void Kinect2Manager::UpdateBody(IBodyFrame* pBodyFrame)
{
#ifdef _USE_KINECT
INT64 nTime = 0;
HRESULT hr = pBodyFrame->get_RelativeTime(&nTime);
IBody* ppBodies[BODY_COUNT] = { 0 };
if (SUCCEEDED(hr))
{
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
}
if (SUCCEEDED(hr))
{
ProcessBody(nTime, _countof(ppBodies), ppBodies);
}
for (int i = 0; i < _countof(ppBodies); ++i)
{
SafeRelease(ppBodies[i]);
}
#else
#endif
}
void KinectPlugin::updateBody() {
#ifndef HAVE_KINECT
return;
#else
if (!_bodyFrameReader) {
return;
}
IBodyFrame* pBodyFrame = NULL;
HRESULT hr = _bodyFrameReader->AcquireLatestFrame(&pBodyFrame);
if (SUCCEEDED(hr)) {
INT64 nTime = 0;
hr = pBodyFrame->get_RelativeTime(&nTime);
IBody* bodies[BODY_COUNT] = {0};
if (SUCCEEDED(hr)) {
hr = pBodyFrame->GetAndRefreshBodyData(_countof(bodies), bodies);
}
if (SUCCEEDED(hr)) {
ProcessBody(nTime, BODY_COUNT, bodies);
}
for (int i = 0; i < _countof(bodies); ++i) {
SafeRelease(bodies[i]);
}
}
SafeRelease(pBodyFrame);
#endif
}
/// <summary>
/// Main processing function
/// </summary>
void CBodyBasics::Update()
{
if (!m_pBodyFrameReader)
{
return;
}
IBodyFrame* pBodyFrame = NULL;
HRESULT hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);
if (SUCCEEDED(hr))
{
INT64 nTime = 0;
hr = pBodyFrame->get_RelativeTime(&nTime);
IBody* ppBodies[BODY_COUNT] = {0};
if (SUCCEEDED(hr))
{
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
}
if (SUCCEEDED(hr))
{
ProcessBody(nTime, BODY_COUNT, ppBodies);
}
for (int i = 0; i < _countof(ppBodies); ++i)
{
SafeRelease(ppBodies[i]);
}
}
SafeRelease(pBodyFrame);
/// Update Color Frame
if (IsDrawColorBase)
{
UpdateColorBase();
}
}
void testApp::update() {
kinect.update();
if (!m_pBodyFrameReader)
{
return;
}
IBodyFrame* pBodyFrame = NULL;
HRESULT hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);
if (SUCCEEDED(hr))
{
INT64 nTime = 0;
hr = pBodyFrame->get_RelativeTime(&nTime);
IBody* ppBodies[BODY_COUNT] = { 0 };
if (SUCCEEDED(hr))
{
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
}
if (SUCCEEDED(hr))
{
ProcessBody(nTime, BODY_COUNT, ppBodies);
}
for (int i = 0; i < _countof(ppBodies); ++i)
{
SafeRelease(ppBodies[i]);
}
}
SafeRelease(pBodyFrame);
for (int y = 0; y < vectorField.getHeight(); y++)
for (int x = 0; x< vectorField.getWidth(); x++) {
int index = vectorField.getPixelIndex(x, y);
float angle = ofNoise(x / (float)vectorField.getWidth()*4.0, y / (float)vectorField.getHeight()*4.0, ofGetElapsedTimef()*0.05)*TWO_PI*2.0;
ofVec2f dir(cos(angle), sin(angle));
dir.normalize().scale(ofNoise(x / (float)vectorField.getWidth()*4.0, y / (float)vectorField.getHeight()*4.0, ofGetElapsedTimef()*0.05 + 10.0));
vectorField.setColor(x, y, ofColor_<float>(dir.x, dir.y, 0));
}
for (int i = 0; i < BODY_COUNT; i++) {
updateParticleSystem(&particleSystems[i], lastChestPositions[i], lastHandPositionLeft[i], lastHandPositionRight[i], leftHandStates[i], rightHandStates[i]);
}
//Check if a body left the system for a long period of time
for (int i = 0; i < BODY_COUNT; i++) {
if (lastKnownChestPosition[i] == lastChestPositions[i])
{
bodyFreezeIterationToRemoveCount[i]++;
}
else {
bodyFreezeIterationToRemoveCount[i] = 0;
}
lastKnownChestPosition[i] = lastChestPositions[i];
if (bodyFreezeIterationToRemoveCount[i] >= MAX_NUM_OF_ITERATIONS_TO_REMOVE_A_BODY ) {
bodyFreezeIterationToRemoveCount[i] = 0;
lastChestPositions[i].x = lastChestPositions[i].y = 0;
}
}
}
void MyKinect2::Update()
{
// récupération de l'image en 2D
if (!m_pColorFrameReader)
{
return;
}
IColorFrame* pColorFrame = NULL;
HRESULT hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);
if (SUCCEEDED(hr))
{
INT64 nTime = 0;
IFrameDescription* pFrameDescription = NULL;
int nWidth = 0;
int nHeight = 0;
ColorImageFormat imageFormat = ColorImageFormat_None;
UINT nBufferSize = 0;
hr = pColorFrame->get_RelativeTime(&nTime);
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_FrameDescription(&pFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Width(&nWidth);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Height(&nHeight);
}
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_RawColorImageFormat(&imageFormat);
}
if (SUCCEEDED(hr) && (nWidth == cColorWidth) && (nHeight == cColorHeight))
{
if (imageFormat == ColorImageFormat_Bgra)
{
hr = pColorFrame->AccessRawUnderlyingBuffer(&nBufferSize, reinterpret_cast<BYTE**>(&webcam.data));
}
else if (m_pColorRGBX)
{
nBufferSize = cColorWidth * cColorHeight * sizeof(RGBQUAD);
hr = pColorFrame->CopyConvertedFrameDataToArray(nBufferSize, reinterpret_cast<BYTE*>(webcam.data), ColorImageFormat_Bgra);
}
else
{
hr = E_FAIL;
}
}
SafeRelease(pFrameDescription);
}
// récupération du squelette
if (!m_pBodyFrameReader)
{
return;
}
IBodyFrame* pBodyFrame = NULL;
hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);
if (SUCCEEDED(hr))
{
INT64 nTime = 0;
hr = pBodyFrame->get_RelativeTime(&nTime);
IBody* ppBodies[BODY_COUNT] = {0};
if (SUCCEEDED(hr))
{
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
}
if (SUCCEEDED(hr))
{
ProcessBody(BODY_COUNT, ppBodies); // BODY_COUNT est un define de Kinect.h égal à 6... peut etre mettre 1 plus tard afin déviter des problemes lors de la récupération des positions de joints
}
for (int i = 0; i < _countof(ppBodies); ++i)
{
SafeRelease(ppBodies[i]);
}
}
SafeRelease(pBodyFrame);
SafeRelease(pColorFrame);
}
/// Main processing function
void CBodyBasics::Update()
{
clear = true;
for ( int i = 0; i < BODY_COUNT; i ++ )
{
bodyXY[i][0] = bodyXY[i][1] = -1;
position[i][0] = position[i][1] = -1;
angle[i] = -1;
distance = -1;
}
//每次先清空skeletonImg
skeletonImg.setTo(0);
//如果丢失了kinect，则不继续操作
if (!m_pBodyFrameReader)
{
return;
}
IBodyFrame* pBodyFrame = NULL;//骨架信息
IDepthFrame* pDepthFrame = NULL;//深度信息
IBodyIndexFrame* pBodyIndexFrame = NULL;//背景二值图
//记录每次操作的成功与否
HRESULT hr = S_OK;
//---------------------------------------获取背景二值图并显示---------------------------------
if (SUCCEEDED(hr)){
hr = m_pBodyIndexFrameReader->AcquireLatestFrame(&pBodyIndexFrame);//获得背景二值图信息
}
if (SUCCEEDED(hr)){
BYTE *bodyIndexArray = new BYTE[cDepthHeight * cDepthWidth];//背景二值图是8为uchar，有人是黑色，没人是白色
pBodyIndexFrame->CopyFrameDataToArray(cDepthHeight * cDepthWidth, bodyIndexArray);
//把背景二值图画到MAT里
uchar* skeletonData = (uchar*)skeletonImg.data;
for (int j = 0; j < cDepthHeight * cDepthWidth; ++j){
*skeletonData = bodyIndexArray[j]; ++skeletonData;
*skeletonData = bodyIndexArray[j]; ++skeletonData;
*skeletonData = bodyIndexArray[j]; ++skeletonData;
}
delete[] bodyIndexArray;
}
SafeRelease(pBodyIndexFrame);//必须要释放，否则之后无法获得新的frame数据
//-----------------------------获取骨架并显示----------------------------
if (SUCCEEDED(hr)){
hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);//获取骨架信息
}
if (SUCCEEDED(hr))
{
IBody* ppBodies[BODY_COUNT] = { 0 };//每一个IBody可以追踪一个人，总共可以追踪六个人
if (SUCCEEDED(hr))
{
//把kinect追踪到的人的信息，分别存到每一个IBody中
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
}
if (SUCCEEDED(hr))
{
//对每一个IBody，我们找到他的骨架信息，并且画出来
ProcessBody(BODY_COUNT, ppBodies);
}
for (int i = 0; i < _countof(ppBodies); ++i)
{
SafeRelease(ppBodies[i]);//释放所有
}
}
SafeRelease(pBodyFrame);//必须要释放，否则之后无法获得新的frame数据
//-----------------------获取深度数据并显示--------------------------
if (SUCCEEDED(hr)){
hr = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);//获得深度数据
}
if (SUCCEEDED(hr)){
UINT16 *depthArray = new UINT16[cDepthHeight * cDepthWidth];//深度数据是16位unsigned int
pDepthFrame->CopyFrameDataToArray(cDepthHeight * cDepthWidth, depthArray);
//把深度数据画到MAT中
uchar* depthData = (uchar*)depthImg.data;
for (int j = 0; j < cDepthHeight * cDepthWidth; ++j){
*depthData = depthArray[j];
++depthData;
}
distance = depthArray[cDepthHeight*cDepthWidth/2 + cDepthWidth/2];
for ( int j = 0; j < BODY_COUNT; j ++ )
{
if ( -1 == (bodyXY[j][0] | bodyXY[j][1]) )
{
continue;
}
double r = depthArray[cDepthWidth*bodyXY[j][1] + bodyXY[j][0]];
position[j][0] = r * cos(angle[j]) / 1000.0;
position[j][1] = r * sin(angle[j]) / 1000.0;
}
delete[] depthArray;
}
SafeRelease(pDepthFrame);//必须要释放，否则之后无法获得新的frame数据
imshow("depthImg", depthImg);
cv::waitKey(5);
}
/// <summary>
/// Main processing function
/// </summary>
// この関数がループ処理される
void CColorBasics::Update()
{
HRESULT hr = NULL;
// (1) カラーフレーム（背景描画のみに使用）
if (m_pColorFrameReader)
{
IColorFrame* pColorFrame = NULL;
hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);
if (SUCCEEDED(hr))
{
INT64 nTime = 0;
IFrameDescription* pFrameDescription = NULL;
int nWidth = 0;
int nHeight = 0;
ColorImageFormat imageFormat = ColorImageFormat_None;
UINT nBufferSize = 0;
RGBQUAD *pBuffer = NULL;
hr = pColorFrame->get_RelativeTime(&nTime);
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_FrameDescription(&pFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Width(&nWidth);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Height(&nHeight);
}
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_RawColorImageFormat(&imageFormat);
}
if (SUCCEEDED(hr))
{
if (imageFormat == ColorImageFormat_Bgra)
{
hr = pColorFrame->AccessRawUnderlyingBuffer(&nBufferSize, reinterpret_cast<BYTE**>(&pBuffer));
}
else if (m_pColorRGBX)
{
pBuffer = m_pColorRGBX;
nBufferSize = cColorWidth * cColorHeight * sizeof(RGBQUAD);
hr = pColorFrame->CopyConvertedFrameDataToArray(nBufferSize, reinterpret_cast<BYTE*>(pBuffer), ColorImageFormat_Bgra);
}
else
{
hr = E_FAIL;
}
}
if (SUCCEEDED(hr))
{
ProcessColor(nTime, pBuffer, nWidth, nHeight);
}
SafeRelease(pFrameDescription);
}
SafeRelease(pColorFrame);
}
// これ以降にBody処理を実装
TIMESPAN nBodyTime = 0;
if (m_pBodyFrameReader)
{
IBodyFrame* pBodyFrame = NULL;
hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);
if (SUCCEEDED(hr))
{
hr = pBodyFrame->get_RelativeTime(&nBodyTime);
// ここに、UI描画処理 ボタン等
// ゲームのステータスによって描画を設定
if (!m_pGame){ m_pGame = new CSemaphoreGame(m_pDrawColor, m_pCoordinateMapper); }
if (m_pGame){ m_pGame->Display(nBodyTime); }
IBody* ppBodies[BODY_COUNT] = { 0 };
if (SUCCEEDED(hr))
{
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
}
if (SUCCEEDED(hr))
{
// ここに、UI処理->ProcessBody()内でOK
// ボディデータにてUI処理を行う
// ステータスの変更
if (m_pGame){ m_pGame->Play(nBodyTime, BODY_COUNT, ppBodies); }
ProcessBody(nBodyTime, BODY_COUNT, ppBodies);
}
for (int i = 0; i < _countof(ppBodies); ++i)
{
SafeRelease(ppBodies[i]);
}
}
SafeRelease(pBodyFrame);
}
return;
}