void initialize()
{
// Sensorを取得
ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
ERROR_CHECK( kinect->Open() );
BOOLEAN isOpen;
ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
if( !isOpen ){
throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
}
ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
// Color Frame Sourceを取得、Color Frame Readerを開く
CComPtr<IColorFrameSource> colorFrameSource;
ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );
CComPtr<IFrameDescription> colorFrameDescription;
ERROR_CHECK( colorFrameSource->CreateFrameDescription( colorFormat, &colorFrameDescription ) );
ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) );
ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) );
ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) );
colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
// Depth Frame Sourceを取得、Depth Frame Readerを開く
CComPtr<IDepthFrameSource> depthFrameSource;
ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
CComPtr<IFrameDescription> depthFrameDescription;
ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) );
ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) );
ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) );
depthBuffer.resize( depthWidth * depthHeight );
// Fusionの初期化
initializeFusion();
}
// Initialize
void Kinect::initialize()
{
cv::setUseOptimized( true );
// Initialize Sensor
initializeSensor();
// Initialize Color
initializeColor();
// Initialize Depth
initializeDepth();
// Initialize Fusion
initializeFusion();
// Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
}
