void Kinect2Manager::Update(unsigned int options) {
#ifdef _USE_KINECT
IColorFrame * pColorFrame = NULL;
IDepthFrame * pDepthFrame = NULL;
IBodyFrame * pBodyFrame = NULL;
IBodyIndexFrame * pBodyIndexFrame = NULL;
IMultiSourceFrame * pMultiSourceFrame = NULL;
m_nColorWidth = 0;
m_nColorHeight = 0;
m_nDepthWidth = 0;
m_nDepthHeight = 0;
m_bCalculateDepthRGBX = options & Update::DepthRGBX;
int numUpdate = countUpdate(options);
HRESULT hr = 1;
if (numUpdate > 1) {
hr = m_pMultiSourceFrameReader->AcquireLatestFrame(&pMultiSourceFrame);
}
if (SUCCEEDED(hr)) {
if (options & Update::Color) {
IColorFrameReference* pColorFrameReference = NULL;
if (numUpdate > 1) {
hr = pMultiSourceFrame->get_ColorFrameReference(&pColorFrameReference);
if (SUCCEEDED(hr))
{
hr = pColorFrameReference->AcquireFrame(&pColorFrame);
}
}
else {
hr = m_pColorFrameReader->AcquireLatestFrame(&pColorFrame);
}
if (SUCCEEDED(hr)) {
m_bMapColorToDepth = options & Update::MapColorToDepth;
}
else {
options &= ~Update::Color;
}
SafeRelease(pColorFrameReference);
}
if (options & Update::Depth) {
IDepthFrameReference* pDepthFrameReference = NULL;
if (numUpdate > 1) {
hr = pMultiSourceFrame->get_DepthFrameReference(&pDepthFrameReference);
if (SUCCEEDED(hr))
{
hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
}
}
else {
hr = m_pDepthFrameReader->AcquireLatestFrame(&pDepthFrame);
}
if (SUCCEEDED(hr)) {
m_bMapDepthToColor = options & Update::MapDepthToColor;
}
else {
options &= ~Update::Depth;
}
SafeRelease(pDepthFrameReference);
}
if (options & Update::Body) {
IBodyFrameReference* pBodyFrameReference = NULL;
if (numUpdate > 1) {
hr = pMultiSourceFrame->get_BodyFrameReference(&pBodyFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyFrameReference->AcquireFrame(&pBodyFrame);
}
}
else {
hr = m_pBodyFrameReader->AcquireLatestFrame(&pBodyFrame);
}
SafeRelease(pBodyFrameReference);
}
if (options & Update::Color && options & Update::Depth) {
if (options & Update::BodyIndex && options & Update::MapColorToDepth) {
if (m_bDepthColorMapCalculated) {
IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
hr = pMultiSourceFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
}
SafeRelease(pBodyIndexFrameReference);
}
}
}
}
if (pBodyFrame) {
UpdateBody(pBodyFrame);
}
if (pColorFrame) {
UpdateColor(pColorFrame);
}
if (pDepthFrame) {
UpdateDepth(pDepthFrame);
if (options & Update::MapDepthToColor) {
CalculateColorDepthMap();
if (m_bColorDepthMapCalculated)
ProcessDepthToColor(m_pDepth, m_nDepthWidth, m_nDepthHeight, m_pColorDepthMap, m_nColorWidth, m_nColorHeight);
}
if (options & Update::MapColorToDepth) {
CalculateDepthColorMap();
if (m_bDepthColorMapCalculated) {
ProcessColorToDepth(m_pColorRGBX, m_nColorWidth, m_nColorHeight, m_pDepthColorMap, m_nDepthWidth, m_nDepthHeight);
if (pBodyIndexFrame) {
UpdateBodyIndex(pBodyIndexFrame);
}
}
}
}
SafeRelease(pColorFrame);
SafeRelease(pDepthFrame);
SafeRelease(pBodyFrame);
SafeRelease(pBodyIndexFrame);
SafeRelease(pMultiSourceFrame);
#else
m_nDepthWidth = CAPTURE_SIZE_X_DEPTH;
m_nDepthHeight = CAPTURE_SIZE_Y_DEPTH;
m_nColorWidth = CAPTURE_SIZE_X_COLOR;
m_nColorHeight = CAPTURE_SIZE_Y_COLOR;
if (options & Update::MapDepthToColor) {
CalculateColorDepthMap();
if (m_bColorDepthMapCalculated)
ProcessDepthToColor(m_pDepth, m_nDepthWidth, m_nDepthHeight, m_pColorDepthMap, m_nColorWidth, m_nColorHeight);
}
if (options & Update::MapColorToDepth) {
CalculateDepthColorMap();
if (m_bDepthColorMapCalculated) {
ProcessColorToDepth(m_pColorRGBX, m_nColorWidth, m_nColorHeight, m_pDepthColorMap, m_nDepthWidth, m_nDepthHeight);
}
}
UpdateBodyIndex(NULL);
#endif
}
bool BodyIndexStream::readFrame(IMultiSourceFrame *multiFrame)
{
bool isSuccess = false;
if (!m_StreamHandle.depthFrameReader) {
ofLogWarning("ofxKinect2::BodyIndexStream") << "Stream is not open.";
return isSuccess;
}
Stream::readFrame(multiFrame);
IBodyIndexFrame *bodyIndexFrame = nullptr;
HRESULT hr = E_FAIL;
if (!multiFrame) {
hr = m_StreamHandle.bodyIndexFrameReader->AcquireLatestFrame(&bodyIndexFrame);
}
else {
IBodyIndexFrameReference *frameReference = nullptr;
hr = multiFrame->get_BodyIndexFrameReference(&frameReference);
if (SUCCEEDED(hr)) {
hr = frameReference->AcquireFrame(&bodyIndexFrame);
}
safeRelease(frameReference);
}
if (SUCCEEDED(hr)) {
IFrameDescription *frameDescription = nullptr;
hr = bodyIndexFrame->get_RelativeTime((INT64 *)&m_Frame.timestamp);
if (SUCCEEDED(hr)) {
hr = bodyIndexFrame->get_FrameDescription(&frameDescription);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_Width(&m_Frame.width);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_Height(&m_Frame.height);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_HorizontalFieldOfView(&m_Frame.horizontalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_VerticalFieldOfView(&m_Frame.verticalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_DiagonalFieldOfView(&m_Frame.diagonalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = bodyIndexFrame->AccessUnderlyingBuffer((UINT *)&m_Frame.dataSize, reinterpret_cast<BYTE **>(&m_Frame.data));
}
if (SUCCEEDED(hr)) {
isSuccess = true;
setPixels(m_Frame);
}
safeRelease(frameDescription);
}
safeRelease(bodyIndexFrame);
return isSuccess;
}
void KinectDevice::listen() {
if (_listening) throw std::exception("Already listening for new frames");
_listening = true;
while (_listening) {
int idx = WaitForSingleObject((HANDLE) _frameEvent, 100);
switch (idx) {
case WAIT_TIMEOUT:
std::cout << ".";
continue;
case WAIT_OBJECT_0:
IMultiSourceFrameArrivedEventArgs *frameArgs = nullptr;
IMultiSourceFrameReference *frameRef = nullptr;
HRESULT hr = _reader->GetMultiSourceFrameArrivedEventData(_frameEvent, &frameArgs);
if (hr == S_OK) {
hr = frameArgs->get_FrameReference(&frameRef);
frameArgs->Release();
}
if (hr == S_OK) {
//if (_lastFrame) _lastFrame->Release();
hr = frameRef->AcquireFrame(&_lastFrame);
frameRef->Release();
}
if (hr == S_OK) {
// Store frame data
//std::cout << "Got a frame YEAH" << std::endl;
IDepthFrameReference *depthRef = nullptr;
IColorFrameReference *colorRef = nullptr;
IInfraredFrameReference *irRef = nullptr;
ILongExposureInfraredFrameReference *hdirRef = nullptr;
IBodyIndexFrameReference *indexRef = nullptr;
IDepthFrame *depth = nullptr;
IColorFrame *color = nullptr;
IInfraredFrame *ir = nullptr;
ILongExposureInfraredFrame *hdir = nullptr;
IBodyIndexFrame *index = nullptr;
size_t size;
uint16_t *buff;
BYTE *cbuff;
frameLock.lock();
if (_streams & Streams::DEPTH_STREAM) {
_lastFrame->get_DepthFrameReference(&depthRef);
depthRef->AcquireFrame(&depth);
if (depth) {
depthSwap();
depth->AccessUnderlyingBuffer(&size, &buff);
memcpy(depthData.get(), buff, size * sizeof(uint16_t));
depth->Release();
}
depthRef->Release();
}
if (_streams & Streams::COLOR_STREAM) {
_lastFrame->get_ColorFrameReference(&colorRef);
colorRef->AcquireFrame(&color);
//color->AccessUnderlyingBuffer(&size, &buff);
//memcpy(_colorData.get(), buff, size);
color->Release();
colorRef->Release();
}
if (_streams & Streams::IR_STREAM) {
_lastFrame->get_InfraredFrameReference(&irRef);
irRef->AcquireFrame(&ir);
ir->AccessUnderlyingBuffer(&size, &buff);
memcpy(irData.get(), buff, size);
ir->Release();
irRef->Release();
}
if (_streams & Streams::HDIR_STREAM) {
_lastFrame->get_LongExposureInfraredFrameReference(&hdirRef);
hdirRef->AcquireFrame(&hdir);
hdir->AccessUnderlyingBuffer(&size, &buff);
memcpy(hdirData.get(), buff, size);
hdir->Release();
hdirRef->Release();
}
if (_streams & Streams::INDEX_STREAM) {
_lastFrame->get_BodyIndexFrameReference(&indexRef);
indexRef->AcquireFrame(&index);
index->AccessUnderlyingBuffer(&size, &cbuff);
memcpy(indexData.get(), cbuff, size);
index->Release();
indexRef->Release();
}
frameLock.unlock();
_lastFrame->Release();
}
}
}
}
void Device::update()
{
if ( mFrameReader == 0 ) {
return;
}
IAudioBeamFrame* audioFrame = 0;
IBodyFrame* bodyFrame = 0;
IBodyIndexFrame* bodyIndexFrame = 0;
IColorFrame* colorFrame = 0;
IDepthFrame* depthFrame = 0;
IMultiSourceFrame* frame = 0;
IInfraredFrame* infraredFrame = 0;
ILongExposureInfraredFrame* infraredLongExposureFrame = 0;
HRESULT hr = mFrameReader->AcquireLatestFrame( &frame );
if ( SUCCEEDED( hr ) && mDeviceOptions.isAudioEnabled() ) {
// TODO audio
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyEnabled() ) {
IBodyFrameReference* frameRef = 0;
hr = frame->get_BodyFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyIndexEnabled() ) {
IBodyIndexFrameReference* frameRef = 0;
hr = frame->get_BodyIndexFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyIndexFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isColorEnabled() ) {
IColorFrameReference* frameRef = 0;
hr = frame->get_ColorFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &colorFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isDepthEnabled() ) {
IDepthFrameReference* frameRef = 0;
hr = frame->get_DepthFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &depthFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredEnabled() ) {
IInfraredFrameReference* frameRef = 0;
hr = frame->get_InfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredLongExposureEnabled() ) {
ILongExposureInfraredFrameReference* frameRef = 0;
hr = frame->get_LongExposureInfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredLongExposureFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) ) {
long long timeStamp = 0L;
// TODO audio
std::vector<Body> bodies;
int64_t bodyTime = 0L;
IBody* kinectBodies[ BODY_COUNT ] = { 0 };
Vec4f floorClipPlane = Vec4f::zero();
Channel8u bodyIndexChannel;
IFrameDescription* bodyIndexFrameDescription = 0;
int32_t bodyIndexWidth = 0;
int32_t bodyIndexHeight = 0;
uint32_t bodyIndexBufferSize = 0;
uint8_t* bodyIndexBuffer = 0;
int64_t bodyIndexTime = 0L;
Surface8u colorSurface;
IFrameDescription* colorFrameDescription = 0;
int32_t colorWidth = 0;
int32_t colorHeight = 0;
ColorImageFormat colorImageFormat = ColorImageFormat_None;
uint32_t colorBufferSize = 0;
uint8_t* colorBuffer = 0;
Channel16u depthChannel;
IFrameDescription* depthFrameDescription = 0;
int32_t depthWidth = 0;
int32_t depthHeight = 0;
uint16_t depthMinReliableDistance = 0;
uint16_t depthMaxReliableDistance = 0;
uint32_t depthBufferSize = 0;
uint16_t* depthBuffer = 0;
Channel16u infraredChannel;
IFrameDescription* infraredFrameDescription = 0;
int32_t infraredWidth = 0;
int32_t infraredHeight = 0;
uint32_t infraredBufferSize = 0;
uint16_t* infraredBuffer = 0;
Channel16u infraredLongExposureChannel;
IFrameDescription* infraredLongExposureFrameDescription = 0;
int32_t infraredLongExposureWidth = 0;
int32_t infraredLongExposureHeight = 0;
uint32_t infraredLongExposureBufferSize = 0;
uint16_t* infraredLongExposureBuffer = 0;
hr = depthFrame->get_RelativeTime( &timeStamp );
// TODO audio
if ( mDeviceOptions.isAudioEnabled() ) {
}
if ( mDeviceOptions.isBodyEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = bodyFrame->get_RelativeTime( &bodyTime );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyFrame->GetAndRefreshBodyData( BODY_COUNT, kinectBodies );
}
if ( SUCCEEDED( hr ) ) {
Vector4 v;
hr = bodyFrame->get_FloorClipPlane( &v );
floorClipPlane = toVec4f( v );
}
if ( SUCCEEDED( hr ) ) {
for ( uint8_t i = 0; i < BODY_COUNT; ++i ) {
IBody* kinectBody = kinectBodies[ i ];
if ( kinectBody != 0 ) {
uint8_t isTracked = false;
hr = kinectBody->get_IsTracked( &isTracked );
if ( SUCCEEDED( hr ) && isTracked ) {
Joint joints[ JointType_Count ];
kinectBody->GetJoints( JointType_Count, joints );
JointOrientation jointOrientations[ JointType_Count ];
kinectBody->GetJointOrientations( JointType_Count, jointOrientations );
uint64_t id = 0;
kinectBody->get_TrackingId( &id );
std::map<JointType, Body::Joint> jointMap;
for ( int32_t j = 0; j < JointType_Count; ++j ) {
Body::Joint joint(
toVec3f( joints[ j ].Position ),
toQuatf( jointOrientations[ j ].Orientation ),
joints[ j ].TrackingState
);
jointMap.insert( pair<JointType, Body::Joint>( static_cast<JointType>( j ), joint ) );
}
Body body( id, i, jointMap );
bodies.push_back( body );
}
}
}
}
}
if ( mDeviceOptions.isBodyIndexEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->get_RelativeTime( &bodyIndexTime );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->get_FrameDescription( &bodyIndexFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Width( &bodyIndexWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Height( &bodyIndexHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->AccessUnderlyingBuffer( &bodyIndexBufferSize, &bodyIndexBuffer );
}
if ( SUCCEEDED( hr ) ) {
bodyIndexChannel = Channel8u( bodyIndexWidth, bodyIndexHeight );
memcpy( bodyIndexChannel.getData(), bodyIndexBuffer, bodyIndexWidth * bodyIndexHeight * sizeof( uint8_t ) );
}
}
if ( mDeviceOptions.isColorEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_FrameDescription( &colorFrameDescription );
if ( SUCCEEDED( hr ) ) {
float vFov = 0.0f;
float hFov = 0.0f;
float dFov = 0.0f;
colorFrameDescription->get_VerticalFieldOfView( &vFov );
colorFrameDescription->get_HorizontalFieldOfView( &hFov );
colorFrameDescription->get_DiagonalFieldOfView( &dFov );
}
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Width( &colorWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Height( &colorHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_RawColorImageFormat( &colorImageFormat );
}
if ( SUCCEEDED( hr ) ) {
colorBufferSize = colorWidth * colorHeight * sizeof( uint8_t ) * 4;
colorBuffer = new uint8_t[ colorBufferSize ];
hr = colorFrame->CopyConvertedFrameDataToArray( colorBufferSize, reinterpret_cast<uint8_t*>( colorBuffer ), ColorImageFormat_Rgba );
if ( SUCCEEDED( hr ) ) {
colorSurface = Surface8u( colorWidth, colorHeight, false, SurfaceChannelOrder::RGBA );
memcpy( colorSurface.getData(), colorBuffer, colorWidth * colorHeight * sizeof( uint8_t ) * 4 );
}
delete [] colorBuffer;
colorBuffer = 0;
}
}
if ( mDeviceOptions.isDepthEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_FrameDescription( &depthFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Width( &depthWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Height( &depthHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMinReliableDistance( &depthMinReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMaxReliableDistance( &depthMaxReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->AccessUnderlyingBuffer( &depthBufferSize, &depthBuffer );
}
if ( SUCCEEDED( hr ) ) {
depthChannel = Channel16u( depthWidth, depthHeight );
memcpy( depthChannel.getData(), depthBuffer, depthWidth * depthHeight * sizeof( uint16_t ) );
}
}
if ( mDeviceOptions.isInfraredEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->get_FrameDescription( &infraredFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Width( &infraredWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Height( &infraredHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->AccessUnderlyingBuffer( &infraredBufferSize, &infraredBuffer );
}
if ( SUCCEEDED( hr ) ) {
infraredChannel = Channel16u( infraredWidth, infraredHeight );
memcpy( infraredChannel.getData(), infraredBuffer, infraredWidth * infraredHeight * sizeof( uint16_t ) );
}
}
if ( mDeviceOptions.isInfraredLongExposureEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->get_FrameDescription( &infraredLongExposureFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Width( &infraredLongExposureWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Height( &infraredLongExposureHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->AccessUnderlyingBuffer( &infraredLongExposureBufferSize, &infraredLongExposureBuffer );
}
if ( SUCCEEDED( hr ) ) {
infraredLongExposureChannel = Channel16u( infraredLongExposureWidth, infraredLongExposureHeight );
memcpy( infraredLongExposureChannel.getData(), infraredLongExposureBuffer, infraredLongExposureWidth * infraredLongExposureHeight * sizeof( uint16_t ) );
}
}
if ( SUCCEEDED( hr ) ) {
mFrame.mBodies = bodies;
mFrame.mChannelBodyIndex = bodyIndexChannel;
mFrame.mChannelDepth = depthChannel;
mFrame.mChannelInfrared = infraredChannel;
mFrame.mChannelInfraredLongExposure = infraredLongExposureChannel;
mFrame.mDeviceId = mDeviceOptions.getDeviceId();
mFrame.mSurfaceColor = colorSurface;
mFrame.mTimeStamp = timeStamp;
mFrame.mFloorClipPlane = floorClipPlane;
}
if ( bodyIndexFrameDescription != 0 ) {
bodyIndexFrameDescription->Release();
bodyIndexFrameDescription = 0;
}
if ( colorFrameDescription != 0 ) {
colorFrameDescription->Release();
colorFrameDescription = 0;
}
if ( depthFrameDescription != 0 ) {
depthFrameDescription->Release();
depthFrameDescription = 0;
}
if ( infraredFrameDescription != 0 ) {
infraredFrameDescription->Release();
infraredFrameDescription = 0;
}
if ( infraredLongExposureFrameDescription != 0 ) {
infraredLongExposureFrameDescription->Release();
infraredLongExposureFrameDescription = 0;
}
}
if ( audioFrame != 0 ) {
audioFrame->Release();
audioFrame = 0;
}
if ( bodyFrame != 0 ) {
bodyFrame->Release();
bodyFrame = 0;
}
if ( bodyIndexFrame != 0 ) {
bodyIndexFrame->Release();
bodyIndexFrame = 0;
}
if ( colorFrame != 0 ) {
colorFrame->Release();
colorFrame = 0;
}
if ( depthFrame != 0 ) {
depthFrame->Release();
depthFrame = 0;
}
if ( frame != 0 ) {
frame->Release();
frame = 0;
}
if ( infraredFrame != 0 ) {
infraredFrame->Release();
infraredFrame = 0;
}
if ( infraredLongExposureFrame != 0 ) {
infraredLongExposureFrame->Release();
infraredLongExposureFrame = 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);
}
void KinectGrabber::GetNextFrame() {
if (!m_pMultiSourceFrameReader)
{
return;
}
IMultiSourceFrame* pMultiSourceFrame = NULL;
IDepthFrame* pDepthFrame = NULL;
IColorFrame* pColorFrame = NULL;
IBodyIndexFrame* pBodyIndexFrame = NULL;
HRESULT hr = m_pMultiSourceFrameReader->AcquireLatestFrame(&pMultiSourceFrame);
if (SUCCEEDED(hr))
{
IDepthFrameReference* pDepthFrameReference = NULL;
hr = pMultiSourceFrame->get_DepthFrameReference(&pDepthFrameReference);
if (SUCCEEDED(hr))
{
hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
}
SafeRelease(pDepthFrameReference);
}
if (SUCCEEDED(hr))
{
IColorFrameReference* pColorFrameReference = NULL;
hr = pMultiSourceFrame->get_ColorFrameReference(&pColorFrameReference);
if (SUCCEEDED(hr))
{
hr = pColorFrameReference->AcquireFrame(&pColorFrame);
}
SafeRelease(pColorFrameReference);
}
if (SUCCEEDED(hr))
{
IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
hr = pMultiSourceFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
}
SafeRelease(pBodyIndexFrameReference);
}
if (SUCCEEDED(hr))
{
INT64 nDepthTime = 0;
IFrameDescription* pDepthFrameDescription = NULL;
int nDepthWidth = 0;
int nDepthHeight = 0;
UINT nDepthBufferSize = 0;
IFrameDescription* pColorFrameDescription = NULL;
int nColorWidth = 0;
int nColorHeight = 0;
ColorImageFormat imageFormat = ColorImageFormat_None;
UINT nColorBufferSize = 0;
RGBQUAD *pColorBuffer = NULL;
IFrameDescription* pBodyIndexFrameDescription = NULL;
int nBodyIndexWidth = 0;
int nBodyIndexHeight = 0;
UINT nBodyIndexBufferSize = 0;
BYTE *pBodyIndexBuffer = NULL;
// get depth frame data
hr = pDepthFrame->get_RelativeTime(&nDepthTime);
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))
{
//m_pDepthBuffer = new UINT16[cDepthWidth * cDepthHeight];
hr = pDepthFrame->AccessUnderlyingBuffer(&nDepthBufferSize, &m_pDepthBuffer);
//pDepthFrame->CopyFrameDataToArray(nDepthBufferSize,m_pDepthBuffer);
WaitForSingleObject(hDepthMutex,INFINITE);
m_depthImage.release();
Mat tmp = Mat(m_depthSize, DEPTH_PIXEL_TYPE, m_pDepthBuffer, Mat::AUTO_STEP);
m_depthImage = tmp.clone(); //need to deep copy because of the call to SafeRelease(pDepthFrame) to prevent access violation
ReleaseMutex(hDepthMutex);
}
// get color frame data
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
{
hr = E_FAIL;
}
if(SUCCEEDED(hr)) {
WaitForSingleObject(hColorMutex,INFINITE);
m_colorImage.release();
Mat tmp = Mat(m_colorSize, COLOR_PIXEL_TYPE, pColorBuffer, Mat::AUTO_STEP);
m_colorImage = tmp.clone();
ReleaseMutex(hColorMutex);
}
}
// get body index frame data
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrame->get_FrameDescription(&pBodyIndexFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameDescription->get_Width(&nBodyIndexWidth);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameDescription->get_Height(&nBodyIndexHeight);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrame->AccessUnderlyingBuffer(&nBodyIndexBufferSize, &pBodyIndexBuffer);
}
SafeRelease(pDepthFrameDescription);
SafeRelease(pColorFrameDescription);
SafeRelease(pBodyIndexFrameDescription);
}
SafeRelease(pDepthFrame);
SafeRelease(pColorFrame);
SafeRelease(pBodyIndexFrame);
SafeRelease(pMultiSourceFrame);
}
