/// <summary>
/// Main processing function
/// </summary>
void CBackgroundRemovalBasics::Update()
{
if (NULL == m_pNuiSensor)
{
return;
}
if (WAIT_OBJECT_0 == WaitForSingleObject(m_hNextBackgroundRemovedFrameEvent, 0))
{
ComposeImage();
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) )
{
ProcessDepth();
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextColorFrameEvent, 0) )
{
ProcessColor();
}
if (WAIT_OBJECT_0 == WaitForSingleObject(m_hNextSkeletonFrameEvent, 0) )
{
ProcessSkeleton();
}
}
/// <summary>
/// Process an incoming stream frame
/// </summary>
void NuiDepthStream::ProcessStreamFrame()
{
if (WAIT_OBJECT_0 == WaitForSingleObject(GetFrameReadyEvent(), 0))
{
// if we have received any valid new depth data we may need to draw
ProcessDepth();
}
}
/// <summary>
/// Main processing function
/// </summary>
void KinectEasyGrabber::Record()
{
if (NULL == m_pNuiSensor)
{
return;
}
bool needToDraw = false;
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) )
{
// if we have received any valid new depth data we may need to draw
if ( SUCCEEDED(ProcessDepth()) )
{
needToDraw = true;
}
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextColorFrameEvent, 0) )
{
// if we have received any valid new color data we may need to draw
if ( SUCCEEDED(ProcessColor()) )
{
needToDraw = true;
}
}
// Depth is 30 fps. For any given combination of FPS, we should ensure we are within half a frame of the more frequent of the two.
// But depth is always the greater (or equal) of the two, so just use depth FPS.
const int depthFps = 30;
const int halfADepthFrameMs = (1000 / depthFps) / 2;
// If we have not yet received any data for either color or depth since we started up, we shouldn't draw
if (m_colorTimeStamp.QuadPart == 0 || m_depthTimeStamp.QuadPart == 0)
{
needToDraw = false;
}
// If the color frame is more than half a depth frame ahead of the depth frame we have,
// then we should wait for another depth frame. Otherwise, just go with what we have.
if (m_colorTimeStamp.QuadPart - m_depthTimeStamp.QuadPart > halfADepthFrameMs)
{
needToDraw = false;
}
if (needToDraw)
{
if(m_frameIndex >= 50) return;
dumpToDisk(m_frameIndex, m_frameBasename, m_depthD16, m_colorRGBX, m_colorCoordinates, m_depthTimeStamp, m_colorTimeStamp);
// Draw the data with Direct2D
m_pDrawKinectEasyGrabber->Draw(m_colorRGBX, m_colorWidth * m_colorHeight * cBytesPerPixel);
m_frameIndex++;
}
}
////////////////////////////////////////////////////////////////////////////////
// public member functions
////////////////////////////////////////////////////////////////////////////////
int IntelCamera::NextFrame()
{
// color & depth image : force to synchronize
if ( ProcessColor()==-1 ) return -1;
if ( ProcessDepth()==-1 ) return -1;
// point cloud
if ( MapColorToDepth()==-1 ) return -1;
return 1;
}
/// <summary>
/// Main processing function
/// </summary>
void CKinectFusion::Update()
{
if (nullptr == m_pNuiSensor)
{
return;
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) )
{
ProcessDepth();
}
}
/// <summary>
/// Main processing function
/// </summary>
void CDepthBasics::Update()
{
if (NULL == m_pNuiSensor)
{
return;
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) )
{
ProcessDepth();
}
}
bool KinectSDKGrabber::GetNextFrame(cv::Mat &colorFrame, cv::Mat &depthFrame)
{
WaitForSingleObject(m_hNextDepthFrameEvent, INFINITE);
WaitForSingleObject(m_hNextColorFrameEvent, INFINITE);
colorFrame = cv::Mat::zeros(FrameHeight, FrameWidth, CV_8UC4);
depthFrame = cv::Mat::zeros(FrameHeight, FrameWidth, CV_32FC1);
HRESULT hr = ProcessDepth((float *)depthFrame.data);
if (FAILED(hr))
{
return false;
}
hr = ProcessColor(colorFrame);
if (FAILED(hr))
{
return false;
}
return true;
}
void KinectSensorV1::Update()
{
if (NULL == m_pNuiSensor)
{
return;
}
if (WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0))
{
ProcessDepth();
}
if (WAIT_OBJECT_0 == WaitForSingleObject(m_hNextColorFrameEvent, 0))
{
ProcessColor();
}
if (cRevieveRGB && WAIT_OBJECT_0 == WaitForSingleObject(m_hNextRGBFrameEvent, 0))
{
ProcessRGB();
}
}
//after calling this, get the depth fram with GetDepth or GetDepthRGBX
void UpdateDepth(){
if (!m_pDepthFrameReader)
{
return;
}
IDepthFrame* pDepthFrame = NULL;
HRESULT hr = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);
if (SUCCEEDED(hr))
{
INT64 nTime = 0;
IFrameDescription* pFrameDescription = NULL;
int nWidth = 0;
int nHeight = 0;
USHORT nDepthMinReliableDistance = 0;
USHORT nDepthMaxReliableDistance = 0;
UINT nBufferSize = 0;
UINT16 *pBuffer = NULL;
hr = pDepthFrame->get_RelativeTime(&nTime);
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Width(&nWidth);
}
if (SUCCEEDED(hr))
{
m_nDepthWidth = nWidth;
hr = pFrameDescription->get_Height(&nHeight);
}
if (SUCCEEDED(hr))
{
m_nDepthHeight = nHeight;
hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxReliableDistance);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);
}
if (SUCCEEDED(hr))
{
if(m_bCalculateDepthRGBX)
ProcessDepth(nTime, pBuffer, nWidth, nHeight, nDepthMinReliableDistance, nDepthMaxReliableDistance);
else
ProcessDepthNoRGBX(nTime, pBuffer, nWidth, nHeight, nDepthMinReliableDistance, nDepthMaxReliableDistance);
if(!m_bColorDepthMapCalculated){
CalculateColorDepthMap();
}
if(m_bMapDepthToColor && m_nColorWidth > 0 && m_nColorHeight > 0 && SUCCEEDED(hr) && m_bColorDepthMapCalculated){
ProcessDepthToColor(m_pDepth, m_nDepthWidth, m_nDepthHeight, m_pColorDepthMap, m_nColorWidth, m_nColorHeight);
}
}
SafeRelease(pFrameDescription);
}
else{
DumpHR(hr);
}
SafeRelease(pDepthFrame);
}
//after calling this, get the depth fram with GetDepth or GetDepthRGBX
void Kinect2Manager::UpdateDepth(IDepthFrame* pDepthFrame) {
#ifdef _USE_KINECT
INT64 nTime = 0;
IFrameDescription* pFrameDescription = NULL;
int nWidth = 0;
int nHeight = 0;
USHORT nDepthMinReliableDistance = 0;
USHORT nDepthMaxReliableDistance = 0;
UINT nBufferSize = 0;
UINT16 *pBuffer = NULL;
HRESULT hr = pDepthFrame->get_RelativeTime(&nTime);
if (SUCCEEDED(hr))
{
m_nDepthTime = nTime;
hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Width(&nWidth);
}
if (SUCCEEDED(hr))
{
m_nDepthWidth = nWidth;
hr = pFrameDescription->get_Height(&nHeight);
}
if (SUCCEEDED(hr))
{
m_nDepthHeight = nHeight;
hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxReliableDistance);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);
}
if (SUCCEEDED(hr))
{
if (m_bCalculateDepthRGBX)
ProcessDepth(nTime, pBuffer, nWidth, nHeight, nDepthMinReliableDistance, nDepthMaxReliableDistance);
else
ProcessDepthNoRGBX(nTime, pBuffer, nWidth, nHeight, nDepthMinReliableDistance, nDepthMaxReliableDistance);
}
SafeRelease(pFrameDescription);
#else
#endif
}
/// <summary>
/// Main processing function
/// </summary>
void KinectEasyGrabber::Play()
{
if (NULL == m_pNuiSensor)
{
return;
}
bool needToDraw = false;
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) )
{
// if we have received any valid new depth data we may need to draw
if ( SUCCEEDED(ProcessDepth()) )
{
needToDraw = true;
}
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextColorFrameEvent, 0) )
{
// if we have received any valid new color data we may need to draw
if ( SUCCEEDED(ProcessColor()) )
{
needToDraw = true;
}
}
// Depth is 30 fps. For any given combination of FPS, we should ensure we are within half a frame of the more frequent of the two.
// But depth is always the greater (or equal) of the two, so just use depth FPS.
const int depthFps = 30;
const int halfADepthFrameMs = (1000 / depthFps) / 2;
// If we have not yet received any data for either color or depth since we started up, we shouldn't draw
if (m_colorTimeStamp.QuadPart == 0 || m_depthTimeStamp.QuadPart == 0)
{
needToDraw = false;
}
// If the color frame is more than half a depth frame ahead of the depth frame we have,
// then we should wait for another depth frame. Otherwise, just go with what we have.
if (m_colorTimeStamp.QuadPart - m_depthTimeStamp.QuadPart > halfADepthFrameMs)
{
needToDraw = false;
}
if (needToDraw)
{
int outputIndex = 0;
LONG* pDest;
LONG* pSrc;
// loop over each row and column of the color
for (LONG y = 0; y < m_colorHeight; ++y)
{
for (LONG x = 0; x < m_colorWidth; ++x)
{
// calculate index into depth array
int depthIndex = x/m_colorToDepthDivisor + y/m_colorToDepthDivisor * m_depthWidth;
USHORT depth = m_depthD16[depthIndex];
USHORT player = NuiDepthPixelToPlayerIndex(depth);
// default setting source to copy from the background pixel
pSrc = (LONG *)m_backgroundRGBX + outputIndex;
// if we're tracking a player for the current pixel, draw from the color camera
if ( player > 0 )
{
// retrieve the depth to color mapping for the current depth pixel
LONG colorInDepthX = m_colorCoordinates[depthIndex * 2];
LONG colorInDepthY = m_colorCoordinates[depthIndex * 2 + 1];
// make sure the depth pixel maps to a valid point in color space
if ( colorInDepthX >= 0 && colorInDepthX < m_colorWidth && colorInDepthY >= 0 && colorInDepthY < m_colorHeight )
{
// calculate index into color array
LONG colorIndex = colorInDepthX + colorInDepthY * m_colorWidth;
// set source for copy to the color pixel
pSrc = (LONG *)m_colorRGBX + colorIndex;
}
}
// calculate output pixel location
pDest = (LONG *)m_outputRGBX + outputIndex++;
// write output
*pDest = *pSrc;
}
}
// Draw the data with Direct2D
m_pDrawKinectEasyGrabber->Draw(m_outputRGBX, m_colorWidth * m_colorHeight * cBytesPerPixel);
}
}
/// <summary>
/// Main processing function
/// </summary>
void KinectEasyGrabber::RecordArray()
{
if (NULL == m_pNuiSensor)
{
return;
}
bool needToDraw = false;
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) )
{
// if we have received any valid new depth data we may need to draw
if ( SUCCEEDED(ProcessDepth()) )
{
needToDraw = true;
}
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextColorFrameEvent, 0) )
{
// if we have received any valid new color data we may need to draw
if ( SUCCEEDED(ProcessColor()) )
{
needToDraw = true;
}
}
// Depth is 30 fps. For any given combination of FPS, we should ensure we are within half a frame of the more frequent of the two.
// But depth is always the greater (or equal) of the two, so just use depth FPS.
const int depthFps = 30;
const int halfADepthFrameMs = (1000 / depthFps) / 2;
// If we have not yet received any data for either color or depth since we started up, we shouldn't draw
if (m_colorTimeStamp.QuadPart == 0 || m_depthTimeStamp.QuadPart == 0)
{
needToDraw = false;
}
// If the color frame is more than half a depth frame ahead of the depth frame we have,
// then we should wait for another depth frame. Otherwise, just go with what we have.
if (m_colorTimeStamp.QuadPart - m_depthTimeStamp.QuadPart > halfADepthFrameMs)
{
needToDraw = false;
}
// cantidad de frames a grabar
if(m_frameIndex >= m_totalFrames){ RecordArrayToDisk(); return; }
if(m_dumped) return;
if (needToDraw)
{
//Hard copy into ram
memcpy(m_outputArrayDepthD16[m_frameIndex],m_depthD16, m_depthWidth*m_depthHeight*sizeof(USHORT));
memcpy(m_outputArrayRGBX[m_frameIndex],m_colorRGBX, m_colorWidth*m_colorHeight*cBytesPerPixel*sizeof(BYTE));
memcpy(m_outputArrayColorCoordinates[m_frameIndex],m_colorCoordinates, m_depthWidth*m_depthHeight*2*sizeof(LONG));
m_colorArrayTimeStamp[m_frameIndex] = m_colorTimeStamp;
m_depthArrayTimeStamp[m_frameIndex] = m_depthTimeStamp;
// Draw the data with Direct2D
#ifdef DRAW_FRAMES
m_pDrawKinectEasyGrabber->Draw(m_colorRGBX, m_colorWidth * m_colorHeight * cBytesPerPixel);
#endif
m_frameIndex++;
}
}
/// <summary>
/// Main processing function
/// </summary>
void CDepthBasics::Update()
{
if (!m_pDepthFrameReader)
{
return;
}
IDepthFrame* pDepthFrame = NULL;
HRESULT hrDepth = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);
if (SUCCEEDED(hrDepth))
{
INT64 nTime = 0;
IFrameDescription* pFrameDescription = NULL;
int nWidth = 0;
int nHeight = 0;
USHORT nDepthMinReliableDistance = 0;
USHORT nDepthMaxDistance = 0;
UINT nBufferSize = 0;
UINT16 *pBuffer = NULL;
HRESULT hr = pDepthFrame->get_RelativeTime(&nTime);
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Width(&nWidth);
}
if (SUCCEEDED(hr))
{
hr = pFrameDescription->get_Height(&nHeight);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_DepthMinReliableDistance(&nDepthMinReliableDistance);
}
if (SUCCEEDED(hr))
{
// In order to see the full range of depth (including the less reliable far field depth)
// we are setting nDepthMaxDistance to the extreme potential depth threshold
nDepthMaxDistance = USHRT_MAX;
// Note: If you wish to filter by reliable depth distance, uncomment the following line.
//// hr = pDepthFrame->get_DepthMaxReliableDistance(&nDepthMaxDistance);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrame->AccessUnderlyingBuffer(&nBufferSize, &pBuffer);
}
if (SUCCEEDED(hr))
{
ProcessDepth(nTime, pBuffer, nWidth, nHeight, nDepthMinReliableDistance, nDepthMaxDistance);
}
SafeRelease(pFrameDescription);
}
SafeRelease(pDepthFrame);
}
