void KinectCapture::GetBodyIndexFrame(IMultiSourceFrame* pMultiFrame)
{
IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
IBodyIndexFrame* pBodyIndexFrame = NULL;
pMultiFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
HRESULT hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
if (SUCCEEDED(hr))
{
if (pBodyIndex == NULL)
{
pBodyIndex = new BYTE[nDepthFrameHeight * nDepthFrameWidth];
}
UINT nBufferSize = nDepthFrameHeight * nDepthFrameWidth;
hr = pBodyIndexFrame->CopyFrameDataToArray(nBufferSize, pBodyIndex);
}
SafeRelease(pBodyIndexFrame);
SafeRelease(pBodyIndexFrameReference);
}
/// 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);
}
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;
}
