void makeCloudMap(void)
{
GLfloat win_tex_w = (float)win_width/tex_width;
GLfloat win_tex_h = (float)win_height/tex_height;
long cx=0,cy=0;
for( int y = 0; y < 240; ++y ){
for( int x = 0; x < 320; ++x){
Vector4 tmp = NuiTransformDepthImageToSkeleton(x, y, depth[y][x]);
NuiImageGetColorPixelCoordinatesFromDepthPixel(NUI_IMAGE_RESOLUTION_320x240, NULL, x, y, depth[y][x], &cx, &cy);
CloudMap[y][x][0] = (short)(tmp.z*1000);
TexMap[y][x][0] = (short)cx*win_tex_w;
CloudMap[y][x][1] = -(short)(tmp.x*1000);
TexMap[y][x][1] = (short)cy*win_tex_h;
CloudMap[y][x][2] = (short)(tmp.y*1000);
TexMap[y][x][2] = (short)(tmp.z*1000);
indices[y][x] = y*win_width+x;
}
}
}
void drawNuiSkeleton(int playerID)
{
int scaleX = DEFAULT_WIDTH;
int scaleY = DEFAULT_HEIGHT;
long x=0,y=0;
unsigned short depth=0;
float fx=0,fy=0;
long cx=0,cy=0;
int display_pos[NUI_SKELETON_POSITION_COUNT][2];
for (int i = 0; i < NUI_SKELETON_POSITION_COUNT; i++)
{
// Overlay on depth image
//NuiTransformSkeletonToDepthImage( skels[playerID][i], &fx, &fy);
//display_pos[i][0] = (int) ( fx / 320.0 * DEFAULT_WIDTH);
//display_pos[i][1] = (int) ( fy / 240.0 * DEFAULT_HEIGHT);
// Overlay on color image
NuiTransformSkeletonToDepthImage( skels[playerID][i], &x, &y, &depth);
NuiImageGetColorPixelCoordinatesFromDepthPixel(NUI_IMAGE_RESOLUTION_640x480, NULL, x, y, depth, &cx, &cy);
display_pos[i][0] = (int) cx;
display_pos[i][1] = (int) cy;
}
glColor3ub(255, 255, 0);
glLineWidth(6);
glBegin(GL_LINE_STRIP);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HIP_CENTER][0], scaleY - display_pos[NUI_SKELETON_POSITION_HIP_CENTER][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_SPINE][0], scaleY - display_pos[NUI_SKELETON_POSITION_SPINE][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_SHOULDER_CENTER][0], scaleY - display_pos[NUI_SKELETON_POSITION_SHOULDER_CENTER][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HEAD][0], scaleY - display_pos[NUI_SKELETON_POSITION_HEAD][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_SHOULDER_CENTER][0], scaleY - display_pos[NUI_SKELETON_POSITION_SHOULDER_CENTER][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_SHOULDER_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_SHOULDER_LEFT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_ELBOW_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_ELBOW_LEFT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_WRIST_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_WRIST_LEFT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HAND_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_HAND_LEFT][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_SHOULDER_CENTER][0], scaleY - display_pos[NUI_SKELETON_POSITION_SHOULDER_CENTER][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_SHOULDER_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_SHOULDER_RIGHT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_ELBOW_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_ELBOW_RIGHT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_WRIST_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_WRIST_RIGHT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HAND_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_HAND_RIGHT][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HIP_CENTER][0], scaleY - display_pos[NUI_SKELETON_POSITION_HIP_CENTER][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HIP_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_HIP_LEFT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_KNEE_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_KNEE_LEFT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_ANKLE_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_ANKLE_LEFT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_FOOT_LEFT][0], scaleY - display_pos[NUI_SKELETON_POSITION_FOOT_LEFT][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HIP_CENTER][0], scaleY - display_pos[NUI_SKELETON_POSITION_HIP_CENTER][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_HIP_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_HIP_RIGHT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_KNEE_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_KNEE_RIGHT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_ANKLE_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_ANKLE_RIGHT][1]);
glVertex2i( scaleX - display_pos[NUI_SKELETON_POSITION_FOOT_RIGHT][0], scaleY - display_pos[NUI_SKELETON_POSITION_FOOT_RIGHT][1]);
glEnd();
glColor3ub(0, 0, 0);
}
// Takes in an x and y depth value, returns corresponding x and y values of the color image
void KinectGrabber::Kinect_ColorFromDepth(LONG depthX, LONG depthY, LONG *pColorX, LONG *pColorY) {
NuiImageGetColorPixelCoordinatesFromDepthPixel(NUI_IMAGE_RESOLUTION_640x480, NULL, LONG(depthX/2), LONG(depthY/2), m_depthBuffer[depthY*DEPTH_WIDTH + depthX] << 3, pColorX, pColorY);
}
void KinectImpl::drawNuiSkeleton(int width, int height, int playerID)
{
int scaleX = width;
int scaleY = height;
long x=0,y=0;
unsigned short depth=0;
float fx=0,fy=0;
long cx=0,cy=0;
float display_posf[NUI_SKELETON_POSITION_COUNT][2];
for (int i = 0; i < NUI_SKELETON_POSITION_COUNT; i++)
{
switch(showedTextureIndex){
case IMAGE_TEXTURE:
NuiTransformSkeletonToDepthImage( skels[playerID][i], &x, &y, &depth);
NuiImageGetColorPixelCoordinatesFromDepthPixel(NUI_IMAGE_RESOLUTION_640x480, NULL, x, y, depth, &cx, &cy);
display_posf[i][0] = 1.0f - (cx / 640.0f) * 2.0f;
display_posf[i][1] = 1.0f - (cy / 480.0f) * 2.0f;
break;
case DEPTH_TEXTURE:
NuiTransformSkeletonToDepthImage( skels[playerID][i], &fx, &fy);
display_posf[i][0] = 1.0f - fx / 320.0f * 2.0f;
display_posf[i][1] = 1.0f - fy / 240.0f * 2.0f;
break;
default:
break;
}
}
glColor3ub(255, 255, 0);
glLineWidth(6);
glBegin(GL_LINE_STRIP);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HIP_CENTER][0], display_posf[NUI_SKELETON_POSITION_HIP_CENTER][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_SPINE][0], display_posf[NUI_SKELETON_POSITION_SPINE][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_SHOULDER_CENTER][0], display_posf[NUI_SKELETON_POSITION_SHOULDER_CENTER][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HEAD][0], display_posf[NUI_SKELETON_POSITION_HEAD][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2f( display_posf[NUI_SKELETON_POSITION_SHOULDER_CENTER][0], display_posf[NUI_SKELETON_POSITION_SHOULDER_CENTER][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_SHOULDER_LEFT][0], display_posf[NUI_SKELETON_POSITION_SHOULDER_LEFT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_ELBOW_LEFT][0], display_posf[NUI_SKELETON_POSITION_ELBOW_LEFT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_WRIST_LEFT][0], display_posf[NUI_SKELETON_POSITION_WRIST_LEFT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HAND_LEFT][0], display_posf[NUI_SKELETON_POSITION_HAND_LEFT][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2f( display_posf[NUI_SKELETON_POSITION_SHOULDER_CENTER][0], display_posf[NUI_SKELETON_POSITION_SHOULDER_CENTER][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_SHOULDER_RIGHT][0], display_posf[NUI_SKELETON_POSITION_SHOULDER_RIGHT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_ELBOW_RIGHT][0], display_posf[NUI_SKELETON_POSITION_ELBOW_RIGHT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_WRIST_RIGHT][0], display_posf[NUI_SKELETON_POSITION_WRIST_RIGHT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HAND_RIGHT][0], display_posf[NUI_SKELETON_POSITION_HAND_RIGHT][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HIP_CENTER][0], display_posf[NUI_SKELETON_POSITION_HIP_CENTER][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HIP_LEFT][0], display_posf[NUI_SKELETON_POSITION_HIP_LEFT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_KNEE_LEFT][0], display_posf[NUI_SKELETON_POSITION_KNEE_LEFT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_ANKLE_LEFT][0], display_posf[NUI_SKELETON_POSITION_ANKLE_LEFT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_FOOT_LEFT][0], display_posf[NUI_SKELETON_POSITION_FOOT_LEFT][1]);
glEnd();
glBegin(GL_LINE_STRIP);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HIP_CENTER][0], display_posf[NUI_SKELETON_POSITION_HIP_CENTER][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_HIP_RIGHT][0], display_posf[NUI_SKELETON_POSITION_HIP_RIGHT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_KNEE_RIGHT][0], display_posf[NUI_SKELETON_POSITION_KNEE_RIGHT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_ANKLE_RIGHT][0], display_posf[NUI_SKELETON_POSITION_ANKLE_RIGHT][1]);
glVertex2f( display_posf[NUI_SKELETON_POSITION_FOOT_RIGHT][0], display_posf[NUI_SKELETON_POSITION_FOOT_RIGHT][1]);
glEnd();
glColor3ub(0, 0, 0);
}
void CSkeletalViewerApp::Nui_GotDepthAlert( )
{
const NUI_IMAGE_FRAME * pImageFrame = NULL;
HRESULT hr = NuiImageStreamGetNextFrame(
m_pDepthStreamHandle,
0,
&pImageFrame );
if( FAILED( hr ) )
{
return;
}
NuiImageBuffer * pTexture = pImageFrame->pFrameTexture;
KINECT_LOCKED_RECT LockedRect;
pTexture->LockRect( 0, &LockedRect, NULL, 0 );
if( LockedRect.Pitch != 0 )
{
BYTE * pBuffer = (BYTE*) LockedRect.pBits;
USHORT * pPlayerRun = m_playerMap;
for( int y = 0 ; y < 480 ; y++ )
{
for( int x = 0 ; x < 640 ; x++ )
{
*pPlayerRun = 0;
*pPlayerRun++;
}
}
// draw the bits to the bitmap
RGBQUAD * rgbrun = m_rgbWk;
USHORT * pBufferRun = (USHORT*) pBuffer;
USHORT player, depth;
long colorX = 0, colorY = 0;
for( int y = 0 ; y < 240 ; y++ )
{
for( int x = 0 ; x < 320 ; x++ )
{
depth = *pBufferRun & 0xfff8;
if (FrameCount == 0)
{
initialdepth[x + y*320] = depth;
}
//TODO if first frame, save depth values as background
player = *pBufferRun & 7;
NuiImageGetColorPixelCoordinatesFromDepthPixel(
NUI_IMAGE_RESOLUTION_640x480,
0, x, y, depth, &colorX, &colorY);
USHORT writeover = 0;
//HACK player id based:
writeover = player;
//HACK background subtraction
if (depth < initialdepth[x + y*320] - 10)
{
//HACK writeover = 10;
}
m_playerMap[colorY * 640 + colorX] = writeover;
m_playerMap[colorY * 640 + colorX + 1] = writeover;
m_playerMap[(colorY + 1)* 640 + colorX] = writeover;
m_playerMap[(colorY + 1)* 640 + colorX + 1] = writeover;
RGBQUAD quad = Nui_ShortToQuad_Depth( *pBufferRun );
pBufferRun++;
*rgbrun = quad;
rgbrun++;
}
}
UINT bgColor = 0x00ffeedd;
UINT * pVideoRun = m_videoCache;
pPlayerRun = m_playerMap;
for( int y = 0 ; y < 480 ; y++ )
{
for( int x = 0 ; x < 640; x++ )
{
if (*pPlayerRun == 0)
{
*pVideoRun = bgColor;
}
pVideoRun++;
pPlayerRun++;
}
}
m_DrawVideo.DrawFrame( (BYTE*) m_videoCache );
m_DrawDepth.DrawFrame( (BYTE*) m_rgbWk );
ULONGLONG diff = (ULONGLONG) ((1.0 / m_FramesTotal - 1.0 / 20) * 1000);
//diff = 0;
m_videoDelay = GetTickCount64() + diff;
}
else
{
OutputDebugString( L"Buffer length of received texture is bogus\r\n" );
}
FrameCount++;
NuiImageStreamReleaseFrame( m_pDepthStreamHandle, pImageFrame );
}
