/* moduleCapture
/ Modulo con la interfaz al Kinect
*/
moduleCapture::moduleCapture()
{
sensor = NULL;
resolution.height = 480;
resolution.width = 640;
pSkeletonFrame = new NUI_SKELETON_FRAME;
skeleton = new NUI_SKELETON_DATA;
pColorImageFrame = new NUI_IMAGE_FRAME;
if(SUCCEEDED(NuiCreateSensorByIndex(0, &sensor))){
OutputDebugStringW(L"Connected to Kinect\n");
if (SUCCEEDED(sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR )))
{
OutputDebugStringW(L"Kinect with Skeleton\n");
}
else {
OutputDebugStringW(L"Error initializing Kinect\n");
exit(1);
}
} else {
OutputDebugStringW(L"Error connecting to Kinect\n");
exit(1);
}
sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, NULL, &colorStreamHandle);
OutputDebugStringW(L"Capture module Instantialized\n");
}
void DepthSensor::createInstance()
{
int count = 0;
NuiGetSensorCount(&count);
if (count == 0)
{
throw std::runtime_error("no valid Kinect is connected");
}
// creat kinect
NuiCreateSensorByIndex(0, &mNuiSensor);
// get kinect status
HRESULT status = mNuiSensor->NuiStatus();
if (status != S_OK)
{
throw std::runtime_error("Kinect is not ready to work");
}
// Create and initialize a new vtk image renderer
// We'll use this to draw the data we receive from the Kinect to the screen
mDrawDepth = new vtkImageRender();
if (!mDrawDepth->Initialize(cDepthWidth, cDepthHeight, cDepthWidth * sizeof(long)))
{
throw std::runtime_error("Failed to initialize the vtk draw device.");
}
}
/// <summary>
/// Create the first connected Kinect found
/// </summary>
/// <returns>indicates success or failure</returns>
HRESULT CSkeletonBasics::CreateFirstConnected()
{
INuiSensor * pNuiSensor;
int iSensorCount = 0;
HRESULT hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr))
{
return hr;
}
// Look at each Kinect sensor
for (int i = 0; i < iSensorCount; ++i)
{
// Create the sensor so we can check status, if we can't create it, move on to the next
hr = NuiCreateSensorByIndex(i, &pNuiSensor);
if (FAILED(hr))
{
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it
hr = pNuiSensor->NuiStatus();
if (S_OK == hr)
{
m_pNuiSensor = pNuiSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pNuiSensor->Release();
}
if (NULL != m_pNuiSensor)
{
// Initialize the Kinect and specify that we'll be using skeleton
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON);
if (SUCCEEDED(hr))
{
// Create an event that will be signaled when skeleton data is available
m_hNextSkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
// Open a skeleton stream to receive skeleton data
hr = m_pNuiSensor->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, 0);
}
}
if (NULL == m_pNuiSensor || FAILED(hr))
{
SetStatusMessage(L"No ready Kinect found!");
return E_FAIL;
}
return hr;
}
Kinect::Kinect(void)
{
HRESULT hr = NuiCreateSensorByIndex(0, &m_kinect_handle);
if (SUCCEEDED(hr))
{
m_kinect_handle->NuiInitialize( NUI_INITIALIZE_FLAG_USES_SKELETON);
m_hNextSkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
hr = m_kinect_handle->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE | NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT);
}
}
void kinect_gbuffer::init()
{
int device_id_ = 0;
assert_hr(NuiCreateSensorByIndex(device_id_, &sensor_));
DWORD options = NUI_INITIALIZE_FLAG_USES_COLOR; // | NUI_INITIALIZE_FLAG_USES_DEPTH;
assert_hr(sensor_->NuiInitialize(options));
NUI_IMAGE_RESOLUTION eResolution = NUI_IMAGE_RESOLUTION_640x480;
if (width_ == 640 && height_ == 480)
eResolution = NUI_IMAGE_RESOLUTION_640x480;
else if (width_ == 1280 && height_ == 960)
eResolution = NUI_IMAGE_RESOLUTION_1280x960;
else
{
tcout << L"Invalid resolution, setting back to 640x480" << std::endl;
width_ = 640;
height_ = 480;
}
color_event_ = CreateEvent(nullptr, TRUE, FALSE, nullptr);
depth_event_ = CreateEvent(nullptr, TRUE, FALSE, nullptr);
kill_event_ = CreateEvent(nullptr, TRUE, FALSE, nullptr);
assert_hr(sensor_->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR, eResolution,
0,
2,
color_event_,
&color_stream_));
if ((options & NUI_INITIALIZE_FLAG_USES_DEPTH) != 0)
{
// fixed size
assert_hr(sensor_->NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
depth_event_,
&depth_stream_));
assert_hr(sensor_->NuiImageStreamSetImageFrameFlags(depth_stream_, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE));
}
has_new_color_ = has_new_depth_ = false;
}
bool initializeKinect()
{
int numKinects = 0;
HRESULT hr = NuiGetSensorCount( &numKinects );
if ( FAILED(hr) || numKinects<=0 )
{
std::cout << "No Kinect device found." << std::endl;
return false;
}
hr = NuiCreateSensorByIndex( 0, &context );
if ( FAILED(hr) )
{
std::cout << "Failed to connect to Kinect device." << std::endl;
return false;
}
DWORD nuiFlags = NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR |
NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX;
hr = context->NuiInitialize( nuiFlags );
if ( FAILED(hr) )
{
std::cout << "Failed to intialize Kinect: " << std::hex << (long)hr << std::dec << std::endl;
return false;
}
hr = context->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, NULL, &colorStreamHandle );
if ( FAILED(hr) )
{
std::cout << "Unable to create color stream: " << std::hex << (long)hr << std::dec << std::endl;
return false;
}
hr = context->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, NUI_IMAGE_RESOLUTION_640x480,
0, 2, NULL, &depthStreamHandle );
if ( FAILED(hr) )
{
std::cout << "Unable to create depth stream: " << std::hex << (long)hr << std::dec << std::endl;
return false;
}
hr = context->NuiSkeletonTrackingEnable( NULL, 0 );
if ( FAILED(hr) )
{
std::cout << "Unable to start tracking skeleton." << std::endl;
return false;
}
return true;
}
Kinect1::Kinect1() :
KinectInterface(1280, 960, 640, 480), sensor(NULL),
colorBuffer(new UINT32[colorWidth * colorHeight]), depthBuffer(new UINT16[depthWidth * depthHeight])
{
// Initialize both arrays to 0
for (int i = 0; i < colorWidth * colorHeight; i++) {
colorBuffer[i] = 0;
}
for (int i = 0; i < depthWidth * depthHeight; i++) {
depthBuffer[i] = 0;
}
int numSensors, result;
// Make sure sensor exists
result = NuiGetSensorCount(&numSensors);
if (result >= 0 && numSensors > 0)
{
result = NuiCreateSensorByIndex(0, &sensor);
if (result >= 0)
{
// Initialize sensor with both color and depth
sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
// Open color stream
sensor->NuiImageStreamOpen(
// 1280 x 960 color
NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_1280x960,
// Do not use near mode
0,
// Buffer for 2 frames
2,
// No handler for events
NULL,
// Get the color stream
&colorStream);
// Open depth stream
sensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH,
NUI_IMAGE_RESOLUTION_640x480,
// Change this argument to NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE for near mode
0,
2,
NULL,
&depthStream);
}
}
}
virtual bool start( uint32_t startGenerators, uint32_t configureImages )
{
if( m_IsInitialized )
return false;
m_GeneratorConfig = startGenerators;
m_ImageConfig = configureImages;
//initialization --------------------------------------------------------->
_2REAL_LOG(info) << "_2Real: Initializing Microsoft Kinect SDK" << std::endl;
HRESULT status = 0;
//get number of devices
int deviceCount = 0;
if( FAILED( status = NuiGetSensorCount( &deviceCount ) ) )
{
throwError( "_2Real: Error when trying to enumerate devices\n" );
}
//abort if no devices found
if( ( m_NumDevices = deviceCount ) == 0 )
{
_2REAL_LOG(error) << "_2Real: No devices found" << std::endl;
return false;
}
_2REAL_LOG(info) << "_2Real: detected number of sensors: " << deviceCount << std::endl;
std::stringstream ss;
//initialization putting device instances to m_devices vector
INuiSensor* devicePtr;
for( int i = 0; i < deviceCount; ++i )
{
//creating instance
if( FAILED( status = NuiCreateSensorByIndex( i, &devicePtr ) ) )
{
throwError(("_2Real: Error when trying to create device: " + i));
}
//saving to vector
ss.str( "" );
ss << "kinect_device_" << i;
m_Devices.push_back( new WSDKDevice( devicePtr, startGenerators, configureImages, ss.str().c_str() ) );
}
m_IsInitialized = 1;
_2REAL_LOG(info) << "_2Real: Initialization: OK" << std::endl;
return true;
}
HRESULT KinectManager::initialize()
{
// reset vars //
kinectInitialized = false;
kinectFailed = false;
// create vars //
int numSensors;
//get number of sensors
HRESULT hr = NuiGetSensorCount(&numSensors);
if (SUCCEEDED(hr))
{
if (numSensors == 0)
{
//NO KINECTS CONNECTED
hr = MAKE_HRESULT(0, 0, -1);
kinectFailed = true;
cout << "No Kinect sensors found\n";
}
else
{
cout << "Found sensor...\n";
//get the first kinect and its status
NuiCreateSensorByIndex(0, &pKinect);
hr = pKinect->NuiStatus();
}
}
if (SUCCEEDED(hr))
{
//kinect ready
cout << "Kinect is ready, starting now\n";
kinectInitialized = true;
startKinect();
}
else if (hr != S_NUI_INITIALIZING)
{
kinectFailed = true;
cout << "Kinect failed and is not initializing\n";
}
return hr;
}
HRESULT
KinectImpl::initDevice()
{
INuiSensor * pNuiSensor=NULL;
int iSensorCount = 0;
HRESULT hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr))
{
return hr;
}
// Look at each Kinect sensor
for (int i = 0; i < iSensorCount; ++i)
{
// Create the sensor so we can check status, if we can't create it, move on to the next
hr = NuiCreateSensorByIndex(i, &pNuiSensor);
if (FAILED(hr))
{
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it
hr = pNuiSensor->NuiStatus();
if (S_OK == hr)
{
m_pNuiSensor = pNuiSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pNuiSensor->Release();
}
if (NULL != m_pNuiSensor)
{
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_AUDIO
| NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX
| NUI_INITIALIZE_FLAG_USES_SKELETON
| NUI_INITIALIZE_FLAG_USES_COLOR
);
}
return hr;
}
INuiSensor*
GetNuiPointer()
{
int sensorCount = 0;
INuiSensor *nuiSensor = NULL;
HRESULT hr = NuiGetSensorCount(&sensorCount);
if (FAILED(hr))
{
throw "Failed to get NUI sensor count";
}
// Look at each Kinect sensor
for (int i=0; i<sensorCount; i++)
{
// Create the sensor so we can check status, if we can't create it, move on to the next
hr = NuiCreateSensorByIndex(i, &nuiSensor);
if (FAILED(hr)) continue;
// Get the status of the sensor, and if connected, then we can initialize it
hr = nuiSensor->NuiStatus();
if (S_OK == hr) break;
// This sensor wasn't OK, so release it since we're not using it
nuiSensor->Release();
}
// If we couldn't get an instance, return failure
if (NULL == nuiSensor)
{
throw "Failed to get NUI Sensor instance";
}
// Initialize the Kinect and specify that we'll be using depth
hr = nuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR
| NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX);
if (FAILED(hr)) return NULL;
else return nuiSensor;
}
HRESULT KinectManager::initialize()
{
INuiSensor * nui;
int nuiCount = 0;
HRESULT hr;
NuiSetDeviceStatusCallback(OnSensorStatusChanged, NULL);
hr = NuiGetSensorCount(&nuiCount);
if ( FAILED(hr))
{
return hr;
}
// Look at each kinect sensor
for (int i = 0; i < nuiCount; i++)
{
// Create the sensor so we can check status, if we can't create it, move on.
hr = NuiCreateSensorByIndex(i, &nui);
if (FAILED(hr))
{
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it.
hr = nui->NuiStatus();
if (S_OK == hr)
{
nuiList.push_front(nui);
}
// This sensor was not okay, so we release it (into the wild!) since we're not using it.
nui->Release();
}
return hr;
}
/// <summary>
/// Enumerate and construct all the sensors when the app starts up
/// </summary>
void CMainWindow::EnumerateSensors()
{
int iCount = 0;
HRESULT hr = NuiGetSensorCount(&iCount);
if (FAILED(hr))
{
return;
}
for (int i = 0; i < iCount; ++i)
{
INuiSensor* pNuiSensor = nullptr;
if (SUCCEEDED(NuiCreateSensorByIndex(i, &pNuiSensor)))
{
UpdateMainWindow(pNuiSensor->NuiDeviceConnectionId(), pNuiSensor->NuiStatus());
}
SafeRelease(pNuiSensor);
}
}
/// <summary>
/// Funcion que crea la primera conexion de la aplicacion con Kinect. Comprueba e inicializa los sensores.
/// </summary>
/// <returns>Devuelve un HRESULT con las banderas de los flags inicializados y los que no.</returns>
HRESULT CreateFirstConnected() {
INuiSensor * pNuiSensor;
HRESULT hr;
int iSensorCount = 0;
hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr)) {
return hr;
}
// Look at each Kinect sensor
for (int i = 0; i < iSensorCount; ++i) {
// Create the sensor so we can check status, if we can't create it, move on to the next
hr = NuiCreateSensorByIndex(i, &pNuiSensor);
if (FAILED(hr)) {
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it
hr = pNuiSensor->NuiStatus();
if (S_OK == hr) {
m_pNuiSensor = pNuiSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pNuiSensor->Release();
}
// Initialize the Kinect and specify that we'll be using depth
DWORD dwFlags = 0;
if (m_bProcessColor) dwFlags |= NUI_INITIALIZE_FLAG_USES_COLOR;
if (m_bProcessDepth)
m_bUserDetection ? (dwFlags |= NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX) : (dwFlags |= NUI_INITIALIZE_FLAG_USES_DEPTH);
if (m_bProcessSkeleton)
dwFlags |= NUI_INITIALIZE_FLAG_USES_SKELETON;
hr = m_pNuiSensor->NuiInitialize(dwFlags);
return hr;
}
bool initKinect() {
// Get a working kinect sensor
int numSensors;
if (NuiGetSensorCount(&numSensors) < 0 || numSensors < 1) return false;
if (NuiCreateSensorByIndex(0, &sensor) < 0) return false;
// Initialize sensor
sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH | NUI_INITIALIZE_FLAG_USES_COLOR);
sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, // Depth camera or rgb camera?
NUI_IMAGE_RESOLUTION_640x480, // Image resolution
0, // Image stream flags, e.g. near mode
2, // Number of frames to buffer
NULL, // Event handle
&depthStream);
sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, // Depth camera or rgb camera?
NUI_IMAGE_RESOLUTION_640x480, // Image resolution
0, // Image stream flags, e.g. near mode
2, // Number of frames to buffer
NULL, // Event handle
&rgbStream);
return sensor;
}
// called once on initialization
void SensorManager::CreateListOfAvailableSensors()
{
// gets the count of sensors from Kinect for Windows API
int iCount = 0;
HRESULT hr = NuiGetSensorCount( &iCount );
if( FAILED(hr) )
{
return;
}
// if there are no sensors, create a temporary one
if( 0 == iCount )
{
// when the first sensor is connected, it will be added
// with the correct id
if( m_kinectSensors.size() == 0 )
{
AddSensorToList( m_wcTempPortID );
}
}
// continue with the known sensors to the list
for (int i = 0; i < iCount; ++i)
{
INuiSensor* pNui = nullptr;
ComSmartPtr<INuiSensor> pNuiPtr;
if( SUCCEEDED( NuiCreateSensorByIndex(i, &pNui) ) )
{
pNuiPtr.Attach(pNui); // Setting up smart pointer for sensor.
const WCHAR* wcPortID = pNuiPtr->NuiDeviceConnectionId(); // contains the connections string for the device
// plugged into a specific USB port.
// removing the sensor and using a different port will have
// a different ID.
AddSensorToList( wcPortID );
}
}
}
KinectSensor::KinectSensor()
{
m_hNextDepthFrameEvent = NULL;
m_hNextVideoFrameEvent = NULL;
m_hNextSkeletonEvent = NULL;
m_pDepthStreamHandle = NULL;
m_pVideoStreamHandle = NULL;
m_hThNuiProcess=NULL;
m_hEvNuiProcessStop=NULL;
m_bNuiInitialized = false;
m_FramesTotal = 0;
m_SkeletonTotal = 0;
m_VideoBuffer = NULL;
m_DepthBuffer = NULL;
m_ZoomFactor = 1.0f;
m_ViewOffset.x = 0;
m_ViewOffset.y = 0;
// Get a working kinect sensor
if (NuiCreateSensorByIndex(numOfInitilizedSensors, &m_Sensor) >= 0) {
numOfInitilizedSensors++;
}
}
bool initKinect() {
// Get a working kinect sensor
int numSensors;
if (NuiGetSensorCount(&numSensors) < 0 || numSensors < 1) return false;
if (NuiCreateSensorByIndex(0, &sensor) < 0) return false;
// Initialize sensor
sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_SKELETON);
sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, // Depth camera or rgb camera?
NUI_IMAGE_RESOLUTION_640x480, // Image resolution
0, // Image stream flags, e.g. near mode
2, // Number of frames to buffer
NULL, // Event handle
&depthStream);
sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, // Depth camera or rgb camera?
NUI_IMAGE_RESOLUTION_640x480, // Image resolution
0, // Image stream flags, e.g. near mode
2, // Number of frames to buffer
NULL, // Event handle
&rgbStream);
sensor->NuiSkeletonTrackingEnable(NULL, 0); // NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT for only upper body
return sensor;
}
wxString KinectHelperImplMSW::GetDeviceName(size_t index)
{
BSTR result;
DWORD size;
INuiSensor * instance(NULL);
wxString name = wxT("Unknown Kinect Sensor");
if(!FAILED(NuiCreateSensorByIndex(index, &instance)))
{
if(instance != NULL)
{
//if(instance->NuiGetPropsBlob(
// MsrNui::INDEX_UNIQUE_DEVICE_NAME,
// &result, &size))
//{
//name = result;
//SysFreeString(result);
//}
//NuiDestroyInstance(instance);
name = wxString::Format(wxT("Kinect#%u"), index);
}
}
return name;
}
/*
* @brief A general Nui initialization function. Sets all of the initial parameters.
*/
void initNui(void) // We call this right after Nui functions called.
{
HRESULT hr;
hr = NuiCreateSensorByIndex(0, &pNuiSensor);
if(FAILED(hr)) STDERR("Cannot connect with kinect0.\r\n");
hr = pNuiSensor->NuiInitialize(
//NUI_INITIALIZE_FLAG_USES_DEPTH |
NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX |
NUI_INITIALIZE_FLAG_USES_COLOR |
NUI_INITIALIZE_FLAG_USES_SKELETON
);
if ( E_NUI_SKELETAL_ENGINE_BUSY == hr ){
hr = pNuiSensor->NuiInitialize(
NUI_INITIALIZE_FLAG_USES_DEPTH |
NUI_INITIALIZE_FLAG_USES_COLOR
);
}
if(FAILED(hr)){
STDERR("Cannot initialize kinect.\r\n");
}
hNextColorFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
hNextDepthFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
hNextSkeletonEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
if(HasSkeletalEngine(pNuiSensor)){
hr = pNuiSensor->NuiSkeletonTrackingEnable( hNextSkeletonEvent,
//NUI_SKELETON_TRACKING_FLAG_TITLE_SETS_TRACKED_SKELETONS |
//NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT
0
);
if(FAILED(hr)) STDERR("Cannot track skeletons\r\n");
}
hr = pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
hNextColorFrameEvent,
&pVideoStreamHandle );
if(FAILED(hr)){
STDERR("Cannot open image stream\r\n");
}
hr = pNuiSensor->NuiImageStreamOpen(
HasSkeletalEngine(pNuiSensor) ? NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX : NUI_IMAGE_TYPE_DEPTH,
NUI_IMAGE_RESOLUTION_320x240,
0,
2,
hNextDepthFrameEvent,
&pDepthStreamHandle );
if(FAILED(hr)){
STDERR("Cannot open depth and player stream\r\n");
}
/*
hr = pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
hNextDepthFrameEvent,
&pDepthStreamHandle );
if(FAILED(hr)){
STDERR("Cannot open depth stream\r\n");
}
*/
#if defined(USE_FACETRACKER)
initFaceTracker();
#endif
}
void KinectDataMan::ShowColorDepth()
{
// init kinect and connect
if( m_cvhelper.IsInitialized() )
return;
m_cvhelper.SetColorFrameResolution(color_reso);
m_cvhelper.SetDepthFrameResolution(depth_reso);
HRESULT hr;
// Get number of Kinect sensors
int sensorCount = 0;
hr = NuiGetSensorCount(&sensorCount);
if (FAILED(hr))
{
return;
}
// If no sensors, update status bar to report failure and return
if (sensorCount == 0)
{
cerr<<"No kinect"<<endl;
}
// Iterate through Kinect sensors until one is successfully initialized
for (int i = 0; i < sensorCount; ++i)
{
INuiSensor* sensor = NULL;
hr = NuiCreateSensorByIndex(i, &sensor);
if (SUCCEEDED(hr))
{
hr = m_cvhelper.Initialize(sensor);
if (SUCCEEDED(hr))
{
// Report success
cerr<<"Kinect initialized"<<endl;
break;
}
else
{
// Uninitialize KinectHelper to show that Kinect is not ready
m_cvhelper.UnInitialize();
return;
}
}
}
DWORD width, height;
m_cvhelper.GetColorFrameSize(&width, &height);
Size colorsz(width, height);
Mat cimg(colorsz, m_cvhelper.COLOR_TYPE);
m_cvhelper.GetDepthFrameSize(&width, &height);
Size depthsz(width, height);
Mat dimg(depthsz, m_cvhelper.DEPTH_RGB_TYPE);
// start processing
while(true)
{
// get color frame
if( SUCCEEDED(m_cvhelper.UpdateColorFrame()) )
{
HRESULT hr = m_cvhelper.GetColorImage(&cimg);
if(FAILED(hr))
break;
imshow("color", cimg);
if( waitKey(10) == 'q' )
break;
}
if( SUCCEEDED(m_cvhelper.UpdateDepthFrame()) )
{
HRESULT hr = m_cvhelper.GetDepthImageAsArgb(&dimg);
if(FAILED(hr))
break;
imshow("depth", dimg);
if( waitKey(10) == 'q' )
break;
}
}
destroyAllWindows();
}
bool KinectInput::initSensor()
{
INuiSensor* tempSensor;
int numSensors = 0;
if (NuiGetSensorCount(&numSensors) != S_OK )
{
std::cout << "Kinect Error: Sensor lookup failed, Probably no sensors connected" << std::endl;
std::getchar();
return false;
}
// Loop through all sensors
for (int i = 0; i < numSensors; ++i)
{
// Create the sensor so we can check status, if we can't create it, move on to the next
if (NuiCreateSensorByIndex(i, &tempSensor) < 0)
{
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it
if (tempSensor->NuiStatus() == S_OK)
{
kinectSensor = tempSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
tempSensor->Release();
}
if (kinectSensor != NULL)
{
// Initialize the Kinect and specify that we'll be using skeleton
if (kinectSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_SKELETON) >= 0)
{
// Create an event that will be signaled when skeleton data is available
nextSkeletonUpdate = CreateEventW(NULL, TRUE, FALSE, NULL);
// Open a skeleton stream to receive skeleton data
if (kinectSensor->NuiSkeletonTrackingEnable(nextSkeletonUpdate, 0) < 0)
{
std::cout << "Kinect Error: Couldn't open a skeleton stream" << std::endl;
std::getchar();
return false;
}
}
else
{
std::cout << "Kinect Error: Sensor failed initialization" << std::endl;
std::getchar();
return false;
}
}
else
{
std::cout << "Kinect Error: No sensor could be initialized" << std::endl;
std::getchar();
return false;
}
return true;
}
/*!
//\par Description:
// Sets all memeber to their default values,
// reads configuration from settings file and tries to find first connected kinect device.
//
//\par Return value:
// True value is a expected value. When this method returns false then something wrong is with
// with kinect sensor. It can be disconnected or drivers are incompatible. First thing to do
// in this case is to check green led on kinect sensor. It should shines all the time. Flashing
// is not allowed.
//
//\retval true kinect is ready to work
//\retval false kinect is not found
*/
bool CKinectHandler::createFirstConnectedKinectSensor()
{
qDebug() << "createFirstConnectedKinectSensor()";
INuiSensor * pSensor;
int iSensorCount = 0;
// HRESULT - just standard long
HRESULT hr = NuiGetSensorCount( & iSensorCount );
if ( FAILED( hr ) ) // checks if hr is less than 0
{
qDebug() << "Cannot get available kinect sensor count";
return false;
}
// checks all sensors and takes first one which can be created
for ( int i = 0 ; i < iSensorCount ; i++ )
{
hr = NuiCreateSensorByIndex( i, & pSensor );
if ( FAILED( hr ) )
{
qDebug() << "Cannot create sensor with index: " << i << ", check next index";
continue;
}
hr = pSensor->NuiStatus();
if ( hr == S_OK ) // sensor is connected, it can be initialized now
{
m_pSensor = pSensor;
qDebug() << "Sensor with index: " << i << " is connected - breaking loop";
break;
}
// release not ok sensor
pSensor->Release();
}
if ( m_pSensor != NULL )
{
hr = m_pSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_SKELETON ); // in order to use skeleton
if ( SUCCEEDED( hr ) )
{
// create event to inform application about new skeleton frame
m_hNextSkeletonEvent = CreateEventW( NULL, TRUE, FALSE, NULL );
// open skeleton stream to get skeleton data
hr = m_pSensor->NuiSkeletonTrackingEnable( m_hNextSkeletonEvent, 0 );
}
}
if ( m_pSensor == NULL || FAILED( hr ) )
{
qDebug() << "No ready kinect found";
m_kinectDetails.insert( "connection", false );
return false;
}
m_kinectDetails.insert( "connection", true );
m_kinectDetails.insert( "skeleton_found", false );
return true;
}
bool KinectHandler::initialize( int kid )
{
HRESULT hr = NuiCreateSensorByIndex( 0, &_context );
if ( FAILED(hr) )
{
OSG_WARN << "Failed to connect to Kinect device." << std::endl;
return false;
}
DWORD nuiFlags = NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON
| NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH;
hr = _context->NuiInitialize( nuiFlags );
if ( FAILED(hr) )
{
switch ( hr )
{
case E_NUI_DEVICE_IN_USE:
OSG_WARN << "Kinect device is already in use." << std::endl;
break;
case E_NUI_SKELETAL_ENGINE_BUSY:
OSG_WARN << "Kinect device is busy at present." << std::endl;
break;
default:
OSG_WARN << "Kinect device failed with error code " << std::hex << (long)hr << std::dec << std::endl;
break;
}
return false;
}
bool hasSkeleton = HasSkeletalEngine(_context);
if ( hasSkeleton )
{
_nextSkeletonEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
hr = _context->NuiSkeletonTrackingEnable( _nextSkeletonEvent, 0 );
if ( FAILED(hr) )
{
OSG_WARN << "Unable to start tracking skeleton." << std::endl;
return false;
}
_nuiProcessStopEvent = CreateEvent( NULL, FALSE, FALSE, NULL );
_nuiProcess = CreateThread( NULL, 0, nuiProcessThread, this, 0, NULL );
}
else
{
OSG_WARN << "Current device don't have a skeleton engine." << std::endl;
}
_nextImageFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
/*if ( hasSkeleton )
{
hr = _context->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX, KINECT_IMAGE_RESOLUTION,
0, 2, _nextImageFrameEvent, &_videoStreamHandle );
}
else*/
{
hr = _context->NuiImageStreamOpen( NUI_IMAGE_TYPE_DEPTH, KINECT_IMAGE_RESOLUTION,
0, 2, _nextImageFrameEvent, &_videoStreamHandle );
}
//hr = _context->NuiImageStreamOpen( NUI_IMAGE_TYPE_COLOR, KINECT_IMAGE_RESOLUTION,
// 0, 2, _nextImageFrameEvent, &_videoStreamHandle );
if ( FAILED(hr) )
{
OSG_WARN << "Unable to create image stream. Error code " << std::hex << (long)hr << std::dec << std::endl;
return false;
}
return true;
}
// In current version, we can't set the resolution
// All sensors of Kinect is activated.
HRESULT Kinect::createFirstConnected(){
INuiSensor * pNuiSensor;
HRESULT hr;
int iSensorCount = 0;
hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr))
{
return hr;
}
// Look at each Kinect sensor
for (int i = 0; i < iSensorCount; ++i)
{
// Create the sensor so we can check status, if we can't create it, move on to the next
hr = NuiCreateSensorByIndex(i, &pNuiSensor);
if (FAILED(hr))
{
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it
hr = pNuiSensor->NuiStatus();
if (S_OK == hr)
{
m_pNuiSensor = pNuiSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pNuiSensor->Release();
}
if (NULL != m_pNuiSensor)
{
// Initialize the Kinect and specify that we'll be using color, depth and skeletion
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR |
NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX |
NUI_INITIALIZE_FLAG_USES_SKELETON);
if (SUCCEEDED(hr))
{
// Create an event that will be signaled when depth data is available
m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Open a depth image stream to receive depth frames
hr = m_pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
NUI_IMAGE_RESOLUTION_640x480,
NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE|NUI_IMAGE_STREAM_FLAG_DISTINCT_OVERFLOW_DEPTH_VALUES,
//NUI_IMAGE_STREAM_FRAME_LIMIT_MAXIMUM,
2,
m_hNextDepthFrameEvent,
&m_hDepthStreamHandle);
//m_pNuiSensor->NuiImageStreamSetImageFrameFlags(&m_hDepthStreamHandle, NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE|NUI_IMAGE_STREAM_FLAG_DISTINCT_OVERFLOW_DEPTH_VALUES);
}
if (SUCCEEDED(hr))
{
// Open a color image stream to receive depth frames
m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
hr = m_pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
m_hNextColorFrameEvent,
&m_hColorStreamHandle);
}
if (SUCCEEDED(hr)){
// Enable the skeleton tracking
m_hNextSkeletonEvent = CreateEventW(NULL, TRUE, FALSE, NULL);
//hr = m_pNuiSensor->NuiSkeletonTrackingEnable(m_hNextSkeletonEvent, 0);
hr = m_pNuiSensor->NuiSkeletonTrackingEnable(
m_hNextSkeletonEvent, NUI_SKELETON_TRACKING_FLAG_ENABLE_IN_NEAR_RANGE | NUI_SKELETON_TRACKING_FLAG_ENABLE_SEATED_SUPPORT);
}
}
if (NULL == m_pNuiSensor || FAILED(hr))
{
return E_FAIL;
}
m_bInitialized = true;
return hr;
}
KinectImageSource::KinectImageSource(int device) : ImageSource(lexical_cast<string>(device)), frame() {
#ifdef WITH_MSKINECT_SDK
m_pColorStreamHandle = INVALID_HANDLE_VALUE;
/// Create the first connected Kinect found
INuiSensor * pNuiSensor;
HRESULT hr;
int iSensorCount = 0;
hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr))
{
std::cout << "Error getting sensor count. No Kinect plugged in?" << hr << std::endl;
}
// Look at each Kinect sensor
for (int i = 0; i < iSensorCount; ++i)
{
// Create the sensor so we can check status, if we can't create it, move on to the next
hr = NuiCreateSensorByIndex(i, &pNuiSensor);
if (FAILED(hr))
{
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it
hr = pNuiSensor->NuiStatus();
if (S_OK == hr)
{
m_pNuiSensor = pNuiSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pNuiSensor->Release();
}
if (NULL != m_pNuiSensor)
{
// Initialize the Kinect and specify that we'll be using color
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR);
if (SUCCEEDED(hr))
{
// Create an event that will be signaled when color data is available
//m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Open a color image stream to receive color frames
hr = m_pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
NUI_IMAGE_RESOLUTION_640x480,
0,
2,
NULL,
&m_pColorStreamHandle);
}
}
if (NULL == m_pNuiSensor || FAILED(hr))
{
std::cout << "No ready Kinect found!" << std::endl;
}
//std::cout << "hr: " << hr << std::endl;
#else
std::cerr << "Error! This is the Microsoft Kinect SDK interface and not available under Linux." << std::endl;
#endif
}
HRESULT KinectSensor::createFirstConnected()
{
INuiSensor* pNuiSensor = NULL;
HRESULT hr = S_OK;
int iSensorCount = 0;
hr = NuiGetSensorCount(&iSensorCount);
if (FAILED(hr) ) { return hr; }
// Look at each Kinect sensor
for (int i = 0; i < iSensorCount; ++i) {
// Create the sensor so we can check status, if we can't create it, move on to the next
hr = NuiCreateSensorByIndex(i, &pNuiSensor);
if (FAILED(hr)) {
continue;
}
// Get the status of the sensor, and if connected, then we can initialize it
hr = pNuiSensor->NuiStatus();
if (S_OK == hr) {
m_pNuiSensor = pNuiSensor;
break;
}
// This sensor wasn't OK, so release it since we're not using it
pNuiSensor->Release();
}
if (NULL == m_pNuiSensor) {
return E_FAIL;
}
// Initialize the Kinect and specify that we'll be using depth
//hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX);
hr = m_pNuiSensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
if (FAILED(hr) ) { return hr; }
// Create an event that will be signaled when depth data is available
m_hNextDepthFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Open a depth image stream to receive depth frames
hr = m_pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_DEPTH,
//NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX,
cDepthResolution,
(8000 << NUI_IMAGE_PLAYER_INDEX_SHIFT),
2,
m_hNextDepthFrameEvent,
&m_pDepthStreamHandle);
if (FAILED(hr) ) { return hr; }
// Create an event that will be signaled when color data is available
m_hNextColorFrameEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Open a color image stream to receive color frames
hr = m_pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
cColorResolution,
0,
2,
m_hNextColorFrameEvent,
&m_pColorStreamHandle );
if (FAILED(hr) ) { return hr; }
INuiColorCameraSettings* colorCameraSettings;
HRESULT hrFlag = m_pNuiSensor->NuiGetColorCameraSettings(&colorCameraSettings);
if (hr != E_NUI_HARDWARE_FEATURE_UNAVAILABLE)
{
m_kinect4Windows = true;
}
//TODO MATTHIAS: does this function have to be called every frame?
USHORT* test = new USHORT[getDepthWidth()*getDepthHeight()];
// Get offset x, y coordinates for color in depth space
// This will allow us to later compensate for the differences in location, angle, etc between the depth and color cameras
m_pNuiSensor->NuiImageGetColorPixelCoordinateFrameFromDepthPixelFrameAtResolution(
cColorResolution,
cDepthResolution,
getDepthWidth()*getDepthHeight(),
test,
getDepthWidth()*getDepthHeight()*2,
m_colorCoordinates
);
SAFE_DELETE_ARRAY(test);
// Start with near mode on (if possible)
m_bNearMode = false;
if (m_kinect4Windows) {
toggleNearMode();
}
//toggleAutoWhiteBalance();
return hr;
}
int Init()
{
//Make sure our image types are the same as the OpenNI image types.
//assert(sizeof(XnRGB24Pixel) == sizeof(ColorPixel));
//assert(sizeof(XnDepthPixel) == sizeof(DepthPixel));
//assert(sizeof(XnStatus) == sizeof(int));
INuiSensor* nuiSensorPtr;
int ret;
// Get number of sensors
int sensorCount = 0;
ret = NuiGetSensorCount(&sensorCount);
if(ret < 0)
{
return -1;
}
// Connect to first sensor
for(int i=0; i<sensorCount; i++)
{
// Create sensor so we can check the status
ret = NuiCreateSensorByIndex(i, &nuiSensorPtr);
if(ret < 0)
continue;
// Get the status of the sensor
ret = nuiSensorPtr->NuiStatus();
if(ret < 0)
{
(void)nuiSensorPtr->Release();
nuiSensorPtr = NULL;
continue;
}
sensor = nuiSensorPtr;
}
// Make sure we have a sensor
if(sensor == NULL)
{
return -1;
}
// Initialize Kinect
ret = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
if(ret < 0)
{
return -1;
}
// Create an event that will be signaled when color data is available
colorImageReadyEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Create an event that will be signaled when depth data is available
depthImageReadyEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
// Open a color image stream to receive color frames
ret = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, colorImageReadyEvent, &colorStream);
if(ret < 0)
{
return -1;
}
// Open a depth image stream to receive depth frames
ret = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depthImageReadyEvent, &depthStream);
if(ret < 0)
{
return -1;
}
return 0;
}
HRESULT Nui_Init( )
{
HRESULT hr;
bool result;
if ( !m_pNuiSensor )
{
hr = NuiCreateSensorByIndex(0, &m_pNuiSensor);
if ( FAILED(hr) )
{
return hr;
}
SysFreeString(m_instanceId);
m_instanceId = m_pNuiSensor->NuiDeviceConnectionId();
}
m_hNextDepthFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_hNextColorFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_hNextSkeletonEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
DWORD nuiFlags = NUI_INITIALIZE_FLAG_USES_DEPTH_AND_PLAYER_INDEX | NUI_INITIALIZE_FLAG_USES_SKELETON | NUI_INITIALIZE_FLAG_USES_COLOR;
hr = m_pNuiSensor->NuiInitialize(nuiFlags);
if ( E_NUI_SKELETAL_ENGINE_BUSY == hr )
{
nuiFlags = NUI_INITIALIZE_FLAG_USES_DEPTH | NUI_INITIALIZE_FLAG_USES_COLOR;
hr = m_pNuiSensor->NuiInitialize( nuiFlags) ;
}
if ( HasSkeletalEngine( m_pNuiSensor ) )
{
//m_SkeletonTrackingFlags = NUI_SKELETON_TRACKING_FLAG_TITLE_SETS_TRACKED_SKELETONS;
hr = m_pNuiSensor->NuiSkeletonTrackingEnable( m_hNextSkeletonEvent, 0/*m_SkeletonTrackingFlags*/ );
if( FAILED( hr ) )
{
return hr;
}
}
g_ColorImgResolution = NUI_IMAGE_RESOLUTION_640x480;
hr = m_pNuiSensor->NuiImageStreamOpen(
NUI_IMAGE_TYPE_COLOR,
g_ColorImgResolution,
0,
2,
m_hNextColorFrameEvent,
&m_pVideoStreamHandle );
if ( FAILED( hr ) )
{
return hr;
}
//g_DepthImgResolution = NUI_IMAGE_RESOLUTION_320x240;
g_DepthImgResolution = NUI_IMAGE_RESOLUTION_640x480;
hr = m_pNuiSensor->NuiImageStreamOpen(
HasSkeletalEngine(m_pNuiSensor) ? NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX : NUI_IMAGE_TYPE_DEPTH,
g_DepthImgResolution,
m_DepthStreamFlags,
2,
m_hNextDepthFrameEvent,
&m_pDepthStreamHandle );
if ( FAILED( hr ) )
{
return hr;
}
//new点云数据
NuiImageResolutionToSize(g_DepthImgResolution, g_DepthWidth, g_DepthHeight );
g_PointsData = new Vector4[g_DepthWidth*g_DepthHeight];
m_DepthData = new USHORT[g_DepthWidth*g_DepthHeight];
//new图像数据
NuiImageResolutionToSize(g_ColorImgResolution, g_ColorWidth, g_ColorHeight);
g_ColorsData = new BYTE[g_ColorWidth*g_ColorHeight*4];
g_ColorCoordinates = new LONG[g_DepthWidth*g_DepthHeight*2];
g_colorToDepthDivisor = g_ColorWidth/g_DepthWidth;
// Start the Nui processing thread
m_hEvNuiProcessStop = CreateEvent( NULL, FALSE, FALSE, NULL );
m_hThNuiProcess = CreateThread( NULL, 0, Nui_ProcessThread, NULL, 0, NULL );
g_TrackingUserID= 0;
return hr;
}
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);
}
