// Initialize reading data from kinect
HRESULT KinectGrabber::Kinect_Init() {
HRESULT hr;
m_hNextVideoFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_hNextDepthFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_hNextSkeletonFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_hNextDepthPlayerFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
hr = NuiInitialize(
NUI_INITIALIZE_FLAG_USES_DEPTH | NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR);
if( FAILED( hr ) )
{
printf("failed to inialize nui");
}
hr = NuiSkeletonTrackingEnable( m_hNextSkeletonFrameEvent, 0 );
if( FAILED( hr ) )
{
printf("failed to open skeleton tracking.");// MessageBoxResource(m_hWnd,IDS_ERROR_SKELETONTRACKING,MB_OK | MB_ICONHAND);
return hr;
}
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
m_hNextVideoFrameEvent,
&m_pVideoStreamHandle );
if( FAILED( hr ) )
{
printf("failed to open NuiImagesStream");
return hr;
}
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
m_hNextDepthFrameEvent,
&m_pDepthStreamHandle );
if( FAILED( hr ) )
{
printf("failed to open NuiImagesStream");
return hr;
}
//return hr;
//audio init?
//init other added parameters
isSkeletonTracked=false;
}
/**
* @brief QKinect::init : initialisation de la Kinect
*/
void QKinect::init()
{
// Démarrage de la capture
HRESULT res = NuiSkeletonTrackingEnable(NULL, 0);
if(res != S_OK)
throw std::logic_error("Cannot initialize Skeleton Tracking.");
isInitialized = true;
isRunning = true;
}
// --- initialisation ---
HRESULT Init(){
// Configure events to be listened on
m_hNextDepthFrameEvent = CreateEvent( NULL, TRUE , FALSE, NULL );
m_hNextVideoFrameEvent = CreateEvent( NULL, TRUE , FALSE, NULL );
m_hNextSkeletonEvent = CreateEvent( NULL, TRUE , FALSE, NULL );
m_hEvNuiProcessStop = CreateEvent( NULL, FALSE, FALSE, NULL );
hEvents[0]=m_hEvNuiProcessStop;
hEvents[1]=m_hNextDepthFrameEvent;
hEvents[2]=m_hNextVideoFrameEvent;
hEvents[3]=m_hNextSkeletonEvent;
//printf("Kinect::Init() -- events created\n");
// initialisation
HRESULT hr = NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR);
if(FAILED(hr)) {
MessageBox(NULL,L"Kinect initialisation failed.",L"Kinect Error",NULL);
return hr;
}
//printf("Kinect::Init() -- done NuiInitialize\n");
hr = NuiSkeletonTrackingEnable( m_hNextSkeletonEvent, 0 );
if(FAILED(hr)) return hr;
//printf("Kinect::Init() -- done NuiSkeletonTrackingEnable\n");
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
m_hNextVideoFrameEvent,
&m_pVideoStreamHandle );
if(FAILED(hr)) return hr;
//printf("Kinect::Init() -- done NuiImageStreamOpen for video\n");
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
NUI_IMAGE_RESOLUTION_320x240,
0,
2,
m_hNextDepthFrameEvent,
&m_pDepthStreamHandle );
if(FAILED(hr)) return hr;
//printf("Kinect::Init() -- done NuiImageStreamOpen for depth\n");
return hr;
}
int Read_Kinect::control_initialize()
{
int rtn = 0;
//visualization_setup();
HRESULT hr = NuiInitialize(
NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX
| NUI_INITIALIZE_FLAG_USES_COLOR
| NUI_INITIALIZE_FLAG_USES_SKELETON);
if (hr != S_OK)
{
cout << "NuiInitialize failed" << endl;
return hr;
}
h1 = CreateEvent(NULL, TRUE, FALSE, NULL);
h2 = NULL;
hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480,
0, 2, h1, &h2);
if (FAILED(hr))
{
cout << "Could not open image stream video" << endl;
return hr;
}
h3 = CreateEvent(NULL, TRUE, FALSE, NULL);
h4 = NULL; hr = NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
NUI_IMAGE_RESOLUTION_320x240, 0, 2, h3, &h4);
if (FAILED(hr))
{
cout << "Could not open depth stream video" << endl;
return hr;
}
h5 = CreateEvent(NULL, TRUE, FALSE, NULL);
hr = NuiSkeletonTrackingEnable(h5, 0);
if (FAILED(hr))
{
cout << "Could not open skeleton stream video" << endl;
return hr;
}
return rtn;
}
bool Kinect::init() {
HRESULT hr;
hr = NuiInitialize( NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR);
if(hr<0)
return false;
hr = NuiSkeletonTrackingEnable( _nextSkeletonEvent, 0 );
if(hr<0)
return false;
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
_nextVideoFrameEvent,
&_videoHandle );
if(hr<0)
return false;
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
NUI_IMAGE_RESOLUTION_320x240,
0,
2,
_nextDepthFrameEvent,
&_depthHandle );
if(hr<0)
return false;
_events[0] = _nuiProcessStop;
_events[1] = _nextDepthFrameEvent;
_events[2] = _nextVideoFrameEvent;
_events[3] = _nextSkeletonEvent;
CreateThread(NULL,0,nuiProcessThread,this,0,NULL);
_initialized = true;
return true;
}
Flyer::Flyer(PE::GameContext &context, PE::MemoryArena arena, PE::Handle hMyself, int &threadOwnershipMask)
: Component(context, arena, hMyself)
, m_prevCameraType(CameraManager::CameraType_Count)
{
// NUI testing
#ifdef _XBOX
// Could also try for a bit more smoothing ( 0.25f, 0.25f, 0.25f, 0.03f, 0.05f );
m_JointFilter.Init( 0.5f, 0.5f, 0.5f, 0.05f, 0.05f );
// create event which will be signaled when frame processing ends
m_hFrameEndEvent = CreateEvent( NULL,
FALSE, // auto-reset
FALSE, // create unsignaled
"NuiFrameEndEvent" );
if ( !m_hFrameEndEvent )
{
ATG_PrintError( "Failed to create NuiFrameEndEvent\n" );
return;
// return E_FAIL;
}
HRESULT hr = NuiInitialize( NUI_INITIALIZE_FLAG_USES_SKELETON |
NUI_INITIALIZE_FLAG_USES_COLOR |
NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX,
NUI_INITIALIZE_DEFAULT_HARDWARE_THREAD );
if( FAILED( hr ))
{
ATG::NuiPrintError( hr, "NuiInitialize" );
return;
// return E_FAIL;
}
// register frame end event with NUI
hr = NuiSetFrameEndEvent( m_hFrameEndEvent, 0 );
if( FAILED(hr) )
{
ATG::NuiPrintError( hr, "NuiSetFrameEndEvent" );
return;
// return E_FAIL;
}
/*
// Open the color stream
hr = NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 1, NULL, &m_hImage );
if( FAILED (hr) )
{
ATG::NuiPrintError( hr, "NuiImageStreamOpen" );
return E_FAIL;
}
// Open the depth stream
hr = NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_320x240, 0, 1, NULL, &m_hDepth );
if( FAILED (hr) )
{
ATG::NuiPrintError( hr, "NuiImageStreamOpen" );
return E_FAIL;
}
*/
hr = NuiSkeletonTrackingEnable( NULL, 0 );
if( FAILED( hr ))
{
ATG::NuiPrintError( hr, "NuiSkeletonTrackingEnable" );
}
m_pNuiJointConverterConstrained = new ATG::NuiJointConverter();
if( m_pNuiJointConverterConstrained == NULL )
{
// return E_FAIL;
return;
}
m_pNuiJointConverterConstrained->AddDefaultConstraints();
Handle hSN("SceneNode", sizeof(SceneNode));
m_pNuiSN = new(hSN) SceneNode(context, arena, hSN);
m_pNuiSN->addDefaultComponents();
m_pNuiSN->m_base.setPos(Vector3(0.0f, 0, 25.0f));
m_pNuiSN->m_base.turnRight(1.2f * 3.1415f);
RootSceneNode::Instance()->addComponent(hSN);
for (int i = 0; i < XAVATAR_MAX_SKELETON_JOINTS; i++)
{
PE::Handle hMeshInstance("MeshInstance", sizeof(MeshInstance));
MeshInstance *pMeshInstance = new(hMeshInstance) MeshInstance(*m_pContext, m_arena, hMeshInstance);
pMeshInstance->addDefaultComponents();
pMeshInstance->initFromFile("box.x_main_mesh.mesha", "Default", threadOwnershipMask);
Handle hSN("SceneNode", sizeof(SceneNode));
m_sceneNodes[i] = new(hSN) SceneNode(context, arena, hSN);
m_sceneNodes[i]->addDefaultComponents();
m_sceneNodes[i]->addComponent(hMeshInstance);
m_pNuiSN->addComponent(hSN);
if (m_pNuiJointConverterConstrained->MapAvatarJointToNUI_POSITION_INDEX(i) == NUI_SKELETON_POSITION_SHOULDER_RIGHT)
{
PE::Handle hMeshInstance("MeshInstance", sizeof(MeshInstance));
MeshInstance *pMeshInstance = new(hMeshInstance) MeshInstance(*m_pContext, m_arena, hMeshInstance);
pMeshInstance->addDefaultComponents();
pMeshInstance->initFromFile("wings.x_rwing_mesh.mesha", "City", threadOwnershipMask);
m_sceneNodes[i]->addComponent(hMeshInstance);
}
if (m_pNuiJointConverterConstrained->MapAvatarJointToNUI_POSITION_INDEX(i) == NUI_SKELETON_POSITION_SHOULDER_LEFT)
{
PE::Handle hMeshInstance("MeshInstance", sizeof(MeshInstance));
MeshInstance *pMeshInstance = new(hMeshInstance) MeshInstance(*m_pContext, m_arena, hMeshInstance);
pMeshInstance->addDefaultComponents();
pMeshInstance->initFromFile("wings.x_lwing_mesh.mesha", "City", threadOwnershipMask);
m_sceneNodes[i]->addComponent(hMeshInstance);
}
}
{
// put a camera here
PE::Handle hMeshInstance("MeshInstance", sizeof(MeshInstance));
MeshInstance *pMeshInstance = new(hMeshInstance) MeshInstance(*m_pContext, m_arena, hMeshInstance);
pMeshInstance->addDefaultComponents();
pMeshInstance->initFromFile("box.x_main_mesh.mesha", "Default", threadOwnershipMask);
// we put camera in a scene node so we can rotate the camera within that scene node, but we could have also just added camera on its own
Handle hSN("SceneNode", sizeof(SceneNode));
m_pCamSN = new(hSN) SceneNode(context, arena,hSN);
m_pCamSN->addDefaultComponents();
m_pCamSN->addComponent(hMeshInstance);
m_pNuiSN->addComponent(hSN);
m_pCamSN->m_base.setPos(Vector3(0, +1.0f, +1.5f));
Handle hDebugCamera("Camera", sizeof(Camera));
Camera *debugCamera = new(hDebugCamera) Camera(context, arena, hDebugCamera, hSN);
debugCamera->addDefaultComponents();
CameraManager::Instance()->setCamera(CameraManager::PLAYER, hDebugCamera);
//SceneNode *pCamSN = debugCamera->getCamSceneNode();
}
m_framesWithNoData = 0;
m_framesWithData = 0;
#endif // #ifdef _XBOX
}
HRESULT KinectSensor::Init(NUI_IMAGE_TYPE depthType, NUI_IMAGE_RESOLUTION depthRes, BOOL bNearMode, BOOL bFallbackToDefault, NUI_IMAGE_TYPE colorType, NUI_IMAGE_RESOLUTION colorRes, BOOL bSeatedSkeletonMode)
{
HRESULT hr = E_UNEXPECTED;
Release(); // Deal with double initializations.
//do not support NUI_IMAGE_TYPE_COLOR_RAW_YUV for now
if(colorType != NUI_IMAGE_TYPE_COLOR && colorType != NUI_IMAGE_TYPE_COLOR_YUV
|| depthType != NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX && depthType != NUI_IMAGE_TYPE_DEPTH)
{
return E_INVALIDARG;
}
m_VideoBuffer = FTCreateImage();
if (!m_VideoBuffer)
{
return E_OUTOFMEMORY;
}
DWORD width = 0;
DWORD height = 0;
NuiImageResolutionToSize(colorRes, width, height);
hr = m_VideoBuffer->Allocate(width, height, FTIMAGEFORMAT_UINT8_B8G8R8X8);
if (FAILED(hr))
{
return hr;
}
m_DepthBuffer = FTCreateImage();
if (!m_DepthBuffer)
{
return E_OUTOFMEMORY;
}
NuiImageResolutionToSize(depthRes, width, height);
hr = m_DepthBuffer->Allocate(width, height, FTIMAGEFORMAT_UINT16_D13P3);
if (FAILED(hr))
{
return hr;
}
m_FramesTotal = 0;
m_SkeletonTotal = 0;
for (int i = 0; i < NUI_SKELETON_COUNT; ++i)
{
m_HeadPoint[i] = m_NeckPoint[i] = FT_VECTOR3D(0, 0, 0);
m_SkeletonTracked[i] = false;
}
m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
m_hNextVideoFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
m_hNextSkeletonEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
DWORD dwNuiInitDepthFlag = (depthType == NUI_IMAGE_TYPE_DEPTH)? NUI_INITIALIZE_FLAG_USES_DEPTH : NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX;
hr = NuiInitialize(dwNuiInitDepthFlag | NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR);
if (FAILED(hr))
{
return hr;
}
m_bNuiInitialized = true;
DWORD dwSkeletonFlags = NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE;
if (bSeatedSkeletonMode)
{
dwSkeletonFlags |= NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT;
}
hr = NuiSkeletonTrackingEnable( m_hNextSkeletonEvent, dwSkeletonFlags );
if (FAILED(hr))
{
return hr;
}
hr = NuiImageStreamOpen(
colorType,
colorRes,
0,
2,
m_hNextVideoFrameEvent,
&m_pVideoStreamHandle );
if (FAILED(hr))
{
return hr;
}
hr = NuiImageStreamOpen(
depthType,
depthRes,
(bNearMode)? NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE : 0,
2,
m_hNextDepthFrameEvent,
&m_pDepthStreamHandle );
if (FAILED(hr))
{
if(bNearMode && bFallbackToDefault)
{
hr = NuiImageStreamOpen(
depthType,
depthRes,
0,
2,
m_hNextDepthFrameEvent,
&m_pDepthStreamHandle );
}
if(FAILED(hr))
{
return hr;
}
}
// Start the Nui processing thread
m_hEvNuiProcessStop=CreateEvent(NULL,TRUE,FALSE,NULL);
m_hThNuiProcess=CreateThread(NULL,0,ProcessThread,this,0,NULL);
return hr;
}
HRESULT CSkeletalViewerApp::Nui_Init()
{
HRESULT hr;
RECT rc;
m_hNextDepthFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_hNextVideoFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_hNextSkeletonEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
GetWindowRect(GetDlgItem( m_hWnd, IDC_SKELETALVIEW ), &rc );
int width = rc.right - rc.left;
int height = rc.bottom - rc.top;
HDC hdc = GetDC(GetDlgItem( m_hWnd, IDC_SKELETALVIEW));
m_SkeletonBMP = CreateCompatibleBitmap( hdc, width, height );
m_SkeletonDC = CreateCompatibleDC( hdc );
::ReleaseDC(GetDlgItem(m_hWnd,IDC_SKELETALVIEW), hdc );
m_SkeletonOldObj = SelectObject( m_SkeletonDC, m_SkeletonBMP );
hr = m_DrawDepth.CreateDevice( GetDlgItem( m_hWnd, IDC_DEPTHVIEWER ) );
if( FAILED( hr ) )
{
MessageBoxResource( m_hWnd,IDS_ERROR_D3DCREATE,MB_OK | MB_ICONHAND);
return hr;
}
hr = m_DrawDepth.SetVideoType( 320, 240, 320 * 4 );
if( FAILED( hr ) )
{
MessageBoxResource( m_hWnd,IDS_ERROR_D3DVIDEOTYPE,MB_OK | MB_ICONHAND);
return hr;
}
hr = m_DrawVideo.CreateDevice( GetDlgItem( m_hWnd, IDC_VIDEOVIEW ) );
if( FAILED( hr ) )
{
MessageBoxResource( m_hWnd,IDS_ERROR_D3DCREATE,MB_OK | MB_ICONHAND);
return hr;
}
hr = m_DrawVideo.SetVideoType( 640, 480, 640 * 4 );
if( FAILED( hr ) )
{
MessageBoxResource( m_hWnd,IDS_ERROR_D3DVIDEOTYPE,MB_OK | MB_ICONHAND);
return hr;
}
hr = NuiInitialize(
NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR);
if( FAILED( hr ) )
{
MessageBoxResource(m_hWnd,IDS_ERROR_NUIINIT,MB_OK | MB_ICONHAND);
return hr;
}
hr = NuiSkeletonTrackingEnable( m_hNextSkeletonEvent, 0 );
if( FAILED( hr ) )
{
MessageBoxResource(m_hWnd,IDS_ERROR_SKELETONTRACKING,MB_OK | MB_ICONHAND);
return hr;
}
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
m_hNextVideoFrameEvent,
&m_pVideoStreamHandle );
if( FAILED( hr ) )
{
MessageBoxResource(m_hWnd,IDS_ERROR_VIDEOSTREAM,MB_OK | MB_ICONHAND);
return hr;
}
hr = NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
NUI_IMAGE_RESOLUTION_320x240,
0,
2,
m_hNextDepthFrameEvent,
&m_pDepthStreamHandle );
if( FAILED( hr ) )
{
MessageBoxResource(m_hWnd,IDS_ERROR_DEPTHSTREAM,MB_OK | MB_ICONHAND);
return hr;
}
// Start the Nui processing thread
m_hEvNuiProcessStop=CreateEvent(NULL,FALSE,FALSE,NULL);
m_hThNuiProcess=CreateThread(NULL,0,Nui_ProcessThread,this,0,NULL);
//initialize background subtraction.
initialdepth = (USHORT*)malloc(320*480*sizeof(USHORT));
FrameCount = 0;
return hr;
}
