NuiCreateSensorByIndex( 0, &kinect ) );

    // Kinectの状態を取得する
    HRESULT status = kinect->NuiStatus();
    if ( status != S_OK ) {
      throw std::runtime_error( "Kinect が利用可能ではありません" );
    }
  }
Beispiel #15
0
  void getSkeleton(  )
  {
    // スケルトンのフレームを取得する
    NUI_SKELETON_FRAME skeletonFrame = { 0 };
    kinect->NuiSkeletonGetNextFrame( 0, &skeletonFrame );
    //ERROR_CHECK( kinect->NuiSkeletonGetNextFrame( 0, &skeletonFrame ) );
    for ( int i = 0; i < NUI_SKELETON_COUNT; ++i ) {
      NUI_SKELETON_DATA& skeletonData = skeletonFrame.SkeletonData[i];
      if ( skeletonData.eTrackingState == NUI_SKELETON_TRACKED ) {  
		  for (int j = 0; j < NUI_SKELETON_POSITION_COUNT; ++j){
			  if (skeletonData.eSkeletonPositionTrackingState[j] != NUI_SKELETON_POSITION_NOT_TRACKED) {
				  getJoint(skeletonData.SkeletonPositions[j], j);
			  }
		  }
        
      }

    }
  }
// connect to a Kinect sensor and stream its data into LSL
void stream_from_sensor(int sensornum, bool smoothdata) {
	HRESULT hr=0;
	try {
		// instantiate sensor
		cout << "initializing sensor " << sensornum << "..." << endl;
		INuiSensor *sensor;
		if (FAILED(hr=NuiCreateSensorByIndex(sensornum,&sensor)))
			throw runtime_error("Could not instantiate sensor.");

		// initialize and enable skeletal tracking
		if (FAILED(hr = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON)))
			throw runtime_error("Could not initialize NUI functionality.");
		if (FAILED(hr = sensor->NuiSkeletonTrackingEnable(NULL,NUI_SKELETON_TRACKING_FLAG_SUPPRESS_NO_FRAME_DATA)))
			throw runtime_error("Could not enable skeletal tracking.");

		cout << "opening outlet..." << endl;
		char tmp[1024]; ;
		stream_info info(string("KinectMocap")+=boost::lexical_cast<string>(sensornum),"Mocap",NUM_CHANNELS_PER_STREAM,30,cf_float32,string(tmp,tmp+wcstombs(tmp,sensor->NuiUniqueId(),sizeof(tmp))));

		// physical setup
		xml_element setup = info.desc().append_child("setup");
		xml_element cam = setup.append_child("cameras").append_child("camera");
		cam.append_child_value("label","Kinect");
		cam.append_child("position")
			.append_child_value("X","0.0")
			.append_child_value("Y","0.0")
			.append_child_value("Z","0.0");
		cam.append_child_value("diagonal_fov",boost::lexical_cast<string>(NUI_CAMERA_DEPTH_NOMINAL_DIAGONAL_FOV).c_str());
		cam.append_child_value("horizontal_fov",boost::lexical_cast<string>(NUI_CAMERA_DEPTH_NOMINAL_HORIZONTAL_FOV).c_str());
		cam.append_child_value("vertical_fov",boost::lexical_cast<string>(NUI_CAMERA_DEPTH_NOMINAL_VERTICAL_FOV).c_str());

		// markers
		xml_element mrks = setup.append_child("markers");
		for (int k=0;k<NUI_SKELETON_POSITION_COUNT;k++) {
			mrks.append_child("marker")
				.append_child_value("label",joint_names[k])
				.append_child_value("id",boost::lexical_cast<std::string>(k).c_str());
		}

		// channel layout
		xml_element channels = info.desc().append_child("channels");
		for (int s=0;s<NUI_SKELETON_MAX_TRACKED_COUNT;s++) {
			for (int k=0;k<NUI_SKELETON_POSITION_COUNT;k++) {
				channels.append_child("channel")
					.append_child_value("label",(string(joint_names[k])+="_X").c_str())
					.append_child_value("marker",joint_names[k])
					.append_child_value("type","PositionX")
					.append_child_value("unit","meters");
				channels.append_child("channel")
					.append_child_value("label",(string(joint_names[k])+="_Y").c_str())
					.append_child_value("marker",joint_names[k])
					.append_child_value("type","PositionY")
					.append_child_value("unit","meters");
				channels.append_child("channel")
					.append_child_value("label",(string(joint_names[k])+="_Z").c_str())
					.append_child_value("marker",joint_names[k])
					.append_child_value("type","PositionZ")
					.append_child_value("unit","meters");
				channels.append_child("channel")
					.append_child_value("label",(string(joint_names[k])+="_Conf").c_str())
					.append_child_value("marker",joint_names[k])
					.append_child_value("type","Confidence")
					.append_child_value("unit","normalized");
			}
			channels.append_child("channel")
				.append_child_value("label",(string("SkeletonTrackingId")+=boost::lexical_cast<string>(s)).c_str())
				.append_child_value("type","TrackingId");
			channels.append_child("channel")
				.append_child_value("label",(string("SkeletonQualityFlags")+=boost::lexical_cast<string>(s)).c_str());
		}

		// misc meta-data
		info.desc().append_child("acquisition")
			.append_child_value("manufacturer","Microsoft")
			.append_child_value("model","Kinect 1.0");
		if (smoothdata)
			info.desc().append_child("filtering")
			.append_child("holt_double_exponential")
			.append_child_value("smoothing","0.5")
			.append_child_value("correction","0.5")
			.append_child_value("jitter_radius","0.05")
			.append_child_value("max_deviation_radius","0.04");

		stream_outlet outlet(info);

		// acquisition loop		
		cout << "starting to track on sensor " << sensornum << endl;
		while (true) {
			// get next frame
			NUI_SKELETON_FRAME frame = {0};
			if (FAILED(sensor->NuiSkeletonGetNextFrame(100,&frame)))
				continue;

			// for each skeleton index s
			vector<float> sample(NUM_CHANNELS_PER_STREAM);
			for (int s=0,i=0; s<NUI_SKELETON_COUNT; s++) {
				if (frame.SkeletonData[s].eTrackingState == NUI_SKELETON_TRACKED) {
					// optionally smooth the data
					if (smoothdata)
						sensor->NuiTransformSmooth(&frame,NULL);
					// assign the sample data (at slot i)
					for (int k=0;k<NUI_SKELETON_POSITION_COUNT;k++) {
						sample[i*NUM_CHANNELS_PER_SKELETON + k*NUM_CHANNELS_PER_JOINT + 0] = frame.SkeletonData[s].SkeletonPositions[k].x;
						sample[i*NUM_CHANNELS_PER_SKELETON + k*NUM_CHANNELS_PER_JOINT + 1] = frame.SkeletonData[s].SkeletonPositions[k].y;
						sample[i*NUM_CHANNELS_PER_SKELETON + k*NUM_CHANNELS_PER_JOINT + 2] = frame.SkeletonData[s].SkeletonPositions[k].z;
						sample[i*NUM_CHANNELS_PER_SKELETON + k*NUM_CHANNELS_PER_JOINT + 3] = frame.SkeletonData[s].eSkeletonPositionTrackingState[k] / 2.0f; // 0.0, 0.5, or 1.0
					}
					sample[i*NUM_CHANNELS_PER_SKELETON + NUM_CHANNELS_PER_JOINT*NUI_SKELETON_POSITION_COUNT] = frame.SkeletonData[s].dwTrackingID;
					sample[i*NUM_CHANNELS_PER_SKELETON + NUM_CHANNELS_PER_JOINT*NUI_SKELETON_POSITION_COUNT] = frame.SkeletonData[s].dwQualityFlags;
					i++;
				}
			}
			// push the sample into LSL
			outlet.push_sample(sample);
		}

		// shut down
		sensor->NuiShutdown();
		sensor->Release();
	}
	catch(exception &e) {
		cerr << "Error trying to stream from sensor " << sensornum << ": " << e.what() << endl;
	}
}
// TODO: allow for customizing which streams are initialized
HRESULT SimpleKinect::Initialize()
{
	INuiSensor * pNuiSensor;
    HRESULT hr;

    int iSensorCount = 0;
    hr = NuiGetSensorCount(&iSensorCount);
    if (FAILED(hr))
    {
        return hr;
    }

    // Find the correct sensor
	cout << "SimpleKinect: Finding sensor..." << endl;

    for (int i = 0; i < iSensorCount; ++i)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr))
        {
            continue;
        }

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr)
        {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

	
	// Open depth stream
    if (NULL != m_pNuiSensor)
    {
		cout << "SimpleKinect: Opening depth stream.." << endl;
        // Initialize the Kinect and specify that we'll be using depth, player index and color
		hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_SKELETON ); 
        if (SUCCEEDED(hr))
        {

            // Open a depth image stream to receive depth frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
				NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
                NUI_IMAGE_RESOLUTION_640x480,
                0,
                2,
                NULL,
                &m_pDepthStreamHandle);
        } else {
			cerr << "SimpleKinect: Failed to open depth and player stream!" << endl;
			return E_FAIL;
		}

		// open color stream
		cout << "SimpleKinect: Opening color stream.." << endl;
		hr = m_pNuiSensor->NuiImageStreamOpen(
			NUI_IMAGE_TYPE_COLOR,
			NUI_IMAGE_RESOLUTION_640x480,
			0,
			2,
			NULL,
			&m_pColorStreamHandle);
		if(!SUCCEEDED(hr))
		{
			cerr << "SimpleKinect: Failed to open color stream!" << endl;
			return E_FAIL;
		}

		cout << "SimpleKinect: Opening skeleton stream.." << endl;
		// open skeleton stream
		if(HasSkeletalEngine(m_pNuiSensor))
		{
			hr = m_pNuiSensor->NuiSkeletonTrackingEnable(NULL, 
				NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE | 
				NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT |
				NUI_SKELETON_TRACKING_FLAG_SUPPRESS_NO_FRAME_DATA);
			if(!SUCCEEDED(hr))
			{
				cerr << "SimpleKinect: Failed to open skeleton stream!" << endl;
				return E_FAIL;
			}
		}
		else 
		{
			cerr << "SimpleKinect: Sensor does not have skeletal engine!" << endl;
		}
		
    }

    if (NULL == m_pNuiSensor || FAILED(hr))
    {
        cerr << "SimpleKinect: No ready Kinect found!" << endl;
        return E_FAIL;
    } else 
	{
		BSTR uniqueId = m_pNuiSensor->NuiUniqueId();
		cout << "SimpleKinect Connected to sensor " << uniqueId << endl;
	}
	m_isInitialized = true;
    return hr;
}
HRESULT KinectSensor::createFirstConnected()
{
	INuiSensor* pNuiSensor = NULL;
	HRESULT hr = S_OK;

	int iSensorCount = 0;
	hr = NuiGetSensorCount(&iSensorCount);
	if (FAILED(hr) ) { return hr; }

	// Look at each Kinect sensor
	for (int i = 0; i < iSensorCount; ++i) {
		// Create the sensor so we can check status, if we can't create it, move on to the next
		hr = NuiCreateSensorByIndex(i, &pNuiSensor);
		if (FAILED(hr))	{
			continue;
		}

		// Get the status of the sensor, and if connected, then we can initialize it
		hr = pNuiSensor->NuiStatus();
		if (S_OK == hr)	{
			m_pNuiSensor = pNuiSensor;
			break;
		}

		// This sensor wasn't OK, so release it since we're not using it
		pNuiSensor->Release();
	}

	if (NULL == m_pNuiSensor) {
		return E_FAIL;
	}

	// Initialize the Kinect and specify that we'll be using depth
	//hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX); 
	hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH); 
	if (FAILED(hr) ) { return hr; }

	// Create an event that will be signaled when depth data is available
	m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

	// Open a depth image stream to receive depth frames
	hr = m_pNuiSensor->NuiImageStreamOpen(
		NUI_IMAGE_TYPE_DEPTH,
		//NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
		cDepthResolution,
		(8000 << NUI_IMAGE_PLAYER_INDEX_SHIFT),
		2,
		m_hNextDepthFrameEvent,
		&m_pDepthStreamHandle);
	if (FAILED(hr) ) { return hr; }

	// Create an event that will be signaled when color data is available
	m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

	// Open a color image stream to receive color frames
	hr = m_pNuiSensor->NuiImageStreamOpen(
		NUI_IMAGE_TYPE_COLOR,
		cColorResolution,
		0,
		2,
		m_hNextColorFrameEvent,
		&m_pColorStreamHandle );
	if (FAILED(hr) ) { return hr; }

	INuiColorCameraSettings* colorCameraSettings;
	HRESULT hrFlag = m_pNuiSensor->NuiGetColorCameraSettings(&colorCameraSettings);

	if (hr != E_NUI_HARDWARE_FEATURE_UNAVAILABLE)
	{
		m_kinect4Windows = true;
	}

	//TODO MATTHIAS: does this function have to be called every frame?

	USHORT* test = new USHORT[getDepthWidth()*getDepthHeight()];
	// Get offset x, y coordinates for color in depth space
	// This will allow us to later compensate for the differences in location, angle, etc between the depth and color cameras
	m_pNuiSensor->NuiImageGetColorPixelCoordinateFrameFromDepthPixelFrameAtResolution(
		cColorResolution,
		cDepthResolution,
		getDepthWidth()*getDepthHeight(),
		test,
		getDepthWidth()*getDepthHeight()*2,
		m_colorCoordinates
		);
	SAFE_DELETE_ARRAY(test);

	// Start with near mode on (if possible)
	m_bNearMode = false;
	if (m_kinect4Windows) {
		toggleNearMode();
	}

	//toggleAutoWhiteBalance();

	return hr;
}
int Init()
{

	//Make sure our image types are the same as the OpenNI image types.
	//assert(sizeof(XnRGB24Pixel) == sizeof(ColorPixel));
	//assert(sizeof(XnDepthPixel) == sizeof(DepthPixel));
	//assert(sizeof(XnStatus) == sizeof(int));
	
	INuiSensor* nuiSensorPtr;
	int ret;

	// Get number of sensors
	int sensorCount = 0;
	ret = NuiGetSensorCount(&sensorCount);
	if(ret < 0)
	{
		return -1;
	}

	// Connect to first sensor
	for(int i=0; i<sensorCount; i++)
	{
		// Create sensor so we can check the status
		ret = NuiCreateSensorByIndex(i, &nuiSensorPtr);
		if(ret < 0)
			continue;

		// Get the status of the sensor
		ret = nuiSensorPtr->NuiStatus();
		if(ret < 0)
		{
			(void)nuiSensorPtr->Release();
			nuiSensorPtr = NULL;
			continue;
		}
		
		sensor = nuiSensorPtr;
	}

	// Make sure we have a sensor
	if(sensor == NULL)
	{
		return -1;
	}
	
	// Initialize Kinect
	ret = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
	if(ret < 0)
	{
		return -1;
	}
	
	// Create an event that will be signaled when color data is available
    colorImageReadyEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

	// Create an event that will be signaled when depth data is available
    depthImageReadyEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

	// Open a color image stream to receive color frames
	ret = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, colorImageReadyEvent, &colorStream);
	if(ret < 0)
	{
		return -1;
	}

	// Open a depth image stream to receive depth frames
    ret = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depthImageReadyEvent, &depthStream);
	if(ret < 0)
	{
		return -1;
	}

	return 0;
}
int _tmain(int argc, _TCHAR* argv[])
{
	cv::setUseOptimized( true );

	INuiSensor* pSensor;
	HRESULT hResult = S_OK;
	hResult = NuiCreateSensorByIndex( 0, &pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiCreateSensorByIndex" << std::endl;
		return -1;
	}

	hResult = pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiInitialize" << std::endl;
		return -1;
	}

	HANDLE hColorEvent = INVALID_HANDLE_VALUE;
	HANDLE hColorHandle = INVALID_HANDLE_VALUE;
	hColorEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hColorEvent, &hColorHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( COLOR )" << std::endl;
		return -1;
	}

	HANDLE hDepthPlayerEvent = INVALID_HANDLE_VALUE;
	HANDLE hDepthPlayerHandle = INVALID_HANDLE_VALUE;
	hDepthPlayerEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hDepthPlayerEvent, &hDepthPlayerHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( DEPTH&PLAYER )" << std::endl;
		return -1;
	}

	HANDLE hSkeletonEvent = INVALID_HANDLE_VALUE;
	hSkeletonEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiSkeletonTrackingEnable( hSkeletonEvent, 0 );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiSkeletonTrackingEnable" << std::endl;
		return -1;
	}

	unsigned long refWidth = 0;
	unsigned long refHeight = 0;
	NuiImageResolutionToSize( NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight );
	int width = static_cast<int>( refWidth );
	int height = static_cast<int>( refHeight );

	INuiCoordinateMapper* pCordinateMapper;
	hResult = pSensor->NuiGetCoordinateMapper( &pCordinateMapper );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiGetCoordinateMapper" << std::endl;
		return -1;
	}
	std::vector<NUI_COLOR_IMAGE_POINT> pColorPoint( width * height );

	HANDLE hEvents[3] = { hColorEvent, hDepthPlayerEvent, hSkeletonEvent };

	cv::Vec3b color[7];
	color[0] = cv::Vec3b(   0,   0,   0 );
	color[1] = cv::Vec3b( 255,   0,   0 );
	color[2] = cv::Vec3b(   0, 255,   0 );
	color[3] = cv::Vec3b(   0,   0, 255 );
	color[4] = cv::Vec3b( 255, 255,   0 );
	color[5] = cv::Vec3b( 255,   0, 255 );
	color[6] = cv::Vec3b(   0, 255, 255 );

	cv::namedWindow( "Color" );
	cv::namedWindow( "Depth" );
	cv::namedWindow( "Player" );
	cv::namedWindow( "Skeleton" );

	while( 1 ){
		ResetEvent( hColorEvent );
		ResetEvent( hDepthPlayerEvent );
		ResetEvent( hSkeletonEvent );
		WaitForMultipleObjects( ARRAYSIZE( hEvents ), hEvents, true, INFINITE );

		NUI_IMAGE_FRAME colorImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hColorHandle, 0, &colorImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
			return -1;
		}

		INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;
		NUI_LOCKED_RECT colorLockedRect;
		pColorFrameTexture->LockRect( 0, &colorLockedRect, nullptr, 0 );

		NUI_IMAGE_FRAME depthPlayerImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hDepthPlayerHandle, 0, &depthPlayerImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH&PLAYER )" << std::endl;
			return -1;
		}

		BOOL nearMode = false;
		INuiFrameTexture* pDepthPlayerFrameTexture = nullptr;
		pSensor->NuiImageFrameGetDepthImagePixelFrameTexture( hDepthPlayerHandle, &depthPlayerImageFrame, &nearMode, &pDepthPlayerFrameTexture );
		NUI_LOCKED_RECT depthPlayerLockedRect;
		pDepthPlayerFrameTexture->LockRect( 0, &depthPlayerLockedRect, nullptr, 0 );

		NUI_SKELETON_FRAME skeletonFrame = { 0 };
		hResult = pSensor->NuiSkeletonGetNextFrame( 0, &skeletonFrame );
		if( FAILED( hResult ) ){
			std::cout << "Error : NuiSkeletonGetNextFrame" << std::endl;
			return -1;
		}

		/*
		NUI_TRANSFORM_SMOOTH_PARAMETERS smoothParameter;
		smoothParameter.fSmoothing = 0.5; 
		smoothParameter.fCorrection = 0.5; 
		smoothParameter.fPrediction = 0.0f; 
		smoothParameter.fJitterRadius = 0.05f; 
		smoothParameter.fMaxDeviationRadius = 0.04f;

		hResult = NuiTransformSmooth( &skeletonFrame, &smoothParameter );
		*/

		cv::Mat colorMat( height, width, CV_8UC4, reinterpret_cast<unsigned char*>( colorLockedRect.pBits ) );

		cv::Mat bufferMat = cv::Mat::zeros( height, width, CV_16UC1 );
		cv::Mat playerMat = cv::Mat::zeros( height, width, CV_8UC3 );
		NUI_DEPTH_IMAGE_PIXEL* pDepthPlayerPixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>( depthPlayerLockedRect.pBits );
		pCordinateMapper->MapDepthFrameToColorFrame( NUI_IMAGE_RESOLUTION_640x480, width * height, pDepthPlayerPixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &pColorPoint[0] );
		for( int y = 0; y < height; y++ ){
			for( int x = 0; x < width; x++ ){
				unsigned int index = y * width + x;
				bufferMat.at<unsigned short>( pColorPoint[index].y, pColorPoint[index].x ) = pDepthPlayerPixel[index].depth;
				playerMat.at<cv::Vec3b>( pColorPoint[index].y, pColorPoint[index].x ) = color[pDepthPlayerPixel[index].playerIndex];
			}
		}
		cv::Mat depthMat( height, width, CV_8UC1 );
		bufferMat.convertTo( depthMat, CV_8U, -255.0f / 10000.0f, 255.0f );

		cv::Mat skeletonMat = cv::Mat::zeros( height, width, CV_8UC3 );
		NUI_COLOR_IMAGE_POINT colorPoint;
		for( int count = 0; count < NUI_SKELETON_COUNT; count++ ){
			NUI_SKELETON_DATA skeletonData = skeletonFrame.SkeletonData[count];
			if( skeletonData.eTrackingState == NUI_SKELETON_TRACKED ){
				for( int position = 0; position < NUI_SKELETON_POSITION_COUNT; position++ ){
					pCordinateMapper->MapSkeletonPointToColorPoint( &skeletonData.SkeletonPositions[position], NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, &colorPoint );
					if( ( colorPoint.x >= 0 ) && ( colorPoint.x < width ) && ( colorPoint.y >= 0 ) && ( colorPoint.y < height ) ){
						cv::circle( skeletonMat, cv::Point( colorPoint.x, colorPoint.y ), 10, static_cast<cv::Scalar>( color[count + 1] ), -1, CV_AA );
					}
				}

				std::stringstream ss;
				ss << skeletonData.SkeletonPositions[NUI_SKELETON_POSITION_HIP_CENTER].z;
				pCordinateMapper->MapSkeletonPointToColorPoint( &skeletonData.SkeletonPositions[NUI_SKELETON_POSITION_HEAD], NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, &colorPoint );
				if( ( colorPoint.x >= 0 ) && ( colorPoint.x < width ) && ( colorPoint.y >= 0 ) && ( colorPoint.y < height ) ){
					cv::putText( skeletonMat, ss.str(), cv::Point( colorPoint.x - 50, colorPoint.y - 20 ), cv::FONT_HERSHEY_SIMPLEX, 1.5f, static_cast<cv::Scalar>( color[count + 1] ) );
				}
			}
			else if( skeletonData.eTrackingState == NUI_SKELETON_POSITION_ONLY ){
				pCordinateMapper->MapSkeletonPointToColorPoint( &skeletonData.SkeletonPositions[NUI_SKELETON_POSITION_HIP_CENTER], NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, &colorPoint );
				if( ( colorPoint.x >= 0 ) && ( colorPoint.x < width ) && ( colorPoint.y >= 0 ) && ( colorPoint.y < height ) ){
						cv::circle( skeletonMat, cv::Point( colorPoint.x, colorPoint.y ), 10, static_cast<cv::Scalar>( color[count + 1] ), -1, CV_AA );
				}
			}
		}

		cv::imshow( "Color", colorMat );
		cv::imshow( "Depth", depthMat );
		cv::imshow( "Player", playerMat );
		cv::imshow( "Skeleton", skeletonMat );

		pColorFrameTexture->UnlockRect( 0 );
		pDepthPlayerFrameTexture->UnlockRect( 0 );
		pSensor->NuiImageStreamReleaseFrame( hColorHandle, &colorImageFrame );
		pSensor->NuiImageStreamReleaseFrame( hDepthPlayerHandle, &depthPlayerImageFrame );

		if( cv::waitKey( 30 ) == VK_ESCAPE ){
			break;
		}
	}

	pSensor->NuiShutdown();
	pSensor->NuiSkeletonTrackingDisable();
	pCordinateMapper->Release();
	CloseHandle( hColorEvent );
	CloseHandle( hDepthPlayerEvent );
	CloseHandle( hSkeletonEvent );

	cv::destroyAllWindows();

	return 0;
}
Beispiel #21
0
int main(void)
{
	//Set the error callback
	glfwSetErrorCallback(error_callback);

	//Initialize GLFW
	if (!glfwInit())
	{
		exit(EXIT_FAILURE);
	}

	//Set the GLFW window creation hints - these are optional
	//glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); //Request a specific OpenGL version
	//glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3); //Request a specific OpenGL version
	//glfwWindowHint(GLFW_SAMPLES, 4); //Request 4x antialiasing
	//glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);


	//Create a window and create its OpenGL context
	window = glfwCreateWindow(960, 720, "Test Window", NULL, NULL);

	//If the window couldn't be created
	if (!window)
	{
		fprintf(stderr, "Failed to open GLFW window.\n");
		glfwTerminate();
		//exit(EXIT_FAILURE);
	}

	//This function makes the context of the specified window current on the calling thread. 
	glfwMakeContextCurrent(window);

	//Sets the key callback
	glfwSetKeyCallback(window, key_callback);

	//Initialize GLEW
	GLenum err = glewInit();

	//If GLEW hasn't initialized
	if (err != GLEW_OK)
	{
		fprintf(stderr, "Error: %s\n", glewGetErrorString(err));
		return -1;
	}

	//Set a background color
	glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
	glfwSetCursorPos(window, 1024 / 2, 768 / 2);

	GLuint VertexArrayID;
	glGenVertexArrays(1, &VertexArrayID);
	glBindVertexArray(VertexArrayID);

	// Create and compile our GLSL program from the shaders
	GLuint red = LoadShaders("SimpleTransform.vertexshader", "SingleColorRed.fragmentshader");
	GLuint grid = LoadShaders("SimpleTransform.vertexshader", "SingleColorGrid.fragmentshader");
	glBindFragDataLocation(red, 0, "red");
	glBindFragDataLocation(grid, 1, "grid");
	// Get a handle for our "MVP" uniform
	GLuint MatrixID = glGetUniformLocation(red, "MVP");

	// Projection matrix : 45° Field of View, 4:3 ratio, display range : 0.1 unit <-> 100 units
	glm::mat4 Projection = glm::perspective(45.0f, 4.0f / 3.0f, 0.1f, 1000.0f);
	// Or, for an ortho camera :
	//glm::mat4 Projection = glm::ortho(-10.0f,10.0f,-10.0f,10.0f,0.0f,100.0f); // In world coordinates

	// Camera matrix
	glm::mat4 View = glm::lookAt(
		glm::vec3(4, 3, 3), // Camera is at (4,3,3), in World Space
		glm::vec3(0, 0, 0), // and looks at the origin
		glm::vec3(0, 1, 0)  // Head is up (set to 0,-1,0 to look upside-down)
		);


	static const GLfloat g_vertex_buffer_data[] = {
		-1.0f, -1.0f, 0.0f,
		1.0f, -1.0f, 0.0f,
		0.0f, 1.0f, 0.0f,
	};

	static const GLushort g_element_buffer_data[] = { 0, 1, 2 };

	GLuint vertexbuffer;
	glGenBuffers(1, &vertexbuffer);
	glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
	glBufferData(GL_ARRAY_BUFFER, sizeof(g_vertex_buffer_data), g_vertex_buffer_data, GL_STATIC_DRAW);

	static const GLfloat g_triangle_buffer_data[] = {
		-1.0f, -1.0f, -1.0f,
		1.0f, -1.0f, -1.0f,
		0.0f, 1.0f, -1.0f,
	};

	GLuint triangle;
	glGenBuffers(1, &triangle);
	glBindBuffer(GL_ARRAY_BUFFER, triangle);
	glBufferData(GL_ARRAY_BUFFER, sizeof(g_triangle_buffer_data), g_triangle_buffer_data, GL_STATIC_DRAW);

	// Enable depth test
	glEnable(GL_DEPTH_TEST);
	// Accept fragment if it closer to the camera than the former one
	glDepthFunc(GL_LESS);
	glEnable(GL_CULL_FACE);
	glEnable(GL_LIGHTING);
	glEnable(GL_SMOOTH);//OPENGL INSTANTIATION
	HRESULT hr;
	NUI_IMAGE_FRAME depthFrame;
	HANDLE hDepth;
	INuiSensor* pNuiSensor = NULL;
	int iSensorCount = 0;
	hr = NuiGetSensorCount(&iSensorCount);

	if (FAILED(hr))
		return hr;

	for (int i = 0; i < iSensorCount; i++)
	{
		INuiSensor* tempSensor;
		hr = NuiCreateSensorByIndex(i, &tempSensor);

		if (FAILED(hr))
			continue;

		hr = tempSensor->NuiStatus();
		if (S_OK == hr)
		{
			pNuiSensor = tempSensor;
			break;
		}

		tempSensor->Release();
	}

	for (int i = 0; i < 2048; i++) {
		depthLookUp[i] = rawDepthToMeters(i);
	}

	rotation = getRotationMatrix(theta, psi, fi);

	pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH);
	pNuiSensor->NuiImageStreamOpen(
		NUI_IMAGE_TYPE_DEPTH,
		NUI_IMAGE_RESOLUTION_320x240,
		0,
		2,
		NULL,
		&hDepth);//KINECT INSTANTIATION

	cout << "Starting Main Loop";

	static double lastTime = glfwGetTime();
	//Main Loop
	do
	{
		double currentTime = glfwGetTime();
		float deltaTime = float(currentTime - lastTime);
		//Clear color buffer
		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

		glUseProgram(grid);
		modelMatrix(MatrixID);


		hr = pNuiSensor->NuiImageStreamGetNextFrame(hDepth, 0, &depthFrame);
		if (!FAILED(hr))
		{

			INuiFrameTexture* pTexture;
			NUI_LOCKED_RECT LockedRect;

			hr = pNuiSensor->NuiImageFrameGetDepthImagePixelFrameTexture(
				hDepth, &depthFrame, false, &pTexture);

			if (FAILED(hr))
			{
				pNuiSensor->NuiImageStreamReleaseFrame(hDepth, &depthFrame);
				continue;
			}

			pTexture->LockRect(0, &LockedRect, NULL, 0);//Kinect Image Grab
			int skipX = 1;
			int skipY = 1;
			float scalar = 4.0f;

			if (LockedRect.Pitch != 0)
			{
				for (int x = 0; x < width; x += skipX)
				{
					for (int y = 0; y < height; y += skipY)
					{
						const NUI_DEPTH_IMAGE_PIXEL * pBufferRun = reinterpret_cast<const NUI_DEPTH_IMAGE_PIXEL *>(LockedRect.pBits) + x + y * width;
						
						//float depth = (float)(pBufferRun->depth);
						//glm::vec3 location = realWorld(depth, height - y, x, 500.0f, 1000.0f);
						//createCube(0.006f, location);
						Vector4 locationDepth = NuiTransformDepthImageToSkeleton(x, y, (short)(pBufferRun->depth << 3));
						glm::vec3 locationDepthxyz = glm::vec3(locationDepth.x * scalar, locationDepth.y * scalar, locationDepth.z * scalar);
						createCube(0.009f, locationDepthxyz);
					}
				}
			}

			pTexture->UnlockRect(0);
			pTexture->Release();

			pNuiSensor->NuiImageStreamReleaseFrame(hDepth, &depthFrame);
		}

		createGrid();

		//Test drawings
		/*
		glUseProgram(red);
		modelMatrix(MatrixID);
		//createCube(0.05f, glm::vec3(1.0f,1.0f,1.0f));
		// 1rst attribute buffer : vertices
		glEnableVertexAttribArray(0);
		//createObject(vertexbuffer, GL_TRIANGLES, 3);
		//createObject(triangle, GL_TRIANGLES, 3);
		glDisableVertexAttribArray(0);
		*/

		//Swap buffers
		glfwSwapBuffers(window);
		//Get and organize events, like keyboard and mouse input, window resizing, etc...
		glfwPollEvents();

		std::string title = "Title | DELTA TIME " + std::to_string(1.0f/deltaTime);
		const char* pszConstString = title.c_str();
		glfwSetWindowTitle(window, pszConstString);

		lastTime = currentTime;
	} //Check if the ESC key had been pressed or if the window had been closed
	while (!glfwWindowShouldClose(window));


	//Close OpenGL window and terminate GLFW
	glfwDestroyWindow(window);
	//Finalize and clean up GLFW
	glfwTerminate();

	exit(EXIT_SUCCESS);
}
/// <summary>
/// Create the first connected Kinect found 
/// </summary>
/// <returns>S_OK on success, otherwise failure code</returns>
HRESULT KinectEasyGrabber::CreateFirstConnected()
{
    INuiSensor * pNuiSensor;
    HRESULT hr;

    int iSensorCount = 0;
    hr = NuiGetSensorCount(&iSensorCount);
    if (FAILED(hr))
    {
        return hr;
    }

    // Look at each Kinect sensor
    for (int i = 0; i < iSensorCount; ++i)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr))
        {
            continue;
        }

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr)
        {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

    if (NULL != m_pNuiSensor)
    {
        // Initialize the Kinect and specify that we'll be using depth
		#ifdef RECORD_PLAYER
        hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_COLOR); 
		#else
		hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH | NUI_INITIALIZE_FLAG_USES_COLOR); 
		#endif
        if (SUCCEEDED(hr))
        {
            // Create an event that will be signaled when depth data is available
            m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

#ifdef RECORD_PLAYER
            // Open a depth image stream to receive depth frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
                NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
                cDepthResolution,
                0,
                2,
                m_hNextDepthFrameEvent,
                &m_pDepthStreamHandle);
#else
            // Open a depth image stream to receive depth frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
                NUI_IMAGE_TYPE_DEPTH,
                cDepthResolution,
                0,
                2,
                m_hNextDepthFrameEvent,
                &m_pDepthStreamHandle);

#endif
            // Create an event that will be signaled when color data is available
            m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

            // Open a color image stream to receive depth frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
                NUI_IMAGE_TYPE_COLOR,
                cColorResolution,
                0,
                2,
                m_hNextColorFrameEvent,
                &m_pColorStreamHandle);
        }
    }

    if (NULL == m_pNuiSensor || FAILED(hr))
    {
        SetStatusMessage(L"No ready Kinect found!");
        return E_FAIL;
    }

    m_pNuiSensor->NuiSkeletonTrackingDisable();

    return hr;
}
Beispiel #23
0
/*!
//\par		Description:
//			Sets all memeber to their default values,
//			reads configuration from settings file and tries to find first connected kinect device.
//
//\par		Return value:
//			True value is a expected value. When this method returns false then something wrong is with
//			with kinect sensor. It can be disconnected or drivers are incompatible. First thing to do
//			in this case is to check green led on kinect sensor. It should shines all the time. Flashing
//			is not allowed.
//
//\retval	true	kinect is ready to work
//\retval	false	kinect is not found
*/
bool CKinectHandler::createFirstConnectedKinectSensor()
{
	qDebug() << "createFirstConnectedKinectSensor()";

	INuiSensor * pSensor;
	int iSensorCount = 0;

	// HRESULT - just standard long
	HRESULT hr = NuiGetSensorCount( & iSensorCount );
	if ( FAILED( hr ) ) // checks if hr is less than 0
	{
		qDebug() << "Cannot get available kinect sensor count";
		return false;
	}

	// checks all sensors and takes first one which can be created
	for ( int i = 0 ; i < iSensorCount ; i++ )
	{
		hr = NuiCreateSensorByIndex( i, & pSensor );

		if ( FAILED( hr ) )
		{
			qDebug() << "Cannot create sensor with index: " << i << ", check next index";
			continue;
		}

		hr = pSensor->NuiStatus();

		if ( hr == S_OK ) // sensor is connected, it can be initialized now
		{
			m_pSensor = pSensor;
			qDebug() << "Sensor with index: " << i << " is connected - breaking loop";

			break;
		}

		// release not ok sensor
		pSensor->Release();
	}

	if ( m_pSensor != NULL )
	{
		hr = m_pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_SKELETON ); // in order to use skeleton

		if ( SUCCEEDED( hr ) )
		{
			// create event to inform application about new skeleton frame
			m_hNextSkeletonEvent = CreateEventW( NULL, TRUE, FALSE, NULL );

			// open skeleton stream to get skeleton data
			hr = m_pSensor->NuiSkeletonTrackingEnable( m_hNextSkeletonEvent, 0 );
		}
	}

	if ( m_pSensor == NULL || FAILED( hr ) )
	{
		qDebug() << "No ready kinect found";
		m_kinectDetails.insert( "connection", false );

		return false;
	}

	m_kinectDetails.insert( "connection", true );
	m_kinectDetails.insert( "skeleton_found", false );

	return true;
}
// In current version, we can't set the resolution
// All sensors of Kinect is activated. 
HRESULT Kinect::createFirstConnected(){
	INuiSensor * pNuiSensor;
	HRESULT hr;

	int iSensorCount = 0;
	hr = NuiGetSensorCount(&iSensorCount);
	if (FAILED(hr))
	{
		return hr;
	}

	// Look at each Kinect sensor
	for (int i = 0; i < iSensorCount; ++i)
	{
		// Create the sensor so we can check status, if we can't create it, move on to the next
		hr = NuiCreateSensorByIndex(i, &pNuiSensor);
		if (FAILED(hr))
		{
			continue;
		}

		// Get the status of the sensor, and if connected, then we can initialize it
		hr = pNuiSensor->NuiStatus();
		if (S_OK == hr)
		{
			m_pNuiSensor = pNuiSensor;
			break;
		}

		// This sensor wasn't OK, so release it since we're not using it
		pNuiSensor->Release();
	}

	if (NULL != m_pNuiSensor)
	{
		// Initialize the Kinect and specify that we'll be using color, depth and skeletion 
		hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | 
			NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX |
			NUI_INITIALIZE_FLAG_USES_SKELETON);
		if (SUCCEEDED(hr))
		{
			// Create an event that will be signaled when depth data is available
			m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

			// Open a depth image stream to receive depth frames
			hr = m_pNuiSensor->NuiImageStreamOpen(
				NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
				NUI_IMAGE_RESOLUTION_640x480,
				NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE|NUI_IMAGE_STREAM_FLAG_DISTINCT_OVERFLOW_DEPTH_VALUES,
				//NUI_IMAGE_STREAM_FRAME_LIMIT_MAXIMUM,
				2,
				m_hNextDepthFrameEvent,
				&m_hDepthStreamHandle);
			//m_pNuiSensor->NuiImageStreamSetImageFrameFlags(&m_hDepthStreamHandle, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE|NUI_IMAGE_STREAM_FLAG_DISTINCT_OVERFLOW_DEPTH_VALUES);

		}

		if (SUCCEEDED(hr))
		{
			// Open a color image stream to receive depth frames
			m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

			hr = m_pNuiSensor->NuiImageStreamOpen(
				NUI_IMAGE_TYPE_COLOR,
				NUI_IMAGE_RESOLUTION_640x480,
				0,
				2,
				m_hNextColorFrameEvent,
				&m_hColorStreamHandle);
		}
		if (SUCCEEDED(hr)){
			// Enable the skeleton tracking
			m_hNextSkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
			//hr = m_pNuiSensor->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, 0); 
			hr = m_pNuiSensor->NuiSkeletonTrackingEnable(
				m_hNextSkeletonEvent,  NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE | NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT);
		}
	}

	if (NULL == m_pNuiSensor || FAILED(hr))
	{
		return E_FAIL;
	}
	m_bInitialized = true;
	return hr;
}
KinectImageSource::KinectImageSource(int device) : ImageSource(lexical_cast<string>(device)), frame() {

#ifdef WITH_MSKINECT_SDK
    m_pColorStreamHandle = INVALID_HANDLE_VALUE;
    /// Create the first connected Kinect found
    INuiSensor * pNuiSensor;
    HRESULT hr;

    int iSensorCount = 0;
    hr = NuiGetSensorCount(&iSensorCount);
    if (FAILED(hr))
    {
        std::cout << "Error getting sensor count. No Kinect plugged in?" << hr << std::endl;
    }

    // Look at each Kinect sensor
    for (int i = 0; i < iSensorCount; ++i)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr))
        {
            continue;
        }

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr)
        {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

    if (NULL != m_pNuiSensor)
    {
        // Initialize the Kinect and specify that we'll be using color
        hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR);
        if (SUCCEEDED(hr))
        {
            // Create an event that will be signaled when color data is available
            //m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

            // Open a color image stream to receive color frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
                     NUI_IMAGE_TYPE_COLOR,
                     NUI_IMAGE_RESOLUTION_640x480,
                     0,
                     2,
                     NULL,
                     &m_pColorStreamHandle);
        }
    }

    if (NULL == m_pNuiSensor || FAILED(hr))
    {
        std::cout << "No ready Kinect found!" << std::endl;
    }

    //std::cout << "hr: " << hr << std::endl;

#else
    std::cerr << "Error! This is the Microsoft Kinect SDK interface and not available under Linux." << std::endl;
#endif

}
Beispiel #26
0
int _tmain(int argc, _TCHAR* argv[])
{
	cv::setUseOptimized( true );

	// Kinectのインスタンス生成、初期化
	INuiSensor* pSensor;
	HRESULT hResult = S_OK;
	hResult = NuiCreateSensorByIndex( 0, &pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiCreateSensorByIndex" << std::endl;
		return -1;
	}

	hResult = pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiInitialize" << std::endl;
		return -1;
	}

	// Colorストリームの開始
	HANDLE hColorEvent = INVALID_HANDLE_VALUE;
	HANDLE hColorHandle = INVALID_HANDLE_VALUE;
	hColorEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hColorEvent, &hColorHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( COLOR )" << std::endl;
		return -1;
	}

	HANDLE hEvents[1] = { hColorEvent };

	cv::namedWindow( "Color" );

	while( 1 ){
		// フレームの更新待ち
		ResetEvent( hColorEvent );
		WaitForMultipleObjects( ARRAYSIZE( hEvents ), hEvents, true, INFINITE );

		// Colorカメラからフレームを取得
		NUI_IMAGE_FRAME pColorImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hColorHandle, 0, &pColorImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
			return -1;
		}

		// Color画像データの取得
		INuiFrameTexture* pColorFrameTexture = pColorImageFrame.pFrameTexture;
		NUI_LOCKED_RECT sColorLockedRect;
		pColorFrameTexture->LockRect( 0, &sColorLockedRect, nullptr, 0 );

		// 表示
		cv::Mat colorMat( 480, 640, CV_8UC4, reinterpret_cast<uchar*>( sColorLockedRect.pBits ) );
		cv::imshow( "Color", colorMat );
		
		// フレームの解放
		pColorFrameTexture->UnlockRect( 0 );
		pSensor->NuiImageStreamReleaseFrame( hColorHandle, &pColorImageFrame );

		// ループの終了判定(Escキー)
		if( cv::waitKey( 30 ) == VK_ESCAPE ){
			break;
		}
	}

	// Kinectの終了処理
	pSensor->NuiShutdown();
	CloseHandle( hColorEvent );
	CloseHandle( hColorHandle );

	cv::destroyAllWindows();

	return 0;
}
HRESULT AcquisitionKinect1::CreateFirstConnected(){
    INuiSensor * pNuiSensor = NULL;
    HRESULT hr;

    int iSensorCount = 0;
    hr = NuiGetSensorCount(&iSensorCount);
    cout << "sensori collegati: " << iSensorCount << endl;
    if (FAILED(hr))
    {
        return hr;
    }

    // Look at each Kinect sensor
    for (int i = 0; i < iSensorCount; ++i)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr))
        {
            continue;
        }

        cout << "Sensore " << i << " creato." << endl;

        hr = m_frameHelper.Initialize(pNuiSensor);  // QUI E' DOVE CI METTE TANTO TEMPO

        cout << "Sensore " << i << " inizializzato." << endl;

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr)
        {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

    /*
    if (NULL != m_pNuiSensor)
    {
        // Initialize the Kinect and specify that we'll be using color, depth and skeleton
        hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON);

        if (SUCCEEDED(hr))
        {
            // Create an event that will be signaled when depth data is available
            m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

            // Open a color image stream to receive depth frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
                        NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
                        NUI_IMAGE_RESOLUTION_640x480,
                        0,
                        2,
                        m_hNextDepthFrameEvent,
                        &m_pDepthStreamHandle);

            if (FAILED(hr)) return hr;

            // Create an event that will be signaled when color data is available
            m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

            // Open a color image stream to receive color frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
                        NUI_IMAGE_TYPE_COLOR,
                        NUI_IMAGE_RESOLUTION_640x480,
                        0,
                        2,
                        m_hNextColorFrameEvent,
                        &m_pColorStreamHandle);

            if (FAILED(hr)) return hr;

        }
    }

    */
    return hr;

}
    HRESULT KinectSDKGrabber::CreateFirstConnected()
    {
        INuiSensor *pNuiSensor;
        HRESULT hr;

        int iSensorCount = 0;
        hr = NuiGetSensorCount(&iSensorCount);
        if (FAILED(hr))
        {
            return hr;
        }
        std::cout << "Count" << std::endl;

        // Look at each Kinect sensor
        for (int i = 0; i < iSensorCount; ++i)
        {
            // Create the sensor so we can check status, if we can't create it, move on to the next
            hr = NuiCreateSensorByIndex(i, &pNuiSensor);
            if (FAILED(hr))
            {
                continue;
            }
            std::cout << "Created" << std::endl;

            // Get the status of the sensor, and if connected, then we can initialize it
            hr = pNuiSensor->NuiStatus();
            if (S_OK == hr)
            {
                m_pNuiSensor = pNuiSensor;
                break;
            }

            // This sensor wasn't OK, so release it since we're not using it
            pNuiSensor->Release();
        }

        if (NULL != m_pNuiSensor)
        {
            // Initialize the Kinect and specify that we'll be using depth
            hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH | NUI_INITIALIZE_FLAG_USES_COLOR);
            if (SUCCEEDED(hr))
            {
                // Create an event that will be signaled when depth data is available
                m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

                // Open a depth image stream to receive depth frames
                hr = m_pNuiSensor->NuiImageStreamOpen(
                         NUI_IMAGE_TYPE_DEPTH,
                         NUI_IMAGE_RESOLUTION_640x480,
                         0,
                         2,
                         m_hNextDepthFrameEvent,
                         &m_pDepthStreamHandle);

                m_pNuiSensor->NuiImageStreamSetImageFrameFlags(m_pDepthStreamHandle, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE);

                std::cout << "Depth" << std::endl;

            }

            if (SUCCEEDED(hr))
            {
                m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);

                hr = m_pNuiSensor->NuiImageStreamOpen(
                         NUI_IMAGE_TYPE_COLOR,
                         NUI_IMAGE_RESOLUTION_640x480,
                         0,
                         2,
                         m_hNextColorFrameEvent,
                         &m_pColorStreamHandle);
                std::cout << "Color" << std::endl;
            }
        }

        if (NULL == m_pNuiSensor || FAILED(hr))
        {
            return E_FAIL;
        }

        return hr;
    }
Beispiel #29
0
bool KinectInput::initSensor()
{
	INuiSensor* tempSensor;
	int numSensors = 0;
	if (NuiGetSensorCount(&numSensors) != S_OK ) 
	{
		std::cout << "Kinect Error: Sensor lookup failed, Probably no sensors connected" << std::endl;
		std::getchar();
		return false;
	}

	// Loop through all sensors
	for (int i = 0; i < numSensors; ++i)
	{
		// Create the sensor so we can check status, if we can't create it, move on to the next
		if (NuiCreateSensorByIndex(i, &tempSensor) < 0)
		{
			continue;
		}

		// Get the status of the sensor, and if connected, then we can initialize it
		if (tempSensor->NuiStatus() == S_OK)
		{
			kinectSensor = tempSensor;
			break;
		}

		// This sensor wasn't OK, so release it since we're not using it
		tempSensor->Release();
	}

	if (kinectSensor != NULL)
	{
		// Initialize the Kinect and specify that we'll be using skeleton
		if (kinectSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON) >= 0)
		{
			// Create an event that will be signaled when skeleton data is available
			nextSkeletonUpdate = CreateEventW(NULL, TRUE, FALSE, NULL);

			// Open a skeleton stream to receive skeleton data
			if (kinectSensor->NuiSkeletonTrackingEnable(nextSkeletonUpdate, 0) < 0)
			{
				std::cout << "Kinect Error: Couldn't open a skeleton stream" << std::endl;
				std::getchar();
				return false;
			}
		}
		else 
		{
			std::cout << "Kinect Error: Sensor failed initialization" << std::endl;
			std::getchar();
			return false;
		}
	}
	else
	{
		std::cout << "Kinect Error: No sensor could be initialized" << std::endl;
		std::getchar();
		return false;
	}

	return true;
}
Beispiel #30
0
/// <summary>
/// Create the first connected Kinect found 
/// </summary>
/// <returns>indicates success or failure</returns>
HRESULT CKinectFusion::CreateFirstConnected()
{
    INuiSensor * pNuiSensor;
    HRESULT hr;

    int iSensorCount = 0;
    hr = NuiGetSensorCount(&iSensorCount);
    if (FAILED(hr))
    {
        std::cout << "No ready Kinect found!" << std::endl;
        return hr;
    }

    // Look at each Kinect sensor
    for (int i = 0; i < iSensorCount; ++i)
    {
        // Create the sensor so we can check status, if we can't create it, move on to the next
        hr = NuiCreateSensorByIndex(i, &pNuiSensor);
        if (FAILED(hr))
        {
            continue;
        }

        // Get the status of the sensor, and if connected, then we can initialize it
        hr = pNuiSensor->NuiStatus();
        if (S_OK == hr)
        {
            m_pNuiSensor = pNuiSensor;
            break;
        }

        // This sensor wasn't OK, so release it since we're not using it
        pNuiSensor->Release();
    }

    if (nullptr != m_pNuiSensor)
    {
        // Initialize the Kinect and specify that we'll be using depth
        hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH); 
        if (SUCCEEDED(hr))
        {
            // Create an event that will be signaled when depth data is available
            m_hNextDepthFrameEvent = CreateEvent(nullptr, TRUE, FALSE, nullptr);

            // Open a depth image stream to receive depth frames
            hr = m_pNuiSensor->NuiImageStreamOpen(
                NUI_IMAGE_TYPE_DEPTH,
                m_imageResolution,
                0,
                2,
                m_hNextDepthFrameEvent,
                &m_pDepthStreamHandle);
        }

        if (m_bNearMode)
        {
            // Set near mode based on our internal state
            HRESULT nearHr = m_pNuiSensor->NuiImageStreamSetImageFrameFlags(m_pDepthStreamHandle, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE);
        }
    }

    if (nullptr == m_pNuiSensor || FAILED(hr))
    {
		std::cout << "No ready Kinect found!" << std::endl;
        return E_FAIL;
    }


    return hr;
}