void drawSkeleton( nite::UserTrackerFrameRef& userFrame,
nite::UserTracker& userTracker,
cv::Mat& image)
{
const nite::Array<nite::UserData>& users = userFrame.getUsers();
for ( int i = 0; i < users.getSize(); ++i ) {
const nite::UserData& user = users[i];
if ( user.isNew() ) {
userTracker.startSkeletonTracking( user.getId() );
userTracker.startPoseDetection( user.getId(), nite::POSE_PSI);
userTracker.startPoseDetection( user.getId(), nite::POSE_CROSSED_HANDS);
}
else if ( !user.isLost() ) {
// skeletonの表示
const auto skeleton = user.getSkeleton();
if ( skeleton.getState() == nite::SkeletonState::SKELETON_TRACKED ) {
for ( int j = 0; j < 15; j++ ) {
const auto joint = skeleton.getJoint((nite::JointType)j);
if ( joint.getPositionConfidence() >= 0.7f ) {
const auto position = joint.getPosition();
float x = 0, y = 0;
userTracker.convertJointCoordinatesToDepth(
position.x, position.y, position.z, &x, &y );
cv::circle( image, cvPoint( (int)x, (int)y ),
3, cv::Scalar( 0, 0, 255 ), 5 );
}
}
}
// poseの表示
const auto pose_psi = user.getPose(nite::POSE_PSI);
if( pose_psi.isHeld() || pose_psi.isEntered() )
{
auto center = user.getCenterOfMass();
float x = 0, y = 0;
userTracker.convertJointCoordinatesToDepth(center.x, center.y, center.z, &x, &y);
cv::putText(image, "PSI", cv::Point2f(x,y), cv::FONT_HERSHEY_SIMPLEX, 2, cv::Scalar(0xFF,0xFF,0xFF));
}
const auto pose_cross = user.getPose(nite::POSE_CROSSED_HANDS);
if( pose_cross.isHeld() || pose_cross.isEntered() ){
auto center = user.getCenterOfMass();
float x = 0, y = 0;
userTracker.convertJointCoordinatesToDepth(center.x, center.y, center.z, &x, &y);
cv::putText(image, "Cross", cv::Point2f(x,y), cv::FONT_HERSHEY_COMPLEX, 2, cv::Scalar(0xFF,0xFF,0xFF));
}
}
}
}
// EXPORT FUNCTION:DrawDepthMap()
__declspec(dllexport) void __stdcall OpenNIDrawDepthMap( bool waitflag )
{
nite::UserTrackerFrameRef mUserFrame;
if( g_UserTracker.readFrame( &mUserFrame ) == nite::STATUS_OK )
{
const nite::UserMap& rUserMap = mUserFrame.getUserMap();
const nite::UserId* pLabels = rUserMap.getPixels();
openni::VideoFrameRef mDepthMap = mUserFrame.getDepthFrame();
const openni::DepthPixel* pDepth = static_cast<const openni::DepthPixel*>( mDepthMap.getData() );
int iXRes = mDepthMap.getWidth(),
iYRes = mDepthMap.getHeight();
D3DLOCKED_RECT LPdest;
DepthTex->LockRect(0,&LPdest,NULL, 0);
UCHAR *pDestImage=(UCHAR*)LPdest.pBits;
// Calculate the accumulative histogram
ZeroMemory( g_pDepthHist, MAX_DEPTH * sizeof(float) );
UINT nValue=0;
UINT nNumberOfPoints = 0;
for( int nY = 0; nY < iYRes; ++ nY )
{
for( int nX = 0; nX < iXRes; ++ nX )
{
nValue = *pDepth;
if(nValue !=0)
{
g_pDepthHist[nValue]++;
nNumberOfPoints++;
}
pDepth++;
}
}
for( int nIndex = 1; nIndex < MAX_DEPTH; nIndex++ )
{
g_pDepthHist[nIndex] += g_pDepthHist[nIndex-1];
}
if( nNumberOfPoints )
{
for( int nIndex = 1; nIndex < MAX_DEPTH; nIndex++ )
{
g_pDepthHist[nIndex] = (float)((UINT)(256 * (1.0f - (g_pDepthHist[nIndex] / nNumberOfPoints))));
}
}
UINT nHistValue = 0;
if( g_bDrawPixels )
{
// Prepare the texture map
for( int nY = 0; nY < iYRes; nY += 4 )
{
for( int nX=0; nX < iXRes; nX += 4 )
{
pDestImage[0] = 0;
pDestImage[1] = 0;
pDestImage[2] = 0;
pDestImage[3] = 0;
if( g_bDrawBackground )
{
nValue = *pDepth;
nite::UserId label = *pLabels;
int nColorID = label % NCOLORS;
if( label == 0 )
nColorID = NCOLORS;
if(nValue != 0)
{
nHistValue = (UINT)(g_pDepthHist[nValue]);
pDestImage[0] = (UINT)(nHistValue * Colors[nColorID][0]);
pDestImage[1] = (UINT)(nHistValue * Colors[nColorID][1]);
pDestImage[2] = (UINT)(nHistValue * Colors[nColorID][2]);
pDestImage[3] = 255;
}
}
pDepth += 4;
pLabels += 4;
pDestImage += 4;
}
int pg = iXRes * 3;
pDepth += pg;
pLabels += pg;
pDestImage += (texWidth - iXRes)*4+pg;
}
}
else
{
memset( LPdest.pBits, 0, 4 * 2 * iXRes * iYRes );
}
DepthTex->UnlockRect(0);
const nite::Array<nite::UserData>& aUsers = mUserFrame.getUsers();
for( int iIdx = 0; iIdx < aUsers.getSize(); ++ iIdx )
{
const nite::UserData& rUser = aUsers[iIdx];
if( rUser.isNew() )
{
g_UserTracker.startPoseDetection( rUser.getId(), nite::POSE_PSI );
}
else
{
const nite::PoseData& rPose = rUser.getPose( nite::POSE_PSI );
if( rPose.isEntered() )
{
g_UserTracker.stopPoseDetection( rUser.getId(), nite::POSE_PSI );
g_UserTracker.startSkeletonTracking( rUser.getId() );
}
const nite::Skeleton& rSkeleton = rUser.getSkeleton();
if( rSkeleton.getState() == nite::SKELETON_TRACKED )
{
if( TrCount[iIdx] < 4 )
{
TrCount[iIdx]++;
if( TrCount[iIdx] == 4 )
{
TrackingF = true;
const nite::Point3f& rPos = rSkeleton.getJoint( nite::JOINT_TORSO ).getPosition();
g_BP_Zero.x = rPos.x;
g_BP_Zero.z = rPos.z;
g_BP_Zero.y = float( rSkeleton.getJoint( nite::JOINT_LEFT_HIP ).getPosition().y + rSkeleton.getJoint( nite::JOINT_RIGHT_HIP ).getPosition().y ) / 2;
}
}
PosCalc( rSkeleton, nite::JOINT_TORSO, &BP_Vector[0] );
PosCalc( rSkeleton, nite::JOINT_NECK, &BP_Vector[1]);
PosCalc( rSkeleton, nite::JOINT_HEAD, &BP_Vector[2]);
PosCalc( rSkeleton, nite::JOINT_LEFT_SHOULDER, &BP_Vector[3]);
PosCalc( rSkeleton, nite::JOINT_LEFT_ELBOW, &BP_Vector[4]);
PosCalc( rSkeleton, nite::JOINT_RIGHT_SHOULDER, &BP_Vector[6]);
PosCalc( rSkeleton, nite::JOINT_RIGHT_ELBOW, &BP_Vector[7]);
PosCalc( rSkeleton, nite::JOINT_LEFT_HIP, &BP_Vector[9]);
PosCalc( rSkeleton, nite::JOINT_LEFT_KNEE, &BP_Vector[10]);
PosCalc( rSkeleton, nite::JOINT_LEFT_FOOT, &BP_Vector[11]);
PosCalc( rSkeleton, nite::JOINT_RIGHT_HIP, &BP_Vector[12]);
PosCalc( rSkeleton, nite::JOINT_RIGHT_KNEE, &BP_Vector[13]);
PosCalc( rSkeleton, nite::JOINT_RIGHT_FOOT, &BP_Vector[14]);
PosCalc( rSkeleton, nite::JOINT_TORSO, &BP_Vector[15]);
PosCalc( rSkeleton, nite::JOINT_LEFT_HAND, &BP_Vector[16]);
PosCalc( rSkeleton, nite::JOINT_RIGHT_HAND, &BP_Vector[17]);
//PosCalc( rSkeleton, nite::XN_SKEL_LEFT_WRIST, &BP_Vector[5]);
//PosCalc( rSkeleton, nite::XN_SKEL_RIGHT_WRIST, &BP_Vector[8]);
BP_Vector[5] = BP_Vector[16];
BP_Vector[8] = BP_Vector[17];
BP_Vector[0].y = ( BP_Vector[9].y + BP_Vector[12].y ) / 2.0f;
break;
}
else
{
TrCount[iIdx]=0;
}
}
}
}
}