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;
}
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 | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON );
if( FAILED( hResult ) ){
std::cerr << "Error : NuiInitialize" << std::endl;
return -1;
}
// Colorストリーム
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;
}
// Depth&Playerストリーム
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;
}
// Skeletonストリーム
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;
}
HANDLE hEvents[3] = { hColorEvent, hDepthPlayerEvent, hSkeletonEvent };
// カラーテーブル
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 ){
// フレームの更新待ち
ResetEvent( hColorEvent );
ResetEvent( hDepthPlayerEvent );
ResetEvent( hSkeletonEvent );
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;
}
// Depthセンサーからフレームを取得
NUI_IMAGE_FRAME pDepthPlayerImageFrame = { 0 };
hResult = pSensor->NuiImageStreamGetNextFrame( hDepthPlayerHandle, 0, &pDepthPlayerImageFrame );
if( FAILED( hResult ) ){
std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH&PLAYER )" << std::endl;
return -1;
}
// Skeletonフレームを取得
NUI_SKELETON_FRAME pSkeletonFrame = { 0 };
hResult = pSensor->NuiSkeletonGetNextFrame( 0, &pSkeletonFrame );
if( FAILED( hResult ) ){
std::cout << "Error : NuiSkeletonGetNextFrame" << 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 );
// Depthデータの取得
INuiFrameTexture* pDepthPlayerFrameTexture = pDepthPlayerImageFrame.pFrameTexture;
NUI_LOCKED_RECT sDepthPlayerLockedRect;
pDepthPlayerFrameTexture->LockRect( 0, &sDepthPlayerLockedRect, nullptr, 0 );
// 表示
cv::Mat colorMat( 480, 640, CV_8UC4, reinterpret_cast<uchar*>( sColorLockedRect.pBits ) );
LONG registX = 0;
LONG registY = 0;
ushort* pBuffer = reinterpret_cast<ushort*>( sDepthPlayerLockedRect.pBits );
cv::Mat bufferMat = cv::Mat::zeros( 480, 640, CV_16UC1 );
cv::Mat playerMat = cv::Mat::zeros( 480, 640, CV_8UC3 );
for( int y = 0; y < 480; y++ ){
for( int x = 0; x < 640; x++ ){
pSensor->NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution( NUI_IMAGE_RESOLUTION_640x480, NUI_IMAGE_RESOLUTION_640x480, nullptr, x, y, *pBuffer, ®istX, ®istY );
if( ( registX >= 0 ) && ( registX < 640 ) && ( registY >= 0 ) && ( registY < 480 ) ){
bufferMat.at<ushort>( registY, registX ) = *pBuffer & 0xFFF8;
playerMat.at<cv::Vec3b>( registY, registX ) = color[*pBuffer & 0x7];
}
pBuffer++;
}
}
cv::Mat depthMat( 480, 640, CV_8UC1 );
bufferMat.convertTo( depthMat, CV_8UC3, -255.0f / NUI_IMAGE_DEPTH_MAXIMUM, 255.0f );
cv::Mat skeletonMat = cv::Mat::zeros( 480, 640, CV_8UC3 );
cv::Point2f point;
for( int count = 0; count < NUI_SKELETON_COUNT; count++ ){
NUI_SKELETON_DATA skeleton = pSkeletonFrame.SkeletonData[count];
if( skeleton.eTrackingState == NUI_SKELETON_TRACKED ){
for( int position = 0; position < NUI_SKELETON_POSITION_COUNT; position++ ){
NuiTransformSkeletonToDepthImage( skeleton.SkeletonPositions[position], &point.x, &point.y, NUI_IMAGE_RESOLUTION_640x480 );
cv::circle( skeletonMat, point, 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 );
// フレームの解放
pColorFrameTexture->UnlockRect( 0 );
pDepthPlayerFrameTexture->UnlockRect( 0 );
pSensor->NuiImageStreamReleaseFrame( hColorHandle, &pColorImageFrame );
pSensor->NuiImageStreamReleaseFrame( hDepthPlayerHandle, &pDepthPlayerImageFrame );
// 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();
pSensor->NuiSkeletonTrackingDisable();
CloseHandle( hColorEvent );
CloseHandle( hDepthPlayerEvent );
CloseHandle( hSkeletonEvent );
CloseHandle( hColorHandle );
CloseHandle( hDepthPlayerHandle );
cv::destroyAllWindows();
return 0;
}
