Esempio n. 1
0
  void initialize()
  {
    createInstance();

    // Kinectの設定を初期化する
    ERROR_CHECK( kinect->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON ) );

    // RGBカメラを初期化する
    ERROR_CHECK( kinect->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, CAMERA_RESOLUTION,
      0, 2, 0, &imageStreamHandle ) );

    // 距離カメラを初期化する
    ERROR_CHECK( kinect->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, CAMERA_RESOLUTION,
      0, 2, 0, &depthStreamHandle ) );

    // Nearモード
    //ERROR_CHECK( kinect->NuiImageStreamSetImageFrameFlags(
    //  depthStreamHandle, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE ) );

    // スケルトンを初期化する
    ERROR_CHECK( kinect->NuiSkeletonTrackingEnable( 0, NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT ) );

    // フレーム更新イベントのハンドルを作成する
    streamEvent = ::CreateEvent( 0, TRUE, FALSE, 0 );
    ERROR_CHECK( kinect->NuiSetFrameEndEvent( streamEvent, 0 ) );

    // 指定した解像度の、画面サイズを取得する
    ::NuiImageResolutionToSize(CAMERA_RESOLUTION, width, height );
  }
Esempio n. 2
0
  void initialize()
  {
    createInstance();

    // Kinectの設定を初期化する
    ERROR_CHECK( kinect->NuiInitialize( 
      NUI_INITIALIZE_FLAG_USES_COLOR | 
      NUI_INITIALIZE_FLAG_USES_SKELETON ) );

    // RGBカメラを初期化する
    ERROR_CHECK( kinect->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, CAMERA_RESOLUTION,
      0, 2, 0, &imageStreamHandle ) );

    // スケルトンを初期化する
    ERROR_CHECK( kinect->NuiSkeletonTrackingEnable(
      0, NUI_SKELETON_TRACKING_FLAG_SUPPRESS_NO_FRAME_DATA ) );

    // フレーム更新イベントのハンドルを作成する
    streamEvent = ::CreateEvent( 0, TRUE, FALSE, 0 );
    ERROR_CHECK( kinect->NuiSetFrameEndEvent( streamEvent, 0 ) );

    // 指定した解像度の、画面サイズを取得する
    ::NuiImageResolutionToSize(CAMERA_RESOLUTION, width, height );
  }
Esempio n. 3
0
int main(void)
{
	//Set the error callback
	glfwSetErrorCallback(error_callback);

	//Initialize GLFW
	if (!glfwInit())
	{
		exit(EXIT_FAILURE);
	}

	//Set the GLFW window creation hints - these are optional
	//glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); //Request a specific OpenGL version
	//glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3); //Request a specific OpenGL version
	//glfwWindowHint(GLFW_SAMPLES, 4); //Request 4x antialiasing
	//glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);


	//Create a window and create its OpenGL context
	window = glfwCreateWindow(960, 720, "Test Window", NULL, NULL);

	//If the window couldn't be created
	if (!window)
	{
		fprintf(stderr, "Failed to open GLFW window.\n");
		glfwTerminate();
		//exit(EXIT_FAILURE);
	}

	//This function makes the context of the specified window current on the calling thread. 
	glfwMakeContextCurrent(window);

	//Sets the key callback
	glfwSetKeyCallback(window, key_callback);

	//Initialize GLEW
	GLenum err = glewInit();

	//If GLEW hasn't initialized
	if (err != GLEW_OK)
	{
		fprintf(stderr, "Error: %s\n", glewGetErrorString(err));
		return -1;
	}

	//Set a background color
	glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
	glfwSetCursorPos(window, 1024 / 2, 768 / 2);

	GLuint VertexArrayID;
	glGenVertexArrays(1, &VertexArrayID);
	glBindVertexArray(VertexArrayID);

	// Create and compile our GLSL program from the shaders
	GLuint red = LoadShaders("SimpleTransform.vertexshader", "SingleColorRed.fragmentshader");
	GLuint grid = LoadShaders("SimpleTransform.vertexshader", "SingleColorGrid.fragmentshader");
	glBindFragDataLocation(red, 0, "red");
	glBindFragDataLocation(grid, 1, "grid");
	// Get a handle for our "MVP" uniform
	GLuint MatrixID = glGetUniformLocation(red, "MVP");

	// Projection matrix : 45° Field of View, 4:3 ratio, display range : 0.1 unit <-> 100 units
	glm::mat4 Projection = glm::perspective(45.0f, 4.0f / 3.0f, 0.1f, 1000.0f);
	// Or, for an ortho camera :
	//glm::mat4 Projection = glm::ortho(-10.0f,10.0f,-10.0f,10.0f,0.0f,100.0f); // In world coordinates

	// Camera matrix
	glm::mat4 View = glm::lookAt(
		glm::vec3(4, 3, 3), // Camera is at (4,3,3), in World Space
		glm::vec3(0, 0, 0), // and looks at the origin
		glm::vec3(0, 1, 0)  // Head is up (set to 0,-1,0 to look upside-down)
		);


	static const GLfloat g_vertex_buffer_data[] = {
		-1.0f, -1.0f, 0.0f,
		1.0f, -1.0f, 0.0f,
		0.0f, 1.0f, 0.0f,
	};

	static const GLushort g_element_buffer_data[] = { 0, 1, 2 };

	GLuint vertexbuffer;
	glGenBuffers(1, &vertexbuffer);
	glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
	glBufferData(GL_ARRAY_BUFFER, sizeof(g_vertex_buffer_data), g_vertex_buffer_data, GL_STATIC_DRAW);

	static const GLfloat g_triangle_buffer_data[] = {
		-1.0f, -1.0f, -1.0f,
		1.0f, -1.0f, -1.0f,
		0.0f, 1.0f, -1.0f,
	};

	GLuint triangle;
	glGenBuffers(1, &triangle);
	glBindBuffer(GL_ARRAY_BUFFER, triangle);
	glBufferData(GL_ARRAY_BUFFER, sizeof(g_triangle_buffer_data), g_triangle_buffer_data, GL_STATIC_DRAW);

	// Enable depth test
	glEnable(GL_DEPTH_TEST);
	// Accept fragment if it closer to the camera than the former one
	glDepthFunc(GL_LESS);
	glEnable(GL_CULL_FACE);
	glEnable(GL_LIGHTING);
	glEnable(GL_SMOOTH);//OPENGL INSTANTIATION
	HRESULT hr;
	NUI_IMAGE_FRAME depthFrame;
	HANDLE hDepth;
	INuiSensor* pNuiSensor = NULL;
	int iSensorCount = 0;
	hr = NuiGetSensorCount(&iSensorCount);

	if (FAILED(hr))
		return hr;

	for (int i = 0; i < iSensorCount; i++)
	{
		INuiSensor* tempSensor;
		hr = NuiCreateSensorByIndex(i, &tempSensor);

		if (FAILED(hr))
			continue;

		hr = tempSensor->NuiStatus();
		if (S_OK == hr)
		{
			pNuiSensor = tempSensor;
			break;
		}

		tempSensor->Release();
	}

	for (int i = 0; i < 2048; i++) {
		depthLookUp[i] = rawDepthToMeters(i);
	}

	rotation = getRotationMatrix(theta, psi, fi);

	pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH);
	pNuiSensor->NuiImageStreamOpen(
		NUI_IMAGE_TYPE_DEPTH,
		NUI_IMAGE_RESOLUTION_320x240,
		0,
		2,
		NULL,
		&hDepth);//KINECT INSTANTIATION

	cout << "Starting Main Loop";

	static double lastTime = glfwGetTime();
	//Main Loop
	do
	{
		double currentTime = glfwGetTime();
		float deltaTime = float(currentTime - lastTime);
		//Clear color buffer
		glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

		glUseProgram(grid);
		modelMatrix(MatrixID);


		hr = pNuiSensor->NuiImageStreamGetNextFrame(hDepth, 0, &depthFrame);
		if (!FAILED(hr))
		{

			INuiFrameTexture* pTexture;
			NUI_LOCKED_RECT LockedRect;

			hr = pNuiSensor->NuiImageFrameGetDepthImagePixelFrameTexture(
				hDepth, &depthFrame, false, &pTexture);

			if (FAILED(hr))
			{
				pNuiSensor->NuiImageStreamReleaseFrame(hDepth, &depthFrame);
				continue;
			}

			pTexture->LockRect(0, &LockedRect, NULL, 0);//Kinect Image Grab
			int skipX = 1;
			int skipY = 1;
			float scalar = 4.0f;

			if (LockedRect.Pitch != 0)
			{
				for (int x = 0; x < width; x += skipX)
				{
					for (int y = 0; y < height; y += skipY)
					{
						const NUI_DEPTH_IMAGE_PIXEL * pBufferRun = reinterpret_cast<const NUI_DEPTH_IMAGE_PIXEL *>(LockedRect.pBits) + x + y * width;
						
						//float depth = (float)(pBufferRun->depth);
						//glm::vec3 location = realWorld(depth, height - y, x, 500.0f, 1000.0f);
						//createCube(0.006f, location);
						Vector4 locationDepth = NuiTransformDepthImageToSkeleton(x, y, (short)(pBufferRun->depth << 3));
						glm::vec3 locationDepthxyz = glm::vec3(locationDepth.x * scalar, locationDepth.y * scalar, locationDepth.z * scalar);
						createCube(0.009f, locationDepthxyz);
					}
				}
			}

			pTexture->UnlockRect(0);
			pTexture->Release();

			pNuiSensor->NuiImageStreamReleaseFrame(hDepth, &depthFrame);
		}

		createGrid();

		//Test drawings
		/*
		glUseProgram(red);
		modelMatrix(MatrixID);
		//createCube(0.05f, glm::vec3(1.0f,1.0f,1.0f));
		// 1rst attribute buffer : vertices
		glEnableVertexAttribArray(0);
		//createObject(vertexbuffer, GL_TRIANGLES, 3);
		//createObject(triangle, GL_TRIANGLES, 3);
		glDisableVertexAttribArray(0);
		*/

		//Swap buffers
		glfwSwapBuffers(window);
		//Get and organize events, like keyboard and mouse input, window resizing, etc...
		glfwPollEvents();

		std::string title = "Title | DELTA TIME " + std::to_string(1.0f/deltaTime);
		const char* pszConstString = title.c_str();
		glfwSetWindowTitle(window, pszConstString);

		lastTime = currentTime;
	} //Check if the ESC key had been pressed or if the window had been closed
	while (!glfwWindowShouldClose(window));


	//Close OpenGL window and terminate GLFW
	glfwDestroyWindow(window);
	//Finalize and clean up GLFW
	glfwTerminate();

	exit(EXIT_SUCCESS);
}
Esempio n. 4
0
int _tmain(int argc, _TCHAR* argv[])
{
	cv::setUseOptimized( true );

	// Kinectのインスタンス生成、初期化
	INuiSensor* pSensor;
	HRESULT hResult = S_OK;
	hResult = NuiCreateSensorByIndex( 0, &pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiCreateSensorByIndex" << std::endl;
		return -1;
	}

	hResult = pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiInitialize" << std::endl;
		return -1;
	}

	// Colorストリームの開始
	HANDLE hColorEvent = INVALID_HANDLE_VALUE;
	HANDLE hColorHandle = INVALID_HANDLE_VALUE;
	hColorEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hColorEvent, &hColorHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( COLOR )" << std::endl;
		return -1;
	}

	HANDLE hEvents[1] = { hColorEvent };

	cv::namedWindow( "Color" );

	while( 1 ){
		// フレームの更新待ち
		ResetEvent( hColorEvent );
		WaitForMultipleObjects( ARRAYSIZE( hEvents ), hEvents, true, INFINITE );

		// Colorカメラからフレームを取得
		NUI_IMAGE_FRAME pColorImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hColorHandle, 0, &pColorImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
			return -1;
		}

		// Color画像データの取得
		INuiFrameTexture* pColorFrameTexture = pColorImageFrame.pFrameTexture;
		NUI_LOCKED_RECT sColorLockedRect;
		pColorFrameTexture->LockRect( 0, &sColorLockedRect, nullptr, 0 );

		// 表示
		cv::Mat colorMat( 480, 640, CV_8UC4, reinterpret_cast<uchar*>( sColorLockedRect.pBits ) );
		cv::imshow( "Color", colorMat );
		
		// フレームの解放
		pColorFrameTexture->UnlockRect( 0 );
		pSensor->NuiImageStreamReleaseFrame( hColorHandle, &pColorImageFrame );

		// ループの終了判定(Escキー)
		if( cv::waitKey( 30 ) == VK_ESCAPE ){
			break;
		}
	}

	// Kinectの終了処理
	pSensor->NuiShutdown();
	CloseHandle( hColorEvent );
	CloseHandle( hColorHandle );

	cv::destroyAllWindows();

	return 0;
}
Esempio n. 5
0
int _tmain(int argc, _TCHAR* argv[])
{
	cv::setUseOptimized( true );

	INuiSensor* pSensor;
	HRESULT hResult = S_OK;
	hResult = NuiCreateSensorByIndex( 0, &pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiCreateSensorByIndex" << std::endl;
		return -1;
	}

	hResult = pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiInitialize" << std::endl;
		return -1;
	}

	HANDLE hColorEvent = INVALID_HANDLE_VALUE;
	HANDLE hColorHandle = INVALID_HANDLE_VALUE;
	hColorEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hColorEvent, &hColorHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( COLOR )" << std::endl;
		return -1;
	}

	HANDLE hDepthPlayerEvent = INVALID_HANDLE_VALUE;
	HANDLE hDepthPlayerHandle = INVALID_HANDLE_VALUE;
	hDepthPlayerEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hDepthPlayerEvent, &hDepthPlayerHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( DEPTH&PLAYER )" << std::endl;
		return -1;
	}

	HANDLE hSkeletonEvent = INVALID_HANDLE_VALUE;
	hSkeletonEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiSkeletonTrackingEnable( hSkeletonEvent, 0 );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiSkeletonTrackingEnable" << std::endl;
		return -1;
	}

	unsigned long refWidth = 0;
	unsigned long refHeight = 0;
	NuiImageResolutionToSize( NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight );
	int width = static_cast<int>( refWidth );
	int height = static_cast<int>( refHeight );

	INuiCoordinateMapper* pCordinateMapper;
	hResult = pSensor->NuiGetCoordinateMapper( &pCordinateMapper );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiGetCoordinateMapper" << std::endl;
		return -1;
	}
	std::vector<NUI_COLOR_IMAGE_POINT> pColorPoint( width * height );

	HANDLE hEvents[3] = { hColorEvent, hDepthPlayerEvent, hSkeletonEvent };

	cv::Vec3b color[7];
	color[0] = cv::Vec3b(   0,   0,   0 );
	color[1] = cv::Vec3b( 255,   0,   0 );
	color[2] = cv::Vec3b(   0, 255,   0 );
	color[3] = cv::Vec3b(   0,   0, 255 );
	color[4] = cv::Vec3b( 255, 255,   0 );
	color[5] = cv::Vec3b( 255,   0, 255 );
	color[6] = cv::Vec3b(   0, 255, 255 );

	cv::namedWindow( "Color" );
	cv::namedWindow( "Depth" );
	cv::namedWindow( "Player" );
	cv::namedWindow( "Skeleton" );

	while( 1 ){
		ResetEvent( hColorEvent );
		ResetEvent( hDepthPlayerEvent );
		ResetEvent( hSkeletonEvent );
		WaitForMultipleObjects( ARRAYSIZE( hEvents ), hEvents, true, INFINITE );

		NUI_IMAGE_FRAME colorImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hColorHandle, 0, &colorImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
			return -1;
		}

		INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;
		NUI_LOCKED_RECT colorLockedRect;
		pColorFrameTexture->LockRect( 0, &colorLockedRect, nullptr, 0 );

		NUI_IMAGE_FRAME depthPlayerImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hDepthPlayerHandle, 0, &depthPlayerImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH&PLAYER )" << std::endl;
			return -1;
		}

		BOOL nearMode = false;
		INuiFrameTexture* pDepthPlayerFrameTexture = nullptr;
		pSensor->NuiImageFrameGetDepthImagePixelFrameTexture( hDepthPlayerHandle, &depthPlayerImageFrame, &nearMode, &pDepthPlayerFrameTexture );
		NUI_LOCKED_RECT depthPlayerLockedRect;
		pDepthPlayerFrameTexture->LockRect( 0, &depthPlayerLockedRect, nullptr, 0 );

		NUI_SKELETON_FRAME skeletonFrame = { 0 };
		hResult = pSensor->NuiSkeletonGetNextFrame( 0, &skeletonFrame );
		if( FAILED( hResult ) ){
			std::cout << "Error : NuiSkeletonGetNextFrame" << std::endl;
			return -1;
		}

		/*
		NUI_TRANSFORM_SMOOTH_PARAMETERS smoothParameter;
		smoothParameter.fSmoothing = 0.5; 
		smoothParameter.fCorrection = 0.5; 
		smoothParameter.fPrediction = 0.0f; 
		smoothParameter.fJitterRadius = 0.05f; 
		smoothParameter.fMaxDeviationRadius = 0.04f;

		hResult = NuiTransformSmooth( &skeletonFrame, &smoothParameter );
		*/

		cv::Mat colorMat( height, width, CV_8UC4, reinterpret_cast<unsigned char*>( colorLockedRect.pBits ) );

		cv::Mat bufferMat = cv::Mat::zeros( height, width, CV_16UC1 );
		cv::Mat playerMat = cv::Mat::zeros( height, width, CV_8UC3 );
		NUI_DEPTH_IMAGE_PIXEL* pDepthPlayerPixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>( depthPlayerLockedRect.pBits );
		pCordinateMapper->MapDepthFrameToColorFrame( NUI_IMAGE_RESOLUTION_640x480, width * height, pDepthPlayerPixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &pColorPoint[0] );
		for( int y = 0; y < height; y++ ){
			for( int x = 0; x < width; x++ ){
				unsigned int index = y * width + x;
				bufferMat.at<unsigned short>( pColorPoint[index].y, pColorPoint[index].x ) = pDepthPlayerPixel[index].depth;
				playerMat.at<cv::Vec3b>( pColorPoint[index].y, pColorPoint[index].x ) = color[pDepthPlayerPixel[index].playerIndex];
			}
		}
		cv::Mat depthMat( height, width, CV_8UC1 );
		bufferMat.convertTo( depthMat, CV_8U, -255.0f / 10000.0f, 255.0f );

		cv::Mat skeletonMat = cv::Mat::zeros( height, width, CV_8UC3 );
		NUI_COLOR_IMAGE_POINT colorPoint;
		for( int count = 0; count < NUI_SKELETON_COUNT; count++ ){
			NUI_SKELETON_DATA skeletonData = skeletonFrame.SkeletonData[count];
			if( skeletonData.eTrackingState == NUI_SKELETON_TRACKED ){
				for( int position = 0; position < NUI_SKELETON_POSITION_COUNT; position++ ){
					pCordinateMapper->MapSkeletonPointToColorPoint( &skeletonData.SkeletonPositions[position], NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, &colorPoint );
					if( ( colorPoint.x >= 0 ) && ( colorPoint.x < width ) && ( colorPoint.y >= 0 ) && ( colorPoint.y < height ) ){
						cv::circle( skeletonMat, cv::Point( colorPoint.x, colorPoint.y ), 10, static_cast<cv::Scalar>( color[count + 1] ), -1, CV_AA );
					}
				}

				std::stringstream ss;
				ss << skeletonData.SkeletonPositions[NUI_SKELETON_POSITION_HIP_CENTER].z;
				pCordinateMapper->MapSkeletonPointToColorPoint( &skeletonData.SkeletonPositions[NUI_SKELETON_POSITION_HEAD], NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, &colorPoint );
				if( ( colorPoint.x >= 0 ) && ( colorPoint.x < width ) && ( colorPoint.y >= 0 ) && ( colorPoint.y < height ) ){
					cv::putText( skeletonMat, ss.str(), cv::Point( colorPoint.x - 50, colorPoint.y - 20 ), cv::FONT_HERSHEY_SIMPLEX, 1.5f, static_cast<cv::Scalar>( color[count + 1] ) );
				}
			}
			else if( skeletonData.eTrackingState == NUI_SKELETON_POSITION_ONLY ){
				pCordinateMapper->MapSkeletonPointToColorPoint( &skeletonData.SkeletonPositions[NUI_SKELETON_POSITION_HIP_CENTER], NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, &colorPoint );
				if( ( colorPoint.x >= 0 ) && ( colorPoint.x < width ) && ( colorPoint.y >= 0 ) && ( colorPoint.y < height ) ){
						cv::circle( skeletonMat, cv::Point( colorPoint.x, colorPoint.y ), 10, static_cast<cv::Scalar>( color[count + 1] ), -1, CV_AA );
				}
			}
		}

		cv::imshow( "Color", colorMat );
		cv::imshow( "Depth", depthMat );
		cv::imshow( "Player", playerMat );
		cv::imshow( "Skeleton", skeletonMat );

		pColorFrameTexture->UnlockRect( 0 );
		pDepthPlayerFrameTexture->UnlockRect( 0 );
		pSensor->NuiImageStreamReleaseFrame( hColorHandle, &colorImageFrame );
		pSensor->NuiImageStreamReleaseFrame( hDepthPlayerHandle, &depthPlayerImageFrame );

		if( cv::waitKey( 30 ) == VK_ESCAPE ){
			break;
		}
	}

	pSensor->NuiShutdown();
	pSensor->NuiSkeletonTrackingDisable();
	pCordinateMapper->Release();
	CloseHandle( hColorEvent );
	CloseHandle( hDepthPlayerEvent );
	CloseHandle( hSkeletonEvent );

	cv::destroyAllWindows();

	return 0;
}
Esempio n. 6
0
int _tmain(int argc, _TCHAR* argv[])
{
	cv::setUseOptimized( true );

	// Kinectのインスタンス生成、初期化
	INuiSensor* pSensor;
	HRESULT hResult = S_OK;
	hResult = NuiCreateSensorByIndex( 0, &pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiCreateSensorByIndex" << std::endl;
		return -1;
	}

	hResult = pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiInitialize" << std::endl;
		return -1;
	}

	// Colorストリーム
	HANDLE hColorEvent = INVALID_HANDLE_VALUE;
	HANDLE hColorHandle = INVALID_HANDLE_VALUE;
	hColorEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hColorEvent, &hColorHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( COLOR )" << std::endl;
		return -1;
	}

	// Depth&Playerストリーム
	HANDLE hDepthPlayerEvent = INVALID_HANDLE_VALUE;
	HANDLE hDepthPlayerHandle = INVALID_HANDLE_VALUE;
	hDepthPlayerEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hDepthPlayerEvent, &hDepthPlayerHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( DEPTH&PLAYER )" << std::endl;
		return -1;
	}

	// Skeletonストリーム
	HANDLE hSkeletonEvent = INVALID_HANDLE_VALUE;
	hSkeletonEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiSkeletonTrackingEnable( hSkeletonEvent, 0 );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiSkeletonTrackingEnable" << std::endl;
		return -1;
	}

	HANDLE hEvents[3] = { hColorEvent, hDepthPlayerEvent, hSkeletonEvent };

	// カラーテーブル
	cv::Vec3b color[7];
	color[0] = cv::Vec3b(   0,   0,   0 );
	color[1] = cv::Vec3b( 255,   0,   0 );
	color[2] = cv::Vec3b(   0, 255,   0 );
	color[3] = cv::Vec3b(   0,   0, 255 );
	color[4] = cv::Vec3b( 255, 255,   0 );
	color[5] = cv::Vec3b( 255,   0, 255 );
	color[6] = cv::Vec3b(   0, 255, 255 );

	cv::namedWindow( "Color" );
	cv::namedWindow( "Depth" );
	cv::namedWindow( "Player" );
	cv::namedWindow( "Skeleton" );

	while( 1 ){
		// フレームの更新待ち
		ResetEvent( hColorEvent );
		ResetEvent( hDepthPlayerEvent );
		ResetEvent( hSkeletonEvent );
		WaitForMultipleObjects( ARRAYSIZE( hEvents ), hEvents, true, INFINITE );

		// Colorカメラからフレームを取得
		NUI_IMAGE_FRAME pColorImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hColorHandle, 0, &pColorImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
			return -1;
		}

		// Depthセンサーからフレームを取得
		NUI_IMAGE_FRAME pDepthPlayerImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hDepthPlayerHandle, 0, &pDepthPlayerImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH&PLAYER )" << std::endl;
			return -1;
		}

		// Skeletonフレームを取得
		NUI_SKELETON_FRAME pSkeletonFrame = { 0 };
		hResult = pSensor->NuiSkeletonGetNextFrame( 0, &pSkeletonFrame );
		if( FAILED( hResult ) ){
			std::cout << "Error : NuiSkeletonGetNextFrame" << std::endl;
			return -1;
		}

		// Color画像データの取得
		INuiFrameTexture* pColorFrameTexture = pColorImageFrame.pFrameTexture;
		NUI_LOCKED_RECT sColorLockedRect;
		pColorFrameTexture->LockRect( 0, &sColorLockedRect, nullptr, 0 );

		// Depthデータの取得
		INuiFrameTexture* pDepthPlayerFrameTexture = pDepthPlayerImageFrame.pFrameTexture;
		NUI_LOCKED_RECT sDepthPlayerLockedRect;
		pDepthPlayerFrameTexture->LockRect( 0, &sDepthPlayerLockedRect, nullptr, 0 );

		// 表示
		cv::Mat colorMat( 480, 640, CV_8UC4, reinterpret_cast<uchar*>( sColorLockedRect.pBits ) );

		LONG registX = 0;
		LONG registY = 0;
		ushort* pBuffer = reinterpret_cast<ushort*>( sDepthPlayerLockedRect.pBits );
		cv::Mat bufferMat = cv::Mat::zeros( 480, 640, CV_16UC1 );
		cv::Mat playerMat = cv::Mat::zeros( 480, 640, CV_8UC3 );
		for( int y = 0; y < 480; y++ ){
			for( int x = 0; x < 640; x++ ){
				pSensor->NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution( NUI_IMAGE_RESOLUTION_640x480, NUI_IMAGE_RESOLUTION_640x480, nullptr, x, y, *pBuffer, &registX, &registY );
				if( ( registX >= 0 ) && ( registX < 640 ) && ( registY >= 0 ) && ( registY < 480 ) ){
					bufferMat.at<ushort>( registY, registX ) = *pBuffer & 0xFFF8;
					playerMat.at<cv::Vec3b>( registY, registX ) = color[*pBuffer & 0x7];
				}
				pBuffer++;
			}
		}
		cv::Mat depthMat( 480, 640, CV_8UC1 );
		bufferMat.convertTo( depthMat, CV_8UC3, -255.0f / NUI_IMAGE_DEPTH_MAXIMUM, 255.0f );

		cv::Mat skeletonMat = cv::Mat::zeros( 480, 640, CV_8UC3 );
		cv::Point2f point;
		for( int count = 0; count < NUI_SKELETON_COUNT; count++ ){
			NUI_SKELETON_DATA skeleton = pSkeletonFrame.SkeletonData[count];
			if( skeleton.eTrackingState == NUI_SKELETON_TRACKED ){
				for( int position = 0; position < NUI_SKELETON_POSITION_COUNT; position++ ){
					NuiTransformSkeletonToDepthImage( skeleton.SkeletonPositions[position], &point.x, &point.y, NUI_IMAGE_RESOLUTION_640x480 );
					cv::circle( skeletonMat, point, 10, static_cast<cv::Scalar>( color[count + 1] ), -1, CV_AA );
				}
			}
		}
		
		cv::imshow( "Color", colorMat );
		cv::imshow( "Depth", depthMat );
		cv::imshow( "Player", playerMat );
		cv::imshow( "Skeleton", skeletonMat );

		// フレームの解放
		pColorFrameTexture->UnlockRect( 0 );
		pDepthPlayerFrameTexture->UnlockRect( 0 );
		pSensor->NuiImageStreamReleaseFrame( hColorHandle, &pColorImageFrame );
		pSensor->NuiImageStreamReleaseFrame( hDepthPlayerHandle, &pDepthPlayerImageFrame );

		// ループの終了判定(Escキー)
		if( cv::waitKey( 30 ) == VK_ESCAPE ){
			break;
		}
	}

	// Kinectの終了処理
	pSensor->NuiShutdown();
	pSensor->NuiSkeletonTrackingDisable();
	CloseHandle( hColorEvent );
	CloseHandle( hDepthPlayerEvent );
	CloseHandle( hSkeletonEvent );
	CloseHandle( hColorHandle );
	CloseHandle( hDepthPlayerHandle );

	cv::destroyAllWindows();

	return 0;
}
Esempio n. 7
0
int _tmain(int argc, _TCHAR* argv[])
{
	cv::setUseOptimized( true );

	INuiSensor* pSensor;
	HRESULT hResult = S_OK;
	hResult = NuiCreateSensorByIndex( 0, &pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiCreateSensorByIndex" << std::endl;
		return -1;
	}

	hResult = pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiInitialize" << std::endl;
		return -1;
	}

	HANDLE hColorEvent = INVALID_HANDLE_VALUE;
	HANDLE hColorHandle = INVALID_HANDLE_VALUE;
	hColorEvent = CreateEvent( nullptr, true, false, nullptr );
	hResult = pSensor->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, hColorEvent, &hColorHandle );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiImageStreamOpen( COLOR )" << std::endl;
		return -1;
	}

	INuiColorCameraSettings* pCameraSettings;
	hResult = pSensor->NuiGetColorCameraSettings( &pCameraSettings );
	if( FAILED( hResult ) ){
		std::cerr << "Error : NuiGetColorCameraSettings" << std::endl;
		return -1;
	}

	unsigned long refWidth = 0;
	unsigned long refHeight = 0;
	NuiImageResolutionToSize( NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight );
	int width = static_cast<int>( refWidth );
	int height = static_cast<int>( refHeight );

	HANDLE hEvents[1] = { hColorEvent };

	cv::namedWindow( "Color" );

	while( 1 ){

		ResetEvent( hColorEvent );
		WaitForMultipleObjects( ARRAYSIZE( hEvents ), hEvents, true, INFINITE );

		NUI_IMAGE_FRAME colorImageFrame = { 0 };
		hResult = pSensor->NuiImageStreamGetNextFrame( hColorHandle, 0, &colorImageFrame );
		if( FAILED( hResult ) ){
			std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
			return -1;
		}

		INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;
		NUI_LOCKED_RECT colorLockedRect;
		pColorFrameTexture->LockRect( 0, &colorLockedRect, nullptr, 0 );

		cv::Mat colorMat( height, width, CV_8UC4, reinterpret_cast<unsigned char*>( colorLockedRect.pBits ) );
		cv::imshow( "Color", colorMat );
		
		pColorFrameTexture->UnlockRect( 0 );
		pSensor->NuiImageStreamReleaseFrame( hColorHandle, &colorImageFrame );

		int key = cv::waitKey( 30 );
		if( key == VK_ESCAPE ){
			break;
		}

	}
	
	pSensor->NuiShutdown();
	pCameraSettings->Release();
	CloseHandle( hColorEvent );

	cv::destroyAllWindows();

	return 0;
}