void KinectCapture::GetDepthFrame(IMultiSourceFrame* pMultiFrame)
{
IDepthFrameReference* pDepthFrameReference = NULL;
IDepthFrame* pDepthFrame = NULL;
pMultiFrame->get_DepthFrameReference(&pDepthFrameReference);
HRESULT hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
if (SUCCEEDED(hr))
{
if (pDepth == NULL)
{
IFrameDescription* pFrameDescription = NULL;
hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
pFrameDescription->get_Width(&nDepthFrameWidth);
pFrameDescription->get_Height(&nDepthFrameHeight);
pDepth = new UINT16[nDepthFrameHeight * nDepthFrameWidth];
SafeRelease(pFrameDescription);
}
UINT nBufferSize = nDepthFrameHeight * nDepthFrameWidth;
hr = pDepthFrame->CopyFrameDataToArray(nBufferSize, pDepth);
}
SafeRelease(pDepthFrame);
SafeRelease(pDepthFrameReference);
}
void idle()
{
// Read color data
IColorFrame* pCFrame = nullptr;
if (pColorFrameReader->AcquireLatestFrame(&pCFrame) == S_OK)
{
pCFrame->CopyConvertedFrameDataToArray(uColorBufferSize, pColorBuffer, ColorImageFormat_Rgba);
pCFrame->Release();
pCFrame = nullptr;
}
// Read depth data
IDepthFrame* pDFrame = nullptr;
if (pDepthFrameReader->AcquireLatestFrame(&pDFrame) == S_OK)
{
pDFrame->CopyFrameDataToArray(uDepthPointNum, pDepthBuffer);
pDFrame->Release();
pDFrame = nullptr;
// map to camera space
pCoordinateMapper->MapColorFrameToCameraSpace(uDepthPointNum, pDepthBuffer, uColorPointNum, pCSPoints);
}
}
bool KinectInterface::getFrameData(IMultiSourceFrame* frame, cv::Mat& intensity_mat, cv::Mat& depth_mat, cv::Mat& pos_mat) {
//Obtain depth frame
IDepthFrame* depthframe = nullptr;
if (FAILED(depthFrameReader->AcquireLatestFrame(&depthframe))) return false;
if (!depthframe) return false;
// Get data from frame
unsigned int sz;
unsigned short* buf;
if (FAILED(depthframe->AccessUnderlyingBuffer(&sz, &buf))) return false;
//get depth -> xyz mapping
if (FAILED(mapper->MapDepthFrameToCameraSpace(width*height, buf, width*height, depth2xyz))) return false;
//get depth -> rgb image mapping
if (FAILED(mapper->MapDepthFrameToColorSpace(width*height, buf, width*height, depth2rgb))) return false;
//save depth
if (FAILED(depthframe->CopyFrameDataToArray(height * width, depth_data)));
if (depthframe) depthframe->Release();
//Obtain RGB frame
IColorFrame* colorframe;
if (FAILED(colorFrameReader->AcquireLatestFrame(&colorframe))) return false;
if (!colorframe) return false;
// Get data from frame
if (FAILED(colorframe->CopyConvertedFrameDataToArray(colorwidth*colorheight * 4, rgbimage, ColorImageFormat_Rgba))) return false;
cv::Mat tmp_depth = cv::Mat::zeros(colorheight, colorwidth, CV_16UC1);
cv::Mat tmp_pos = cv::Mat::zeros(colorheight, colorwidth, CV_32FC3);
cv::Mat depth_org(height, width, CV_16UC1, depth_data);
cv::Mat tmp_rgb(colorheight, colorwidth, CV_8UC4, rgbimage);
// Write color array for vertices
for (int i = 0; i < width*height; i++) {
ColorSpacePoint p = depth2rgb[i];
int iY = (int)(p.Y + 0.5);
int iX = (int)(p.X + 0.5);
if (iX >= 0 && iY >= 0 && iX < colorwidth && iY < colorheight) {
// Check if color pixel coordinates are in bounds
tmp_depth.at<unsigned short>(iY, iX) = depth_data[i];
//tmp_pos.at<float>(iY, iX, 0) = depth2xyz[i].X;
//tmp_pos.at<float>(iY, iX, 1) = depth2xyz[i].Y;
//tmp_pos.at<float>(iY, iX, 2) = depth2xyz[i].Z;
}
}
if (colorframe) colorframe->Release();
cv::resize(tmp_rgb(cv::Rect(240, 0, 1440, 1080)), intensity_mat, cv::Size(640, 480));
cv::resize(tmp_depth(cv::Rect(240, 0, 1440, 1080)), depth_mat, cv::Size(640, 480));
cv::resize(tmp_pos(cv::Rect(240, 0, 1440, 1080)), pos_mat, cv::Size(640, 480));
cv::cvtColor(intensity_mat, intensity_mat, CV_RGBA2GRAY);
return true;
}
bool ms_kinect2::acquire_depth_frame(const _OPENNUI byte* dst)
{
bool result = false;
IDepthFrame* pDepthFrame = NULL;
static unsigned int bufferSize = 512 * 424;
HRESULT hResult = S_OK;
hResult = pDepthReader->AcquireLatestFrame(&pDepthFrame);
if (SUCCEEDED(hResult))
{
hResult = pDepthFrame->CopyFrameDataToArray(bufferSize, (UINT16*)dst);
if (SUCCEEDED(hResult))
result = true;
}
SafeRelease(pDepthFrame);
return result;
}
void pcl::Kinect2Grabber::threadFunction()
{
while (!quit){
boost::unique_lock<boost::mutex> lock(mutex);
// Acquire Latest Color Frame
IColorFrame* colorFrame = nullptr;
result = colorReader->AcquireLatestFrame(&colorFrame);
if (SUCCEEDED(result)){
// Retrieved Color Data
result = colorFrame->CopyConvertedFrameDataToArray(colorBuffer.size() * sizeof(RGBQUAD), reinterpret_cast<BYTE*>(&colorBuffer[0]), ColorImageFormat::ColorImageFormat_Bgra);
if (FAILED(result)){
throw std::exception("Exception : IColorFrame::CopyConvertedFrameDataToArray()");
}
}
SafeRelease(colorFrame);
// Acquire Latest Depth Frame
IDepthFrame* depthFrame = nullptr;
result = depthReader->AcquireLatestFrame(&depthFrame);
if (SUCCEEDED(result)){
// Retrieved Depth Data
result = depthFrame->CopyFrameDataToArray(depthBuffer.size(), &depthBuffer[0]);
if (FAILED(result)){
throw std::exception("Exception : IDepthFrame::CopyFrameDataToArray()");
}
}
SafeRelease(depthFrame);
lock.unlock();
if (signal_PointXYZ->num_slots() > 0) {
signal_PointXYZ->operator()(convertDepthToPointXYZ(&depthBuffer[0]));
}
if (signal_PointXYZRGB->num_slots() > 0) {
signal_PointXYZRGB->operator()(convertRGBDepthToPointXYZRGB(&colorBuffer[0], &depthBuffer[0]));
}
if (signal_PointXYZI->num_slots() > 0) {
signal_PointXYZI->operator()(convertRGBDepthToPointXYZI(&colorBuffer[0], &depthBuffer[0]));
}
}
}
void KinectHDFaceGrabber::update()
{
if (!m_pColorFrameReader || !m_pBodyFrameReader){
return;
}
IColorFrame* pColorFrame = nullptr;
HRESULT hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);
IDepthFrame* depthFrame = nullptr;
if (SUCCEEDED(hr)){
hr = m_pDepthFrameReader->AcquireLatestFrame(&depthFrame);
}
if (SUCCEEDED(hr)){
ColorImageFormat imageFormat = ColorImageFormat_None;
if (SUCCEEDED(hr)){
hr = pColorFrame->get_RawColorImageFormat(&imageFormat);
}
if (SUCCEEDED(hr)){
UINT nBufferSize = m_colorWidth * m_colorHeight * sizeof(RGBQUAD);
hr = pColorFrame->CopyConvertedFrameDataToArray(nBufferSize, reinterpret_cast<BYTE*>(m_colorBuffer.data()), ColorImageFormat_Bgra);
}
if (SUCCEEDED(hr)){
hr = depthFrame->CopyFrameDataToArray(m_depthBuffer.size(), &m_depthBuffer[0]);
}
if (SUCCEEDED(hr)){
renderColorFrameAndProcessFaces();
}
}
SafeRelease(depthFrame);
SafeRelease(pColorFrame);
}
int main(int argc, char** argv)
{
// 1a. Get default Sensor
cout << "Try to get default sensor" << endl;
IKinectSensor* pSensor = nullptr;
if (GetDefaultKinectSensor(&pSensor) != S_OK)
{
cerr << "Get Sensor failed" << endl;
}
else
{
// 1b. Open sensor
cout << "Try to open sensor" << endl;
if (pSensor->Open() != S_OK)
{
cerr << "Can't open sensor" << endl;
}
else
{
// 2a. Get frame source
cout << "Try to get source" << endl;
IDepthFrameSource* pFrameSource = nullptr;
if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get frame source" << endl;
}
else
{
// 2b. Get frame description
int iWidth = 0;
int iHeight = 0;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
pFrameDescription->Release();
pFrameDescription = nullptr;
}
// 2c. get some dpeth only meta
UINT16 uDepthMin = 0, uDepthMax = 0;
pFrameSource->get_DepthMinReliableDistance(&uDepthMin);
pFrameSource->get_DepthMaxReliableDistance(&uDepthMax);
cout << "Reliable Distance: " << uDepthMin << " - " << uDepthMax << endl;
// perpare OpenCV
cv::Mat mDepthImg(iHeight, iWidth, CV_16UC1);
cv::Mat mImg8bit(iHeight, iWidth, CV_8UC1);
cv::namedWindow( "Depth Map" );
// 3a. get frame reader
cout << "Try to get frame reader" << endl;
IDepthFrameReader* pFrameReader = nullptr;
if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
{
cerr << "Can't get frame reader" << endl;
}
else
{
// Enter main loop
cout << "Enter main loop" << endl;
while (true)
{
// 4a. Get last frame
IDepthFrame* pFrame = nullptr;
if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
{
// 4c. copy the depth map to image
if (pFrame->CopyFrameDataToArray(iWidth * iHeight, reinterpret_cast<UINT16*>(mDepthImg.data)) == S_OK)
{
// 4d. convert from 16bit to 8bit
mDepthImg.convertTo(mImg8bit, CV_8U, 255.0f / uDepthMax);
cv::imshow("Depth Map", mImg8bit);
}
else
{
cerr << "Data copy error" << endl;
}
// 4e. release frame
pFrame->Release();
}
// 4f. check keyboard input
if (cv::waitKey(30) == VK_ESCAPE){
break;
}
}
// 3b. release frame reader
cout << "Release frame reader" << endl;
pFrameReader->Release();
pFrameReader = nullptr;
}
// 2d. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 1c. Close Sensor
cout << "close sensor" << endl;
pSensor->Close();
}
// 1d. Release Sensor
cout << "Release sensor" << endl;
pSensor->Release();
pSensor = nullptr;
}
return 0;
}
/// 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);
}
bool DepthStream::readFrame(IMultiSourceFrame *multiFrame)
{
bool readed = false;
if (!m_StreamHandle.depthFrameReader) {
ofLogWarning("ofxKinect2::DepthStream") << "Stream is not open.";
return readed;
}
Stream::readFrame(multiFrame);
IDepthFrame *depthFrame = nullptr;
HRESULT hr = E_FAIL;
if (!multiFrame) {
hr = m_StreamHandle.depthFrameReader->AcquireLatestFrame(&depthFrame);
}
else {
IDepthFrameReference *depthFrameReference = nullptr;
hr = multiFrame->get_DepthFrameReference(&depthFrameReference);
if (SUCCEEDED(hr)) {
hr = depthFrameReference->AcquireFrame(&depthFrame);
}
safeRelease(depthFrameReference);
}
if (SUCCEEDED(hr)) {
IFrameDescription *depthFrameDescription = nullptr;
hr = depthFrame->get_RelativeTime((INT64 *)&m_Frame.timestamp);
if (SUCCEEDED(hr)) {
hr = depthFrame->get_FrameDescription(&depthFrameDescription);
}
if (SUCCEEDED(hr)) {
hr = depthFrameDescription->get_Width(&m_Frame.width);
}
if (SUCCEEDED(hr)) {
hr = depthFrameDescription->get_Height(&m_Frame.height);
}
if (SUCCEEDED(hr)) {
hr = depthFrameDescription->get_HorizontalFieldOfView(&m_Frame.horizontalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = depthFrameDescription->get_VerticalFieldOfView(&m_Frame.verticalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = depthFrameDescription->get_DiagonalFieldOfView(&m_Frame.diagonalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = depthFrame->get_DepthMinReliableDistance((USHORT *)&m_NearValue);
}
if (SUCCEEDED(hr)) {
hr = depthFrame->get_DepthMaxReliableDistance((USHORT *)&m_FarValue);
}
if (SUCCEEDED(hr)) {
hr = depthFrame->get_DepthMinReliableDistance((USHORT *)&m_NearValue);
}
if (SUCCEEDED(hr)) {
if (m_Frame.dataSize == 0) {
m_Frame.dataSize = m_Frame.width * m_Frame.height;
m_Frame.data = new UINT16[m_Frame.width * m_Frame.height];
}
hr = depthFrame->CopyFrameDataToArray(m_Frame.width * m_Frame.height, reinterpret_cast<UINT16 *>(m_Frame.data));
}
if (SUCCEEDED(hr)) {
readed = true;
setPixels(m_Frame);
}
safeRelease(depthFrameDescription);
}
safeRelease(depthFrame);
return readed;
}
HRESULT KinectHandler::GetColorAndDepth(RGBQUAD* &color, RGBQUAD* &depth, UINT16*& depthBuffer)
{
if (!m_pMultiFrameReader)
{
cout << "No frame reader!" << endl;
return E_FAIL;
}
IColorFrame* pColorFrame = NULL;
IDepthFrame* pDepthFrame = NULL;
IMultiSourceFrame* pMultiSourceFrame = NULL;
HRESULT hr = m_pMultiFrameReader->AcquireLatestFrame(&pMultiSourceFrame);
if (SUCCEEDED(hr))
{
IColorFrameReference* pColorFrameReference = NULL;
hr = pMultiSourceFrame->get_ColorFrameReference(&pColorFrameReference);
if (SUCCEEDED(hr))
{
hr = pColorFrameReference->AcquireFrame(&pColorFrame);
}
IDepthFrameReference* pDepthFrameReference = NULL;
hr = pMultiSourceFrame->get_DepthFrameReference(&pDepthFrameReference);
if (SUCCEEDED(hr))
{
hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
}
SafeRelease(pColorFrameReference);
SafeRelease(pDepthFrameReference);
}
if (SUCCEEDED(hr) && pColorFrame != NULL && pDepthFrame != NULL)
{
INT64 nTime = 0;
IFrameDescription* pColorFrameDescription = NULL;
int nColorWidth = 0;
int nColorHeight = 0;
ColorImageFormat imageFormat = ColorImageFormat_None;
UINT nColorBufferSize = 0;
RGBQUAD *pColorBuffer = NULL;
hr = pColorFrame->get_RelativeTime(&nTime);
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_FrameDescription(&pColorFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pColorFrameDescription->get_Width(&nColorWidth);
}
if (SUCCEEDED(hr))
{
hr = pColorFrameDescription->get_Height(&nColorHeight);
}
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_RawColorImageFormat(&imageFormat);
}
if (SUCCEEDED(hr))
{
if (imageFormat == ColorImageFormat_Bgra)
{
hr = pColorFrame->AccessRawUnderlyingBuffer(&nColorBufferSize, reinterpret_cast<BYTE**>(&pColorBuffer));
}
else if (m_pColorRGBX)
{
pColorBuffer = m_pColorRGBX;
nColorBufferSize = cColorWidth * cColorHeight * sizeof(RGBQUAD);
hr = pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast<BYTE*>(pColorBuffer), ColorImageFormat_Bgra);
}
else
{
cout << "FAILED" << endl;
hr = E_FAIL;
}
}
if (SUCCEEDED(hr))
{
color = pColorBuffer;
}
///===========================================////
nTime = 0;
IFrameDescription* pDepthFrameDescription = NULL;
int nDepthWidth = 0;
int nDepthHeight = 0;
USHORT nDepthMinReliableDistance = 0;
USHORT nDepthMaxDistance = 0;
UINT nDepthBufferSize = 0;
UINT16 *pDepthBuffer = NULL;
hr = pDepthFrame->get_RelativeTime(&nTime);
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_FrameDescription(&pDepthFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrameDescription->get_Width(&nDepthWidth);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrameDescription->get_Height(&nDepthHeight);
}
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(&nDepthBufferSize, &pDepthBuffer);
}
if (SUCCEEDED(hr))
{
//RGBQUAD* pRGBX = new RGBQUAD[cDepthWidth * cDepthHeight];
// end pixel is start + width*height - 1
const UINT16* pBufferEnd = pDepthBuffer + (nDepthWidth * nDepthHeight);
RGBQUAD* auxiliar = m_pDepthRGBX;
//const UINT16* pBufferEnd = pDepthBuffer + (640 * 480);
int counter = 0;
while (pDepthBuffer < pBufferEnd)
{
//cout << "now:" << pDepthBuffer << " end:" << pBufferEnd << endl;
USHORT depth = *pDepthBuffer;
//cout << "now:" << pDepthBuffer << " end:" << pBufferEnd << endl;
// To convert to a byte, we're discarding the most-significant
// rather than least-significant bits.
// We're preserving detail, although the intensity will "wrap."
// Values outside the reliable depth range are mapped to 0 (black).
// Note: Using conditionals in this loop could degrade performance.
// Consider using a lookup table instead when writing production code.
//BYTE intensity = static_cast<BYTE>((depth >= nDepthMinReliableDistance) && (depth <= nDepthMaxDistance) ? (depth % 256) : 0);
BYTE intensity = static_cast<BYTE>((depth >= nDepthMinReliableDistance) && (depth <= nDepthMaxDistance) ? ((depth - nDepthMinReliableDistance) * (0 - 255) / (nDepthMaxDistance / 50 - nDepthMinReliableDistance) + 255) : 0);
auxiliar->rgbBlue = intensity;
auxiliar->rgbGreen = intensity;
auxiliar->rgbRed = intensity;
auxiliar->rgbReserved = (BYTE)255;
counter++;
++auxiliar;
++pDepthBuffer;
}
depth = m_pDepthRGBX;
}
if (m_pDepthRawBuffer)
{
hr = pDepthFrame->CopyFrameDataToArray((cDepthWidth * cDepthHeight), m_pDepthRawBuffer);
if(SUCCEEDED(hr)) depthBuffer = m_pDepthRawBuffer;
}
SafeRelease(pDepthFrameDescription);
}
else
{
cout << "Acquire last frame FAILED " << endl;
hr = E_FAIL;
SafeRelease(pColorFrame);
SafeRelease(pDepthFrame);
return hr;
}
SafeRelease(pColorFrame);
SafeRelease(pDepthFrame);
SafeRelease(pMultiSourceFrame);
return hr;
}
int main(int argc, char** argv)
{
int first_time = 0;
Size screen_size(1440, 900);//the dst image size,e.g.100x100
Scalar text_color = Scalar(0, 255, 0);
Scalar text_color2 = Scalar(0, 255, 255);
Scalar text_color3 = Scalar(0, 0, 255);
inhaler_coach coach;
coach.control = 0;
thread mThread(test_func, &coach);
// 1a. Get Kinect Sensor
cout << "Try to get default sensor" << endl;
IKinectSensor* pSensor = nullptr;
if (GetDefaultKinectSensor(&pSensor) != S_OK)
{
cerr << "Get Sensor failed" << endl;
return -1;
}
// 1b. Open sensor
cout << "Try to open sensor" << endl;
if (pSensor->Open() != S_OK)
{
cerr << "Can't open sensor" << endl;
return -1;
}
// 2. Color Related code
IColorFrameReader* pColorFrameReader = nullptr;
cv::Mat mColorImg;
UINT uBufferSize = 0;
UINT uColorPointNum = 0;
int iWidth = 0;
int iHeight = 0;
{
// 2a. Get color frame source
cout << "Try to get color source" << endl;
IColorFrameSource* pFrameSource = nullptr;
if (pSensor->get_ColorFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get color frame source" << endl;
return -1;
}
// 2b. Get frame description
cout << "get color frame description" << endl;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// 2c. get frame reader
cout << "Try to get color frame reader" << endl;
if (pFrameSource->OpenReader(&pColorFrameReader) != S_OK)
{
cerr << "Can't get color frame reader" << endl;
return -1;
}
// 2d. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
// Prepare OpenCV data
mColorImg = cv::Mat(iHeight, iWidth, CV_8UC4);
uBufferSize = iHeight * iWidth * 4 * sizeof(BYTE);
uColorPointNum = iHeight * iWidth;
}
// 3. Depth related code
IDepthFrameReader* pDepthFrameReader = nullptr;
UINT uDepthPointNum = 0;
int iDepthWidth = 0, iDepthHeight = 0;
cout << "Try to get depth source" << endl;
{
// Get frame source
IDepthFrameSource* pFrameSource = nullptr;
if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get depth frame source" << endl;
return -1;
}
// Get frame description
cout << "get depth frame description" << endl;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iDepthWidth);
pFrameDescription->get_Height(&iDepthHeight);
uDepthPointNum = iDepthWidth * iDepthHeight;
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// get frame reader
cout << "Try to get depth frame reader" << endl;
if (pFrameSource->OpenReader(&pDepthFrameReader) != S_OK)
{
cerr << "Can't get depth frame reader" << endl;
return -1;
}
// release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 4. Body related code
IBodyFrameReader* pBodyFrameReader = nullptr;
IBody** aBodyData = nullptr;
INT32 iBodyCount = 0;
{
// 3a. Get frame source
cout << "Try to get body source" << endl;
IBodyFrameSource* pFrameSource = nullptr;
if (pSensor->get_BodyFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get body frame source" << endl;
return -1;
}
// 3b. Get the number of body
if (pFrameSource->get_BodyCount(&iBodyCount) != S_OK)
{
cerr << "Can't get body count" << endl;
return -1;
}
cout << " > Can trace " << iBodyCount << " bodies" << endl;
aBodyData = new IBody*[iBodyCount];
for (int i = 0; i < iBodyCount; ++i)
aBodyData[i] = nullptr;
// 3c. get frame reader
cout << "Try to get body frame reader" << endl;
if (pFrameSource->OpenReader(&pBodyFrameReader) != S_OK)
{
cerr << "Can't get body frame reader" << endl;
return -1;
}
// 3d. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 4. Body Index releated code
IBodyIndexFrameReader* pBIFrameReader = nullptr;
cout << "Try to get body index source" << endl;
{
// Get frame source
IBodyIndexFrameSource* pFrameSource = nullptr;
if (pSensor->get_BodyIndexFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get body index frame source" << endl;
return -1;
}
// get frame reader
cout << "Try to get body index frame reader" << endl;
if (pFrameSource->OpenReader(&pBIFrameReader) != S_OK)
{
cerr << "Can't get depth frame reader" << endl;
return -1;
}
// release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 5. background
cv::Mat imgBG(iHeight, iWidth, CV_8UC3);
imgBG.setTo(0);
// 4. get CoordinateMapper
ICoordinateMapper* pCoordinateMapper = nullptr;
if (pSensor->get_CoordinateMapper(&pCoordinateMapper) != S_OK)
{
cout << "Can't get coordinate mapper" << endl;
return -1;
}
// Enter main loop
UINT16* pDepthPoints = new UINT16[uDepthPointNum];
BYTE* pBodyIndex = new BYTE[uDepthPointNum];
DepthSpacePoint* pPointArray = new DepthSpacePoint[uColorPointNum];
cv::namedWindow("Inhaler Coach");
while (true)
{
// 4a. Get last frame
IColorFrame* pColorFrame = nullptr;
if (pColorFrameReader->AcquireLatestFrame(&pColorFrame) == S_OK)
{
pColorFrame->CopyConvertedFrameDataToArray(uBufferSize, mColorImg.data, ColorImageFormat_Bgra);
pColorFrame->Release();
pColorFrame = nullptr;
}
cv::Mat mImg = mColorImg.clone();
// 8b. read depth frame
IDepthFrame* pDepthFrame = nullptr;
if (pDepthFrameReader->AcquireLatestFrame(&pDepthFrame) == S_OK)
{
pDepthFrame->CopyFrameDataToArray(uDepthPointNum, pDepthPoints);
pDepthFrame->Release();
pDepthFrame = nullptr;
}
// 8c. read body index frame
IBodyIndexFrame* pBIFrame = nullptr;
if (pBIFrameReader->AcquireLatestFrame(&pBIFrame) == S_OK)
{
pBIFrame->CopyFrameDataToArray(uDepthPointNum, pBodyIndex);
pBIFrame->Release();
pBIFrame = nullptr;
}
#ifdef COACH_DEBUG
cv::Mat imgTarget = imgBG.clone();
// 9b. map color to depth
if (pCoordinateMapper->MapColorFrameToDepthSpace(uDepthPointNum, pDepthPoints, uColorPointNum, pPointArray) == S_OK)
{
for (int y = 0; y < imgTarget.rows; ++y)
{
for (int x = 0; x < imgTarget.cols; ++x)
{
// ( x, y ) in color frame = rPoint in depth frame
const DepthSpacePoint& rPoint = pPointArray[y * imgTarget.cols + x];
// check if rPoint is in range
if (rPoint.X >= 0 && rPoint.X < iDepthWidth && rPoint.Y >= 0 && rPoint.Y < iDepthHeight)
{
// fill color from color frame if this pixel is user
int iIdx = (int)rPoint.X + iDepthWidth * (int)rPoint.Y;
if (pBodyIndex[iIdx] < 6)
{
cv::Vec4b& rPixel = mImg.at<cv::Vec4b>(y, x);
imgTarget.at<cv::Vec3b>(y, x) = cv::Vec3b(rPixel[0], rPixel[1], rPixel[2]);
}
}
}
}
}
#else
cv::Mat imgTarget = mImg.clone();
#endif
// 4b. Get body data
IBodyFrame* pBodyFrame = nullptr;
if (pBodyFrameReader->AcquireLatestFrame(&pBodyFrame) == S_OK)
{
// 4b. get Body data
if (pBodyFrame->GetAndRefreshBodyData(iBodyCount, aBodyData) == S_OK)
{
// 4c. for each body
for (int i = 0; i < iBodyCount; ++i)
{
IBody* pBody = aBodyData[i];
// check if is tracked
BOOLEAN bTracked = false;
if ((pBody->get_IsTracked(&bTracked) == S_OK) && bTracked)
{
// get joint position
Joint aJoints[JointType::JointType_Count];
if (pBody->GetJoints(JointType::JointType_Count, aJoints) == S_OK)
{
if (coach.state == 0){
coach.state = 1;
if (first_time == 0){
first_time = 1;
PlaySound(TEXT("welcome.wav"), NULL, SND_FILENAME);
}
}
#ifdef COACH_DEBUG
DrawLine(imgTarget, aJoints[JointType_SpineBase], aJoints[JointType_SpineMid], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineMid], aJoints[JointType_SpineShoulder], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineShoulder], aJoints[JointType_Neck], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_Neck], aJoints[JointType_Head], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ShoulderLeft], aJoints[JointType_ElbowLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ElbowLeft], aJoints[JointType_WristLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_WristLeft], aJoints[JointType_HandLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_HandLeft], aJoints[JointType_HandTipLeft], pCoordinateMapper);
//DrawLine(imgTarget, aJoints[JointType_HandLeft], aJoints[JointType_ThumbLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ShoulderRight], aJoints[JointType_ElbowRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ElbowRight], aJoints[JointType_WristRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_WristRight], aJoints[JointType_HandRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_HandRight], aJoints[JointType_HandTipRight], pCoordinateMapper);
//DrawLine(imgTarget, aJoints[JointType_HandRight], aJoints[JointType_ThumbRight], pCoordinateMapper);
#endif
ColorSpacePoint q;
ColorSpacePoint head;
//ColorSpacePoint w;
pCoordinateMapper->MapCameraPointToColorSpace(aJoints[JointType_Head].Position, &head);
// check shaking
coach.shaking_detection(aJoints, pCoordinateMapper);
q = coach.position_checking(aJoints, pCoordinateMapper);
#ifdef COACH_DEBUG
circle(imgTarget, cv::Point(q.X, q.Y), 10, Scalar(0, 255, 255), 10, 8, 0);
//circle(imgTarget, cv::Point(q.X, q.Y), 10, Scalar(0, 255, 255), 10, 8, 0);
rectangle(imgTarget, Point(head.X - 50, head.Y - 40), Point(head.X + 50, head.Y + 90), Scalar(0, 255, 255), 1, 8, 0);
//circle(imgTarget, cv::Point(w.X, w.Y), 10, Scalar(255, 0, 255), 10, 8, 0);
#endif
coach.state_change_rule();
}
}
}
}
else
{
cerr << "Can't read body data" << endl;
}
// 4e. release frame
pBodyFrame->Release();
}
switch (coach.state){
case 0: putText(imgTarget, "CMU Inhaler Coaching System", Point(120, 120), FONT_HERSHEY_DUPLEX, 2, text_color); break;
case 1: putText(imgTarget, "Please shake the inhaler", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 2: putText(imgTarget, "Shaking detected", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 3: putText(imgTarget, "Please put the inhaler in front of your mouth", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 4: putText(imgTarget, "Position check OK", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 5: putText(imgTarget, "You forget to shake the inhaler first!!!", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color3); break;
}
// show image
Mat dst;
resize(imgTarget, dst, screen_size);
imshow("Coach", dst);
// 4c. check keyboard input
if (cv::waitKey(30) == VK_ESCAPE){
break;
}
}
mThread.join();
// 3. delete body data array
delete[] aBodyData;
// 3. release frame reader
cout << "Release body frame reader" << endl;
pBodyFrameReader->Release();
pBodyFrameReader = nullptr;
// 2. release color frame reader
cout << "Release color frame reader" << endl;
pColorFrameReader->Release();
pColorFrameReader = nullptr;
// 1c. Close Sensor
cout << "close sensor" << endl;
pSensor->Close();
// 1d. Release Sensor
cout << "Release sensor" << endl;
pSensor->Release();
pSensor = nullptr;
return 0;
}
void capture()
{
IMultiSourceFrame *multiFrame = NULL;
IColorFrame *colorFrame = NULL;
IColorFrameReference *colorFrameReference = NULL;
UINT colorBufferSize = 0;
RGBQUAD *colorBuffer = NULL;
IDepthFrame *depthFrame = NULL;
IDepthFrameReference *depthFrameReference = NULL;
UINT bufferSize = 0;
// UINT16 *depthBuffer = NULL;
IBodyIndexFrame *bodyIndexFrame = NULL;
IBodyIndexFrameReference *bodyIndexFrameReference = NULL;
UINT bodyIndexBufferSize = 0;
static int lastTime = 0;
static int currentTime = 0;
HRESULT hr = -1;
//フレームリーダーが読み込み可能になるのを待つループ(各Frameしか取らない)
while(1) {
if((currentTime = GetTickCount()) > 33)
{
hr = multiFrameReader->AcquireLatestFrame(&multiFrame);
lastTime = currentTime;
}else continue;
if(FAILED(hr)) {
//fprintf(stderr, "AcquireLatestFrame(&multiFrame)\n");
Sleep(1);
continue;
}
hr = multiFrame->get_ColorFrameReference(&colorFrameReference);
if(FAILED(hr)) {
Sleep(1);
fprintf(stderr, "ColorFrameReference(&colorFrameReference)\n");
SafeRelease(multiFrame);
continue;
}
hr = colorFrameReference->AcquireFrame(&colorFrame);
if(FAILED(hr)) {
Sleep(1);
fprintf(stderr, "AcquireFrame(&colorFrame)\n");
SafeRelease(colorFrameReference);
SafeRelease(multiFrame);
continue;
}
hr = multiFrame->get_DepthFrameReference(&depthFrameReference);
if (FAILED(hr)) {
Sleep(1);
fprintf(stderr, "DepthFrameReference(&depthFrameReference)\n");
SafeRelease(colorFrame);
SafeRelease(colorFrameReference);
SafeRelease(multiFrame);
continue;
}
hr = depthFrameReference->AcquireFrame(&depthFrame);
if (FAILED(hr)) {
Sleep(1);
fprintf(stderr, "AcquireFrame(&depthFrame)\n");
SafeRelease(depthFrameReference);
SafeRelease(colorFrame);
SafeRelease(colorFrameReference);
SafeRelease(multiFrame);
continue;
}
// hr = depthFrame->AccessUnderlyingBuffer(&bufferSize, &depthBuffer);
hr = depthFrame->CopyFrameDataToArray( dPixels, &depthBuffer[0] );
if (FAILED(hr)) {
Sleep(1);
fprintf(stderr, "AccessUnderlyingBuffer(&bufferSize, &depthBuffer\n");
SafeRelease(depthFrame);
SafeRelease(depthFrameReference);
SafeRelease(colorFrame);
SafeRelease(colorFrameReference);
SafeRelease(multiFrame);
continue;
}
hr = multiFrame->get_BodyIndexFrameReference(&bodyIndexFrameReference);
if (FAILED(hr)) {
Sleep(1);
fprintf(stderr, "BodyIndexReference(&colorFrameReference)\n");
free(depthBuffer);
SafeRelease(depthFrame);
SafeRelease(depthFrameReference);
SafeRelease(colorFrame);
SafeRelease(colorFrameReference);
SafeRelease(multiFrame);
continue;
}
hr = bodyIndexFrameReference->AcquireFrame(&bodyIndexFrame);
if (FAILED(hr)) {
Sleep(1);
fprintf(stderr, "AcquireFrame(&bodyIndexFrame)\n");
SafeRelease(bodyIndexFrameReference);
free(depthBuffer);
SafeRelease(depthFrame);
SafeRelease(depthFrameReference);
SafeRelease(colorFrame);
SafeRelease(colorFrameReference);
SafeRelease(multiFrame);
continue;
}
hr = bodyIndexFrame->AccessUnderlyingBuffer(&bodyIndexBufferSize, &bodyIndexBuffer);
if(FAILED(hr))
{
Sleep(1);
fprintf(stderr, "bodyIndexFrame->AccessUnderlyingBuffer(&bodyIndexBufferSize, &bodyIndexBuffer)");
SafeRelease(bodyIndexFrame);
SafeRelease(bodyIndexFrameReference);
free(depthBuffer);
SafeRelease(depthFrame);
SafeRelease(depthFrameReference);
SafeRelease(colorFrame);
SafeRelease(colorFrameReference);
SafeRelease(multiFrame);
continue;
}
SafeRelease(colorFrameReference);
SafeRelease(bodyIndexFrameReference);
SafeRelease(depthFrameReference);
break;
}
//深度値をBufferへ格納
// ERROR_CHECK(depthFrame->AccessUnderlyingBuffer(&bufferSize, &depthBuffer));
//カラーマップの設定データの読み込みと、colorBufferメモリの確保
if(colorRGBX == NULL)
{
IFrameDescription *colorFrameDescription = NULL;
ERROR_CHECK2(colorFrame->get_FrameDescription(&colorFrameDescription), "FrameDescription");
ERROR_CHECK2(colorFrameDescription->get_Width(&colorWidth), "get_Width");
ERROR_CHECK2(colorFrameDescription->get_Height(&colorHeight), "get_Height");
colorRGBX = new RGBQUAD[colorWidth * colorHeight];
glutReshapeWindow(width, height);
ERROR_CHECK2(colorFrame->get_RawColorImageFormat(&imageFormat), "get_RawColorImageFormat");
SafeRelease(colorFrameDescription);
}
//カラーイメージをcolorBufferへコピー
if(imageFormat == ColorImageFormat_Bgra)
{
ERROR_CHECK2(colorFrame->AccessRawUnderlyingBuffer(&colorBufferSize,
reinterpret_cast<BYTE**>(&colorBuffer)), "AccessRawUnderlyingBuffer");
}else if(colorRGBX)
{
colorBuffer = colorRGBX;
colorBufferSize = colorWidth * colorHeight * sizeof(RGBQUAD);
ERROR_CHECK2(colorFrame->CopyConvertedFrameDataToArray(colorBufferSize,
reinterpret_cast<BYTE*>(colorBuffer),
ColorImageFormat_Bgra), "CopyConvertedFrameDataToArray");
}else
{
//Error
}
//colorMapの初期化 一度だけ実行される
if(colorMap == NULL)
{
colorMap = new float[colorWidth * colorHeight][3];
}
if (colorCoordinates == NULL)
{
colorCoordinates = new ColorSpacePoint[width * height];
}
if (cameraSpacePoints == NULL)
{
cameraSpacePoints = new CameraSpacePoint[width * height];
}
if (cameraSpacePoints_ave == NULL)
{
cameraSpacePoints_ave = new CameraSpacePoint[width * height];
}
ERROR_CHECK2(coordinateMapper->MapDepthFrameToColorSpace(
width * height, (UINT16*)depthBuffer,
width * height, colorCoordinates), "MapDepthFrameToColorSpace");
ERROR_CHECK2(coordinateMapper->MapDepthFrameToCameraSpace(
width * height, (UINT16*)depthBuffer,
width * height, cameraSpacePoints),"MapDepthFrameToCameraSpace");
//colorBufferのデータを、colorMapにコピー
for(int i = 0; i < height; i++){
for(int j = 0; j < width; j++){
int index = i * width + j;
ColorSpacePoint colorPoint = colorCoordinates[index];
int colorX = (int)(floor(colorPoint.X + 0.5));
int colorY = (int)(floor(colorPoint.Y + 0.5));
if(colorX >= 0 && colorX < colorWidth && colorY >= 0 && colorY < colorHeight)
{
int colorIndex = colorX + colorY * colorWidth;
//格納先はミラーモードを解除
float* colorp = colorMap[index];
UCHAR* data = (UCHAR*)(colorBuffer + colorIndex);
colorp[0] = (float)data[2] / 255.0f;
colorp[1] = (float)data[1] / 255.0f;
colorp[2] = (float)data[0] / 255.0f;
}else
{
float* colorp = colorMap[index];
colorp[0] = 0;
colorp[1] = 0;
colorp[2] = 0;
}
}
}
//フレームリソースを解放
SafeRelease(colorFrame);
SafeRelease(multiFrame);
SafeRelease(bodyIndexFrame);
SafeRelease(depthFrame);
}
