~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;
}
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;
}
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>
/// 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;
}
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;
}
/// <summary>
/// Create the first connected Kinect found
/// </summary>
/// <returns>indicates success or failure</returns>
HRESULT CColorBasics::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
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_SKELETON);
if (SUCCEEDED(hr))
{
// Create an event that will be signaled when color data is available
m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Create an event that will be signaled when skeleton data is available
m_hNextSkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
// Open a color image stream to receive color frames
//TODO: Check image format https://msdn.microsoft.com/en-us/library/nuiimagecamera.nui_image_type.aspx (we now have RGB)
hr = m_pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
m_hNextColorFrameEvent,
&m_pColorStreamHandle);
if(!FAILED(hr)){
// 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;
}
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;
}
/// <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;
}
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);
}
/*!
//\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;
}
HRESULT KTM::KinectWrapper::connectDevice(){
if(isConnected())
disconnectDevice();
INuiSensor * pTmpKinectSensor;
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, &pTmpKinectSensor);
if (FAILED(hr))
continue;
// Get the status of the sensor, and if connected, then we can initialize it
hr = pTmpKinectSensor->NuiStatus();
if (S_OK == hr){
pKinectSensor = pTmpKinectSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pTmpKinectSensor->Release();
}
if (NULL != pKinectSensor){
// Initialize the Kinect and specify that we'll be using depth
hr = pKinectSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
if (SUCCEEDED(hr)){
// Create an event that will be signaled when depth data is available
hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Open a depth image stream to receive depth frames
hr = pKinectSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
RGBResolutionCode,
0,
NUI_IMAGE_STREAM_FRAME_LIMIT_MAXIMUM,
hNextColorFrameEvent,
&hColorStreamHandle
);
hr = pKinectSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH,
depthResolutionCode,
0,
NUI_IMAGE_STREAM_FRAME_LIMIT_MAXIMUM,
hNextDepthFrameEvent,
&hDepthStreamHandle
);
}
}
if (NULL == pKinectSensor || FAILED(hr))
return E_FAIL;
return hr;
}
// 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;
}
/// <summary>
/// Create the first connected Kinect found
/// </summary>
/// <returns>indicates success or failure</returns>
HRESULT CDepthBasics::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
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(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);
}
}
if (NULL == m_pNuiSensor || FAILED(hr))
{
SetStatusMessage(L"No ready Kinect found!");
return E_FAIL;
}
return hr;
}
// 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;
}
/// <summary>
/// Create the first connected Kinect found.
/// </summary>
/// <returns>S_OK on success, otherwise failure code.</returns>
HRESULT KinectReader::CreateFirstConnected()
{
INuiSensor * pNuiSensor = NULL;
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 audio signal
// Initialize the Kinect and specify that we'll be using depth
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_AUDIO | NUI_INITIALIZE_FLAG_USES_DEPTH);
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);
}
}
if (NULL == m_pNuiSensor || FAILED(hr))
{
std::cout<<"No ready Kinect found!"<<std::endl;
m_pNuiSensor = NULL;
//SetStatusMessage(L"No ready Kinect found!");
return E_FAIL;
}
printf("Kinect found. \n");
/* Speech start */
hr = InitializeAudioStream();
if (FAILED(hr))
{
printf("Could not initialize audio stream.\n");
return hr;
}
printf("Initialize Audio Stream. \n");
hr = CreateSpeechRecognizer();
if (FAILED(hr))
{
printf("Could not create speech recognizer. Please ensure that Microsoft Speech SDK and other sample requirements are installed.\n");
return hr;
}
printf("Create Speech Recognizer. \n");
hr = LoadSpeechGrammar();
if (FAILED(hr))
{
printf("Could not load speech grammar. Please ensure that grammar configuration file was properly deployed.\n");
return hr;
}
printf("Start Speech Recognition. \n");
hr = StartSpeechRecognition();
if (FAILED(hr))
{
printf("Could not start recognizing speech. \n");
return hr;
}
/* Speech end */
return hr;
}
bool KinectCapture::InitCapture()
{
INuiSensor * pNuiSensor;
HRESULT hr;
int iSensorCount = 0;
hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr))
{
std::cout << "No ready Kinect found!" << std::endl;
return false;
}
// 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_NuiSensor = pNuiSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pNuiSensor->Release();
}
if (nullptr != m_NuiSensor)
{
// Initialize the Kinect and specify that we'll be using depth
hr = m_NuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH | NUI_INITIALIZE_FLAG_USES_COLOR);
if (SUCCEEDED(hr))
{
// Open a depth image stream to receive depth frames
hr = m_NuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH,
m_depthImageResolution,
0,
2,
NULL,
&m_DepthStreamHandle);
if (SUCCEEDED(hr))
{
// Open a color image stream to receive color frames
hr = m_NuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
m_colorImageResolution,
0,
2,
NULL,
&m_ColorStreamHandle);
}
if (FAILED(hr))
{
std::cout << "Couldn't open color stream" << std::endl;
}
}
}
if (m_NearMode)
{
// Set near mode based on our internal state
HRESULT nearHr = m_NuiSensor->NuiImageStreamSetImageFrameFlags(m_DepthStreamHandle, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE);
}
if (nullptr == m_NuiSensor || FAILED(hr))
{
std::cout << "No ready Kinect found!" << std::endl;
return false;
}
return (S_OK == 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
}
/// <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;
}
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;
}
// 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;
}
}
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;
}
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;
}
