// コンストラクタ
KinectV2::KinectV2()
{
// センサを取得する
if (sensor == NULL && GetDefaultKinectSensor(&sensor) == S_OK)
{
HRESULT hr;
// センサの使用を開始する
hr = sensor->Open();
assert(hr == S_OK);
// デプスデータの読み込み設定
IDepthFrameSource *depthSource;
hr = sensor->get_DepthFrameSource(&depthSource);
assert(hr == S_OK);
hr = depthSource->OpenReader(&depthReader);
assert(hr == S_OK);
IFrameDescription *depthDescription;
hr = depthSource->get_FrameDescription(&depthDescription);
assert(hr == S_OK);
depthSource->Release();
// デプスデータのサイズを得る
depthDescription->get_Width(&depthWidth);
depthDescription->get_Height(&depthHeight);
depthDescription->Release();
// カラーデータの読み込み設定
IColorFrameSource *colorSource;
hr = sensor->get_ColorFrameSource(&colorSource);
assert(hr == S_OK);
hr = colorSource->OpenReader(&colorReader);
assert(hr == S_OK);
IFrameDescription *colorDescription;
hr = colorSource->get_FrameDescription(&colorDescription);
assert(hr == S_OK);
colorSource->Release();
// カラーデータのサイズを得る
colorDescription->get_Width(&colorWidth);
colorDescription->get_Height(&colorHeight);
colorDescription->Release();
// 座標のマッピング
hr = sensor->get_CoordinateMapper(&coordinateMapper);
assert(hr == S_OK);
// depthCount と colorCount を計算してテクスチャとバッファオブジェクトを作成する
makeTexture();
// デプスデータからカメラ座標を求めるときに用いる一時メモリを確保する
position = new GLfloat[depthCount][3];
// カラーデータを変換する用いる一時メモリを確保する
color = new GLubyte[colorCount * 4];
}
}
IFrameDescription* Kinect2StreamImpl::getFrameDescription(OniSensorType sensorType)
{
if (!m_pKinectSensor) {
return NULL;
}
IFrameDescription* frameDescription = NULL;
if (sensorType == ONI_SENSOR_COLOR) {
IColorFrameSource* frameSource = NULL;
HRESULT hr = m_pKinectSensor->get_ColorFrameSource(&frameSource);
if (SUCCEEDED(hr)) {
hr = frameSource->get_FrameDescription(&frameDescription);
if (FAILED(hr) && frameDescription) {
frameDescription->Release();
frameDescription = NULL;
}
}
if (frameSource) {
frameSource->Release();
}
}
else if (sensorType == ONI_SENSOR_DEPTH) {
IDepthFrameSource* frameSource = NULL;
HRESULT hr = m_pKinectSensor->get_DepthFrameSource(&frameSource);
if (SUCCEEDED(hr)) {
hr = frameSource->get_FrameDescription(&frameDescription);
if (FAILED(hr) && frameDescription) {
frameDescription->Release();
frameDescription = NULL;
}
}
if (frameSource) {
frameSource->Release();
}
}
else { // ONI_SENSOR_IR
IInfraredFrameSource* frameSource = NULL;
HRESULT hr = m_pKinectSensor->get_InfraredFrameSource(&frameSource);
if (SUCCEEDED(hr)) {
hr = frameSource->get_FrameDescription(&frameDescription);
if (FAILED(hr) && frameDescription) {
frameDescription->Release();
frameDescription = NULL;
}
}
if (frameSource) {
frameSource->Release();
}
}
return frameDescription;
}
XnDouble Kinect2StreamImpl::getVerticalFov()
{
IFrameDescription* frameDescription = NULL;
if (m_sensorType == ONI_SENSOR_DEPTH && m_imageRegistrationMode == ONI_IMAGE_REGISTRATION_DEPTH_TO_COLOR) {
frameDescription = getFrameDescription(ONI_SENSOR_COLOR);
}
else {
frameDescription = getFrameDescription(m_sensorType);
}
if (frameDescription == NULL) {
return 0;
}
float fov;
HRESULT hr = frameDescription->get_VerticalFieldOfView(&fov);
frameDescription->Release();
if (FAILED(hr)) {
return 0;
}
return fov;
}
int main(int argc, char** argv)
{
// 1a. Get default Sensor
cout << "Try to get default sensor" << endl;
IKinectSensor* pSensor = nullptr;
if (GetDefaultKinectSensor(&pSensor) != S_OK)
{
cerr << "Get Sensor failed" << endl;
return -1;
}
// 1b. Open sensor
cout << "Try to open sensor" << endl;
if (pSensor->Open() != S_OK)
{
cerr << "Can't open sensor" << endl;
return -1;
}
// 2a. Get frame source
cout << "Try to get body index source" << endl;
IBodyIndexFrameSource* pFrameSource = nullptr;
if (pSensor->get_BodyIndexFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get body index frame source" << endl;
return -1;
}
// 2b. Get frame description
cout << "get body index frame description" << endl;
int iWidth = 0;
int iHeight = 0;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// 3a. get frame reader
cout << "Try to get body index frame reader" << endl;
IBodyIndexFrameReader* pFrameReader = nullptr;
if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
{
cerr << "Can't get body index frame reader" << endl;
return -1;
}
// 2c. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
// Prepare OpenCV data
cv::Mat mImg(iHeight, iWidth, CV_8UC3);
cv::namedWindow("Body Index Image");
// color array
cv::Vec3b aColorTable[7] = {
cv::Vec3b(255,0,0),
cv::Vec3b(0,255,0),
cv::Vec3b(0,0,255),
cv::Vec3b(255,255,0),
cv::Vec3b(255,0,255),
cv::Vec3b(0,255,255),
cv::Vec3b(0,0,0),
};
// Enter main loop
while (true)
{
// 4a. Get last frame
IBodyIndexFrame* pFrame = nullptr;
if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
{
// 4c. Fill OpenCV image
UINT uSize = 0;
BYTE* pBuffer = nullptr;
if (pFrame->AccessUnderlyingBuffer(&uSize,&pBuffer) == S_OK)
{
for (int y = 0; y < iHeight; ++y)
{
for (int x = 0; x < iWidth; ++x)
{
int uBodyIdx = pBuffer[x + y * iWidth];
if (uBodyIdx < 6)
mImg.at<cv::Vec3b>(y, x) = aColorTable[uBodyIdx];
else
mImg.at<cv::Vec3b>(y, x) = aColorTable[6];
}
}
cv::imshow("Body Index Image", mImg);
}
else
{
cerr << "Data access error" << endl;
}
// 4e. release frame
pFrame->Release();
}
// 4f. check keyboard input
if (cv::waitKey(30) == VK_ESCAPE){
break;
}
}
// 3b. release frame reader
cout << "Release frame reader" << endl;
pFrameReader->Release();
pFrameReader = nullptr;
// 1c. Close Sensor
cout << "close sensor" << endl;
pSensor->Close();
// 1d. Release Sensor
cout << "Release sensor" << endl;
pSensor->Release();
pSensor = nullptr;
return 0;
}
int main(int argc, char** argv)
{
// 1a. Get default Sensor
cout << "Try to get default sensor" << endl;
IKinectSensor* pSensor = nullptr;
if (GetDefaultKinectSensor(&pSensor) != S_OK)
{
cerr << "Get Sensor failed" << endl;
}
else
{
// 1b. Open sensor
cout << "Try to open sensor" << endl;
if (pSensor->Open() != S_OK)
{
cerr << "Can't open sensor" << endl;
}
else
{
// 2a. Get frame source
cout << "Try to get source" << endl;
IDepthFrameSource* pFrameSource = nullptr;
if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get frame source" << endl;
}
else
{
// 2b. Get frame description
int iWidth = 0;
int iHeight = 0;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
pFrameDescription->Release();
pFrameDescription = nullptr;
}
// 2c. get some dpeth only meta
UINT16 uDepthMin = 0, uDepthMax = 0;
pFrameSource->get_DepthMinReliableDistance(&uDepthMin);
pFrameSource->get_DepthMaxReliableDistance(&uDepthMax);
cout << "Reliable Distance: " << uDepthMin << " - " << uDepthMax << endl;
// perpare OpenCV
cv::Mat mDepthImg(iHeight, iWidth, CV_16UC1);
cv::Mat mImg8bit(iHeight, iWidth, CV_8UC1);
cv::namedWindow( "Depth Map" );
// 3a. get frame reader
cout << "Try to get frame reader" << endl;
IDepthFrameReader* pFrameReader = nullptr;
if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
{
cerr << "Can't get frame reader" << endl;
}
else
{
// Enter main loop
cout << "Enter main loop" << endl;
while (true)
{
// 4a. Get last frame
IDepthFrame* pFrame = nullptr;
if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
{
// 4c. copy the depth map to image
if (pFrame->CopyFrameDataToArray(iWidth * iHeight, reinterpret_cast<UINT16*>(mDepthImg.data)) == S_OK)
{
// 4d. convert from 16bit to 8bit
mDepthImg.convertTo(mImg8bit, CV_8U, 255.0f / uDepthMax);
cv::imshow("Depth Map", mImg8bit);
}
else
{
cerr << "Data copy error" << endl;
}
// 4e. release frame
pFrame->Release();
}
// 4f. check keyboard input
if (cv::waitKey(30) == VK_ESCAPE){
break;
}
}
// 3b. release frame reader
cout << "Release frame reader" << endl;
pFrameReader->Release();
pFrameReader = nullptr;
}
// 2d. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 1c. Close Sensor
cout << "close sensor" << endl;
pSensor->Close();
}
// 1d. Release Sensor
cout << "Release sensor" << endl;
pSensor->Release();
pSensor = nullptr;
}
return 0;
}
int main()
{
// 1. Sensor related code
cout << "Try to get default sensor" << endl;
{
if (GetDefaultKinectSensor(&pSensor) != S_OK) {
cerr << "Get Sensor failed" << endl;
return -1;
}
cout << "Try to open sensor" << endl;
if (pSensor->Open() != S_OK) {
cerr << "Can't open sensor" << endl;
return -1;
}
}
// 2. Color related code
cout << "Try to get color source" << endl;
{
// Get frame source
IColorFrameSource* pFrameSource = nullptr;
if (pSensor->get_ColorFrameSource(&pFrameSource) != S_OK) {
cerr << "Can't get color frame source" << endl;
return -1;
}
// Get frame description
cout << "get color frame description" << endl;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK) {
pFrameDescription->get_Width(&iColorWidth);
pFrameDescription->get_Height(&iColorHeight);
uColorPointNum = iColorWidth * iColorHeight;
uColorBufferSize = uColorPointNum * 4 * sizeof(BYTE);
pCSPoints = new CameraSpacePoint[uColorPointNum];
pColorBuffer = new BYTE[4 * uColorPointNum];
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// get frame reader
cout << "Try to get color frame reader" << endl;
if (pFrameSource->OpenReader(&pColorFrameReader) != S_OK) {
cerr << "Can't get color frame reader" << endl;
return -1;
}
// release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 3. Depth related code
cout << "Try to get depth source" << endl;
{
// Get frame source
IDepthFrameSource* pFrameSource = nullptr;
if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK) {
cerr << "Can't get depth frame source" << endl;
return -1;
}
// Get frame description
cout << "get depth frame description" << endl;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK) {
int iDepthWidth = 0,
iDepthHeight = 0;
pFrameDescription->get_Width(&iDepthWidth);
pFrameDescription->get_Height(&iDepthHeight);
uDepthPointNum = iDepthWidth * iDepthHeight;
pDepthBuffer = new UINT16[uDepthPointNum];
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// get frame reader
cout << "Try to get depth frame reader" << endl;
if (pFrameSource->OpenReader(&pDepthFrameReader) != S_OK) {
cerr << "Can't get depth frame reader" << endl;
return -1;
}
// release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 4. Coordinate Mapper
if (pSensor->get_CoordinateMapper(&pCoordinateMapper) != S_OK) {
cerr << "get_CoordinateMapper failed" << endl;
return -1;
}
while (1) {
idle();
if ((int)pColorBuffer[0] != 0) {
capture_point();
}
}
ExitFunction();
return 0;
}
int main(int argc, char** argv) {
// 1a. Get default Sensor
std::cout << "Try to get default sensor" << std::endl;
IKinectSensor* pSensor = nullptr;
if (GetDefaultKinectSensor(&pSensor) != S_OK) {
cerr << "Get Sensor failed" << std::endl;
return -1;
}
// 1b. Open sensor
std::cout << "Try to open sensor" << std::endl;
if (pSensor->Open() != S_OK) {
cerr << "Can't open sensor" << std::endl;
return -1;
}
// 2. Color Related code
IColorFrameReader* pColorFrameReader = nullptr;
cv::Mat mColorImg;
UINT uBufferSize = 0;
{
// 2a. Get color frame source
std::cout << "Try to get color source" << std::endl;
IColorFrameSource* pFrameSource = nullptr;
if (pSensor->get_ColorFrameSource(&pFrameSource) != S_OK) {
cerr << "Can't get color frame source" << std::endl;
return -1;
}
// 2b. Get frame description
std::cout << "get color frame description" << std::endl;
int iWidth = 0;
int iHeight = 0;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK) {
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// 2c. get frame reader
std::cout << "Try to get color frame reader" << std::endl;
if (pFrameSource->OpenReader(&pColorFrameReader) != S_OK) {
cerr << "Can't get color frame reader" << std::endl;
return -1;
}
// 2d. release Frame source
std::cout << "Release frame source" << std::endl;
pFrameSource->Release();
pFrameSource = nullptr;
// Prepare OpenCV data
mColorImg = cv::Mat(iHeight, iWidth, CV_8UC4);
uBufferSize = iHeight * iWidth * 4 * sizeof(BYTE);
}
// 3. Body related code
IBodyFrameReader* pBodyFrameReader = nullptr;
IBody** aBodyData = nullptr;
INT32 iBodyCount = 0;
{
// 3a. Get frame source
std::cout << "Try to get body source" << std::endl;
IBodyFrameSource* pFrameSource = nullptr;
if (pSensor->get_BodyFrameSource(&pFrameSource) != S_OK) {
cerr << "Can't get body frame source" << std::endl;
return -1;
}
// 3b. Get the number of body
if (pFrameSource->get_BodyCount(&iBodyCount) != S_OK) {
cerr << "Can't get body count" << std::endl;
return -1;
}
std::cout << " > Can trace " << iBodyCount << " bodies" << std::endl;
aBodyData = new IBody*[iBodyCount];
for (int i = 0; i < iBodyCount; ++i)
aBodyData[i] = nullptr;
// 3c. get frame reader
std::cout << "Try to get body frame reader" << std::endl;
if (pFrameSource->OpenReader(&pBodyFrameReader) != S_OK) {
cerr << "Can't get body frame reader" << std::endl;
return -1;
}
// 3d. release Frame source
std::cout << "Release frame source" << std::endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 4. get CoordinateMapper
ICoordinateMapper* pCoordinateMapper = nullptr;
if (pSensor->get_CoordinateMapper(&pCoordinateMapper) != S_OK) {
std::cout << "Can't get coordinate mapper" << std::endl;
return -1;
}
// Enter main loop
cv::namedWindow("Body Image");
// Debug:output the velocity of joints
ofstream current_average_velocityTXT("current_average_velocity.txt");
ofstream average_velocityTXT("average_velocity.txt");
int frame_count = 0;
int frame_count_for_standby = 0;
float positionX0[25] = {0};
float positionX1[25] = {0};
float positionY0[25] = { 0 };
float positionY1[25] = { 0 };
float positionZ0[25] = { 0 };
float positionZ1[25] = { 0 };
float velocityX[25] = { 0 };
float velocityY[25] = { 0 };
float velocityZ[25] = { 0 };
float current_velocity[25] = { 0 };
float velocityee[8] = { 0 };
float current_total_velocity = 0;
float current_average_velocity = 0;
float total_velocity = 0;
float average_velocity = 0;
while (true)
{
// 4a. Get last frame
IColorFrame* pColorFrame = nullptr;
if (pColorFrameReader->AcquireLatestFrame(&pColorFrame) == S_OK) {
// 4c. Copy to OpenCV image
if (pColorFrame->CopyConvertedFrameDataToArray(uBufferSize, mColorImg.data, ColorImageFormat_Bgra) != S_OK) {
cerr << "Data copy error" << endl;
}
// 4e. release frame
pColorFrame->Release();
}
cv::Mat mImg = mColorImg.clone();
// 4b. Get body data
IBodyFrame* pBodyFrame = nullptr;
if (pBodyFrameReader->AcquireLatestFrame(&pBodyFrame) == S_OK) {
// 4b. get Body data
if (pBodyFrame->GetAndRefreshBodyData(iBodyCount, aBodyData) == S_OK) {
// 4c. for each body
for (int i = 0; i < iBodyCount; ++i) {
IBody* pBody = aBodyData[i];
// check if is tracked
BOOLEAN bTracked = false;
if ((pBody->get_IsTracked(&bTracked) == S_OK) && bTracked) {
// get joint position
Joint aJoints[JointType::JointType_Count];
if (pBody->GetJoints(JointType::JointType_Count, aJoints) == S_OK) {
DrawLine(mImg, aJoints[JointType_SpineBase], aJoints[JointType_SpineMid], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineMid], aJoints[JointType_SpineShoulder], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineShoulder], aJoints[JointType_Neck], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_Neck], aJoints[JointType_Head], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ShoulderLeft], aJoints[JointType_ElbowLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ElbowLeft], aJoints[JointType_WristLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_WristLeft], aJoints[JointType_HandLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HandLeft], aJoints[JointType_HandTipLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HandLeft], aJoints[JointType_ThumbLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ShoulderRight], aJoints[JointType_ElbowRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_ElbowRight], aJoints[JointType_WristRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_WristRight], aJoints[JointType_HandRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HandRight], aJoints[JointType_HandTipRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HandRight], aJoints[JointType_ThumbRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineBase], aJoints[JointType_HipLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HipLeft], aJoints[JointType_KneeLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_KneeLeft], aJoints[JointType_AnkleLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_AnkleLeft], aJoints[JointType_FootLeft], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_SpineBase], aJoints[JointType_HipRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_HipRight], aJoints[JointType_KneeRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_KneeRight], aJoints[JointType_AnkleRight], pCoordinateMapper);
DrawLine(mImg, aJoints[JointType_AnkleRight], aJoints[JointType_FootRight], pCoordinateMapper);
}
// Debug:print out the number of frame
std::cout << "frame " << ++frame_count << std::endl;
for (int j = 1; j < 8; j++) {
velocityee[j] = velocityee[j-1];
total_velocity += velocityee[j];
}
average_velocity = total_velocity / 8.0;
if (average_velocity <= 0.0015) {
// determine if the person is still
if (frame_count_for_standby == 0) {
PlaySound(TEXT("Alarm02.wav"), NULL, SND_FILENAME);
std::cout << "Start capturing points!" << std::endl;
}
// count the number of frame whose velocity is below the threshold
frame_count_for_standby++;
if (frame_count_for_standby >= 5) {
frame_count_for_standby = 0;
}
}
// Debug:output the average velocity
average_velocityTXT << frame_count << " " << average_velocity << std::endl;
total_velocity = 0;
// Update the average velocity
int available_joints = 0;
for (int i = 0; i < 25; i++) {
// X
positionX1[i] = positionX0[i];
positionX0[i] = aJoints[i].Position.X;
velocityX[i] = (positionX1[i] - positionX0[i]) * (positionX1[i] - positionX0[i]);
// Y
positionY1[i] = positionY0[i];
positionY0[i] = aJoints[i].Position.Y;
velocityY[i] = (positionY1[i] - positionY0[i]) * (positionY1[i] - positionY0[i]);
// Z
positionZ1[i] = positionZ0[i];
positionZ0[i] = aJoints[i].Position.Z;
velocityZ[i] = (positionZ1[i] - positionZ0[i]) * (positionZ1[i] - positionZ0[i]);
current_velocity[i] = sqrtf(velocityX[i] + velocityY[i] + velocityZ[i]);
// exclude the discrete velocity
if (current_velocity[i] < 0.01) {
current_total_velocity += current_velocity[i];
available_joints++;
}
}
// If no joint is available, save the velocity of last frame
if (available_joints != 0) {
current_average_velocity = current_total_velocity / available_joints;
}
velocityee[0] = current_average_velocity;
// Debug:output the current average velocity
current_average_velocityTXT << frame_count << " " << current_average_velocity << std::endl;
current_total_velocity = 0;
}
}
} else {
cerr << "Can't read body data" << endl;
}
// 4e. release frame
pBodyFrame->Release();
}
// show image
cv::imshow("Body Image",mImg);
// 4c. check keyboard input
if (cv::waitKey(30) == VK_ESCAPE) {
break;
}
}
// 3. delete body data array
delete[] aBodyData;
// 3. release frame reader
std::cout << "Release body frame reader" << std::endl;
pBodyFrameReader->Release();
pBodyFrameReader = nullptr;
// 2. release color frame reader
std::cout << "Release color frame reader" << std::endl;
pColorFrameReader->Release();
pColorFrameReader = nullptr;
// 1c. Close Sensor
std::cout << "close sensor" << std::endl;
pSensor->Close();
// 1d. Release Sensor
std::cout << "Release sensor" << std::endl;
pSensor->Release();
pSensor = nullptr;
return 0;
}
void Device::update()
{
if ( mSensor != 0 ) {
mSensor->get_Status( &mStatus );
}
if ( mFrameReader == 0 ) {
return;
}
IAudioBeamFrame* audioFrame = 0;
IBodyFrame* bodyFrame = 0;
IBodyIndexFrame* bodyIndexFrame = 0;
IColorFrame* colorFrame = 0;
IDepthFrame* depthFrame = 0;
IMultiSourceFrame* frame = 0;
IInfraredFrame* infraredFrame = 0;
ILongExposureInfraredFrame* infraredLongExposureFrame = 0;
HRESULT hr = mFrameReader->AcquireLatestFrame( &frame );
// TODO audio
if ( SUCCEEDED( hr ) ) {
console() << "SUCCEEDED " << getElapsedFrames() << endl;
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyEnabled() ) {
IBodyFrameReference* frameRef = 0;
hr = frame->get_BodyFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyIndexEnabled() ) {
IBodyIndexFrameReference* frameRef = 0;
hr = frame->get_BodyIndexFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyIndexFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isColorEnabled() ) {
IColorFrameReference* frameRef = 0;
hr = frame->get_ColorFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &colorFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isDepthEnabled() ) {
IDepthFrameReference* frameRef = 0;
hr = frame->get_DepthFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &depthFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredEnabled() ) {
IInfraredFrameReference* frameRef = 0;
hr = frame->get_InfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredLongExposureEnabled() ) {
ILongExposureInfraredFrameReference* frameRef = 0;
hr = frame->get_LongExposureInfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredLongExposureFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) ) {
long long time = 0L;
// TODO audio
IFrameDescription* bodyFrameDescription = 0;
int32_t bodyWidth = 0;
int32_t bodyHeight = 0;
uint32_t bodyBufferSize = 0;
uint8_t* bodyBuffer = 0;
IFrameDescription* bodyIndexFrameDescription = 0;
int32_t bodyIndexWidth = 0;
int32_t bodyIndexHeight = 0;
uint32_t bodyIndexBufferSize = 0;
uint8_t* bodyIndexBuffer = 0;
IFrameDescription* colorFrameDescription = 0;
int32_t colorWidth = 0;
int32_t colorHeight = 0;
ColorImageFormat imageFormat = ColorImageFormat_None;
uint32_t colorBufferSize = 0;
uint8_t* colorBuffer = 0;
IFrameDescription* depthFrameDescription = 0;
int32_t depthWidth = 0;
int32_t depthHeight = 0;
uint16_t depthMinReliableDistance = 0;
uint16_t depthMaxReliableDistance = 0;
uint32_t depthBufferSize = 0;
uint16_t* depthBuffer = 0;
IFrameDescription* infraredFrameDescription = 0;
int32_t infraredWidth = 0;
int32_t infraredHeight = 0;
uint32_t infraredBufferSize = 0;
uint16_t* infraredBuffer = 0;
IFrameDescription* infraredLongExposureFrameDescription = 0;
int32_t infraredLongExposureWidth = 0;
int32_t infraredLongExposureHeight = 0;
uint32_t infraredLongExposureBufferSize = 0;
uint16_t* infraredLongExposureBuffer = 0;
hr = depthFrame->get_RelativeTime( &time );
// TODO audio
if ( mDeviceOptions.isAudioEnabled() ) {
}
// TODO body
if ( mDeviceOptions.isBodyEnabled() ) {
}
if ( mDeviceOptions.isBodyIndexEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->get_FrameDescription( &bodyIndexFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Width( &bodyIndexWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Height( &bodyIndexHeight );
}
if ( SUCCEEDED( hr ) ) {
//hr = bodyIndexFrame->AccessUnderlyingBuffer( &bodyIndexBufferSize, &bodyIndexBuffer );
}
}
if ( mDeviceOptions.isColorEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_FrameDescription( &colorFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Width( &colorWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Height( &colorHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_RawColorImageFormat( &imageFormat );
}
if ( SUCCEEDED( hr ) ) {
bool isAllocated = false;
SurfaceChannelOrder channelOrder = SurfaceChannelOrder::BGRA;
if ( imageFormat == ColorImageFormat_Bgra ) {
hr = colorFrame->AccessRawUnderlyingBuffer( &colorBufferSize, reinterpret_cast<uint8_t**>( &colorBuffer ) );
channelOrder = SurfaceChannelOrder::BGRA;
} else if ( imageFormat == ColorImageFormat_Rgba ) {
hr = colorFrame->AccessRawUnderlyingBuffer( &colorBufferSize, reinterpret_cast<uint8_t**>( &colorBuffer ) );
channelOrder = SurfaceChannelOrder::RGBA;
} else {
isAllocated = true;
colorBufferSize = colorWidth * colorHeight * sizeof( uint8_t ) * 4;
colorBuffer = new uint8_t[ colorBufferSize ];
hr = colorFrame->CopyConvertedFrameDataToArray( colorBufferSize, reinterpret_cast<uint8_t*>( colorBuffer ), ColorImageFormat_Rgba );
channelOrder = SurfaceChannelOrder::RGBA;
}
if ( SUCCEEDED( hr ) ) {
colorFrame->get_RelativeTime( &time );
Surface8u colorSurface = Surface8u( colorBuffer, colorWidth, colorHeight, colorWidth * sizeof( uint8_t ) * 4, channelOrder );
mFrame.mSurfaceColor = Surface8u( colorWidth, colorHeight, false, channelOrder );
mFrame.mSurfaceColor.copyFrom( colorSurface, colorSurface.getBounds() );
console() << "Color\n\twidth: " << colorWidth << "\n\theight: " << colorHeight
<< "\n\tbuffer size: " << colorBufferSize << "\n\ttime: " << time << endl;
}
if ( isAllocated && colorBuffer != 0 ) {
delete[] colorBuffer;
colorBuffer = 0;
}
}
}
if ( mDeviceOptions.isDepthEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_FrameDescription( &depthFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Width( &depthWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Height( &depthHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMinReliableDistance( &depthMinReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMaxReliableDistance( &depthMaxReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->AccessUnderlyingBuffer( &depthBufferSize, &depthBuffer );
}
if ( SUCCEEDED( hr ) ) {
Channel16u depthChannel = Channel16u( depthWidth, depthHeight, depthWidth * sizeof( uint16_t ), 1, depthBuffer );
mFrame.mChannelDepth = Channel16u( depthWidth, depthHeight );
mFrame.mChannelDepth.copyFrom( depthChannel, depthChannel.getBounds() );
console( ) << "Depth\n\twidth: " << depthWidth << "\n\theight: " << depthHeight << endl;
}
}
if ( mDeviceOptions.isInfraredEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->get_FrameDescription( &infraredFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Width( &infraredWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Height( &infraredHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->AccessUnderlyingBuffer( &infraredBufferSize, &infraredBuffer );
}
if ( SUCCEEDED( hr ) ) {
Channel16u infraredChannel = Channel16u( infraredWidth, infraredHeight, infraredWidth * sizeof( uint16_t ), 1, infraredBuffer );
mFrame.mChannelInfrared = Channel16u( infraredWidth, infraredHeight );
mFrame.mChannelInfrared.copyFrom( infraredChannel, infraredChannel.getBounds() );
console( ) << "Infrared\n\twidth: " << infraredWidth << "\n\theight: " << infraredHeight << endl;
}
}
if ( mDeviceOptions.isInfraredLongExposureEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->get_FrameDescription( &infraredLongExposureFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Width( &infraredLongExposureWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Height( &infraredLongExposureHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->AccessUnderlyingBuffer( &infraredLongExposureBufferSize, &infraredLongExposureBuffer );
}
if ( SUCCEEDED( hr ) ) {
Channel16u infraredLongExposureChannel = Channel16u( infraredLongExposureWidth, infraredLongExposureHeight, infraredLongExposureWidth * sizeof( uint16_t ), 1, infraredLongExposureBuffer );
mFrame.mChannelInfraredLongExposure = Channel16u( infraredLongExposureWidth, infraredLongExposureHeight );
mFrame.mChannelInfraredLongExposure.copyFrom( infraredLongExposureChannel, infraredLongExposureChannel.getBounds() );
int64_t irLongExpTime = 0;
hr = infraredLongExposureFrame->get_RelativeTime( &irLongExpTime );
console( ) << "Infrared Long Exposure\n\twidth: " << infraredLongExposureWidth << "\n\theight: " << infraredLongExposureHeight;
if ( SUCCEEDED( hr ) ) {
console() << "\n\ttimestamp: " << irLongExpTime;
}
console() << endl;
}
}
if ( SUCCEEDED( hr ) ) {
// TODO build Kinect2::Frame from buffers, data
mFrame.mTimeStamp = time;
}
if ( bodyFrameDescription != 0 ) {
bodyFrameDescription->Release();
bodyFrameDescription = 0;
}
if ( bodyIndexFrameDescription != 0 ) {
bodyIndexFrameDescription->Release();
bodyIndexFrameDescription = 0;
}
if ( colorFrameDescription != 0 ) {
colorFrameDescription->Release();
colorFrameDescription = 0;
}
if ( depthFrameDescription != 0 ) {
depthFrameDescription->Release();
depthFrameDescription = 0;
}
if ( infraredFrameDescription != 0 ) {
infraredFrameDescription->Release();
infraredFrameDescription = 0;
}
if ( infraredLongExposureFrameDescription != 0 ) {
infraredLongExposureFrameDescription->Release();
infraredLongExposureFrameDescription = 0;
}
}
if ( audioFrame != 0 ) {
audioFrame->Release();
audioFrame = 0;
}
if ( bodyFrame != 0 ) {
bodyFrame->Release();
bodyFrame = 0;
}
if ( bodyIndexFrame != 0 ) {
bodyIndexFrame->Release();
bodyIndexFrame = 0;
}
if ( colorFrame != 0 ) {
colorFrame->Release();
colorFrame = 0;
}
if ( depthFrame != 0 ) {
depthFrame->Release();
depthFrame = 0;
}
if ( frame != 0 ) {
frame->Release();
frame = 0;
}
if ( infraredFrame != 0 ) {
infraredFrame->Release();
infraredFrame = 0;
}
if ( infraredLongExposureFrame != 0 ) {
infraredLongExposureFrame->Release();
infraredLongExposureFrame = 0;
}
}
int TextureManager::CreateSensorTexture(char *errorString, const char *name) {
if (!depth_frame_reader_) {
sprintf_s(errorString, MAX_ERROR_LENGTH,
"No depth sensor exists for texture creation");
return -1;
}
glGenTextures(1, textureID + numTextures);
strcpy_s(textureName[numTextures], TM_MAX_FILENAME_LENGTH, name);
glBindTexture(GL_TEXTURE_2D, textureID[numTextures]);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
//gluBuild2DMipmaps(GL_TEXTURE_2D, GL_RGBA,
// TM_NOISE_TEXTURE_SIZE, TM_NOISE_TEXTURE_SIZE,
// GL_BGRA, GL_UNSIGNED_BYTE, noiseIntData);
IDepthFrame* pDepthFrame = NULL;
HRESULT hr;
bool hasSucceeded = false;
for (int tries = 0; tries < 20 && !hasSucceeded; tries++) {
Sleep(100);
hr = depth_frame_reader_->AcquireLatestFrame(&pDepthFrame);
if (SUCCEEDED(hr)) hasSucceeded = true;
}
if (!hasSucceeded) {
sprintf_s(errorString, MAX_ERROR_LENGTH,
"Could not acquire last depth sensor frame");
return -1;
}
pDepthFrame->get_RelativeTime(&last_frame_time_);
IFrameDescription* pFrameDescription = NULL;
int nWidth = 0;
int nHeight = 0;
hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
if (FAILED(hr)) {
pDepthFrame->Release();
sprintf_s(errorString, MAX_ERROR_LENGTH,
"Could not get Depth Frame description");
return -1;
}
pFrameDescription->get_Width(&nWidth);
pFrameDescription->get_Height(&nHeight);
depth_sensor_width_ = nWidth;
depth_sensor_height_ = nHeight;
if (cpu_depth_sensor_buffer_) delete[] cpu_depth_sensor_buffer_;
cpu_depth_sensor_buffer_ = new float[nWidth * nHeight];
memset(cpu_depth_sensor_buffer_, 0, nWidth * nHeight);
if (smoothed_depth_sensor_buffer_[0]) {
delete[] smoothed_depth_sensor_buffer_[0];
delete[] smoothed_depth_sensor_buffer_[1];
}
smoothed_depth_sensor_buffer_[0] = new float[nWidth * nHeight];
smoothed_depth_sensor_buffer_[1] = new float[nWidth * nHeight];
memset(smoothed_depth_sensor_buffer_[0], 0,
nWidth*nHeight*sizeof(smoothed_depth_sensor_buffer_[0][0]));
memset(smoothed_depth_sensor_buffer_[1], 0,
nWidth*nHeight*sizeof(smoothed_depth_sensor_buffer_[1][0]));
glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F,
nWidth, nHeight,
0, GL_RED, GL_FLOAT, smoothed_depth_sensor_buffer_[0]);
textureWidth[numTextures] = nWidth;
textureHeight[numTextures] = nHeight;
numTextures++;
pFrameDescription->Release();
pDepthFrame->Release();
return 0;
}
int main(int argc, char** argv)
{
int first_time = 0;
Size screen_size(1440, 900);//the dst image size,e.g.100x100
Scalar text_color = Scalar(0, 255, 0);
Scalar text_color2 = Scalar(0, 255, 255);
Scalar text_color3 = Scalar(0, 0, 255);
inhaler_coach coach;
coach.control = 0;
thread mThread(test_func, &coach);
// 1a. Get Kinect Sensor
cout << "Try to get default sensor" << endl;
IKinectSensor* pSensor = nullptr;
if (GetDefaultKinectSensor(&pSensor) != S_OK)
{
cerr << "Get Sensor failed" << endl;
return -1;
}
// 1b. Open sensor
cout << "Try to open sensor" << endl;
if (pSensor->Open() != S_OK)
{
cerr << "Can't open sensor" << endl;
return -1;
}
// 2. Color Related code
IColorFrameReader* pColorFrameReader = nullptr;
cv::Mat mColorImg;
UINT uBufferSize = 0;
UINT uColorPointNum = 0;
int iWidth = 0;
int iHeight = 0;
{
// 2a. Get color frame source
cout << "Try to get color source" << endl;
IColorFrameSource* pFrameSource = nullptr;
if (pSensor->get_ColorFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get color frame source" << endl;
return -1;
}
// 2b. Get frame description
cout << "get color frame description" << endl;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// 2c. get frame reader
cout << "Try to get color frame reader" << endl;
if (pFrameSource->OpenReader(&pColorFrameReader) != S_OK)
{
cerr << "Can't get color frame reader" << endl;
return -1;
}
// 2d. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
// Prepare OpenCV data
mColorImg = cv::Mat(iHeight, iWidth, CV_8UC4);
uBufferSize = iHeight * iWidth * 4 * sizeof(BYTE);
uColorPointNum = iHeight * iWidth;
}
// 3. Depth related code
IDepthFrameReader* pDepthFrameReader = nullptr;
UINT uDepthPointNum = 0;
int iDepthWidth = 0, iDepthHeight = 0;
cout << "Try to get depth source" << endl;
{
// Get frame source
IDepthFrameSource* pFrameSource = nullptr;
if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get depth frame source" << endl;
return -1;
}
// Get frame description
cout << "get depth frame description" << endl;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iDepthWidth);
pFrameDescription->get_Height(&iDepthHeight);
uDepthPointNum = iDepthWidth * iDepthHeight;
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// get frame reader
cout << "Try to get depth frame reader" << endl;
if (pFrameSource->OpenReader(&pDepthFrameReader) != S_OK)
{
cerr << "Can't get depth frame reader" << endl;
return -1;
}
// release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 4. Body related code
IBodyFrameReader* pBodyFrameReader = nullptr;
IBody** aBodyData = nullptr;
INT32 iBodyCount = 0;
{
// 3a. Get frame source
cout << "Try to get body source" << endl;
IBodyFrameSource* pFrameSource = nullptr;
if (pSensor->get_BodyFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get body frame source" << endl;
return -1;
}
// 3b. Get the number of body
if (pFrameSource->get_BodyCount(&iBodyCount) != S_OK)
{
cerr << "Can't get body count" << endl;
return -1;
}
cout << " > Can trace " << iBodyCount << " bodies" << endl;
aBodyData = new IBody*[iBodyCount];
for (int i = 0; i < iBodyCount; ++i)
aBodyData[i] = nullptr;
// 3c. get frame reader
cout << "Try to get body frame reader" << endl;
if (pFrameSource->OpenReader(&pBodyFrameReader) != S_OK)
{
cerr << "Can't get body frame reader" << endl;
return -1;
}
// 3d. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 4. Body Index releated code
IBodyIndexFrameReader* pBIFrameReader = nullptr;
cout << "Try to get body index source" << endl;
{
// Get frame source
IBodyIndexFrameSource* pFrameSource = nullptr;
if (pSensor->get_BodyIndexFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get body index frame source" << endl;
return -1;
}
// get frame reader
cout << "Try to get body index frame reader" << endl;
if (pFrameSource->OpenReader(&pBIFrameReader) != S_OK)
{
cerr << "Can't get depth frame reader" << endl;
return -1;
}
// release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
}
// 5. background
cv::Mat imgBG(iHeight, iWidth, CV_8UC3);
imgBG.setTo(0);
// 4. get CoordinateMapper
ICoordinateMapper* pCoordinateMapper = nullptr;
if (pSensor->get_CoordinateMapper(&pCoordinateMapper) != S_OK)
{
cout << "Can't get coordinate mapper" << endl;
return -1;
}
// Enter main loop
UINT16* pDepthPoints = new UINT16[uDepthPointNum];
BYTE* pBodyIndex = new BYTE[uDepthPointNum];
DepthSpacePoint* pPointArray = new DepthSpacePoint[uColorPointNum];
cv::namedWindow("Inhaler Coach");
while (true)
{
// 4a. Get last frame
IColorFrame* pColorFrame = nullptr;
if (pColorFrameReader->AcquireLatestFrame(&pColorFrame) == S_OK)
{
pColorFrame->CopyConvertedFrameDataToArray(uBufferSize, mColorImg.data, ColorImageFormat_Bgra);
pColorFrame->Release();
pColorFrame = nullptr;
}
cv::Mat mImg = mColorImg.clone();
// 8b. read depth frame
IDepthFrame* pDepthFrame = nullptr;
if (pDepthFrameReader->AcquireLatestFrame(&pDepthFrame) == S_OK)
{
pDepthFrame->CopyFrameDataToArray(uDepthPointNum, pDepthPoints);
pDepthFrame->Release();
pDepthFrame = nullptr;
}
// 8c. read body index frame
IBodyIndexFrame* pBIFrame = nullptr;
if (pBIFrameReader->AcquireLatestFrame(&pBIFrame) == S_OK)
{
pBIFrame->CopyFrameDataToArray(uDepthPointNum, pBodyIndex);
pBIFrame->Release();
pBIFrame = nullptr;
}
#ifdef COACH_DEBUG
cv::Mat imgTarget = imgBG.clone();
// 9b. map color to depth
if (pCoordinateMapper->MapColorFrameToDepthSpace(uDepthPointNum, pDepthPoints, uColorPointNum, pPointArray) == S_OK)
{
for (int y = 0; y < imgTarget.rows; ++y)
{
for (int x = 0; x < imgTarget.cols; ++x)
{
// ( x, y ) in color frame = rPoint in depth frame
const DepthSpacePoint& rPoint = pPointArray[y * imgTarget.cols + x];
// check if rPoint is in range
if (rPoint.X >= 0 && rPoint.X < iDepthWidth && rPoint.Y >= 0 && rPoint.Y < iDepthHeight)
{
// fill color from color frame if this pixel is user
int iIdx = (int)rPoint.X + iDepthWidth * (int)rPoint.Y;
if (pBodyIndex[iIdx] < 6)
{
cv::Vec4b& rPixel = mImg.at<cv::Vec4b>(y, x);
imgTarget.at<cv::Vec3b>(y, x) = cv::Vec3b(rPixel[0], rPixel[1], rPixel[2]);
}
}
}
}
}
#else
cv::Mat imgTarget = mImg.clone();
#endif
// 4b. Get body data
IBodyFrame* pBodyFrame = nullptr;
if (pBodyFrameReader->AcquireLatestFrame(&pBodyFrame) == S_OK)
{
// 4b. get Body data
if (pBodyFrame->GetAndRefreshBodyData(iBodyCount, aBodyData) == S_OK)
{
// 4c. for each body
for (int i = 0; i < iBodyCount; ++i)
{
IBody* pBody = aBodyData[i];
// check if is tracked
BOOLEAN bTracked = false;
if ((pBody->get_IsTracked(&bTracked) == S_OK) && bTracked)
{
// get joint position
Joint aJoints[JointType::JointType_Count];
if (pBody->GetJoints(JointType::JointType_Count, aJoints) == S_OK)
{
if (coach.state == 0){
coach.state = 1;
if (first_time == 0){
first_time = 1;
PlaySound(TEXT("welcome.wav"), NULL, SND_FILENAME);
}
}
#ifdef COACH_DEBUG
DrawLine(imgTarget, aJoints[JointType_SpineBase], aJoints[JointType_SpineMid], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineMid], aJoints[JointType_SpineShoulder], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineShoulder], aJoints[JointType_Neck], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_Neck], aJoints[JointType_Head], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ShoulderLeft], aJoints[JointType_ElbowLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ElbowLeft], aJoints[JointType_WristLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_WristLeft], aJoints[JointType_HandLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_HandLeft], aJoints[JointType_HandTipLeft], pCoordinateMapper);
//DrawLine(imgTarget, aJoints[JointType_HandLeft], aJoints[JointType_ThumbLeft], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_SpineShoulder], aJoints[JointType_ShoulderRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ShoulderRight], aJoints[JointType_ElbowRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_ElbowRight], aJoints[JointType_WristRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_WristRight], aJoints[JointType_HandRight], pCoordinateMapper);
DrawLine(imgTarget, aJoints[JointType_HandRight], aJoints[JointType_HandTipRight], pCoordinateMapper);
//DrawLine(imgTarget, aJoints[JointType_HandRight], aJoints[JointType_ThumbRight], pCoordinateMapper);
#endif
ColorSpacePoint q;
ColorSpacePoint head;
//ColorSpacePoint w;
pCoordinateMapper->MapCameraPointToColorSpace(aJoints[JointType_Head].Position, &head);
// check shaking
coach.shaking_detection(aJoints, pCoordinateMapper);
q = coach.position_checking(aJoints, pCoordinateMapper);
#ifdef COACH_DEBUG
circle(imgTarget, cv::Point(q.X, q.Y), 10, Scalar(0, 255, 255), 10, 8, 0);
//circle(imgTarget, cv::Point(q.X, q.Y), 10, Scalar(0, 255, 255), 10, 8, 0);
rectangle(imgTarget, Point(head.X - 50, head.Y - 40), Point(head.X + 50, head.Y + 90), Scalar(0, 255, 255), 1, 8, 0);
//circle(imgTarget, cv::Point(w.X, w.Y), 10, Scalar(255, 0, 255), 10, 8, 0);
#endif
coach.state_change_rule();
}
}
}
}
else
{
cerr << "Can't read body data" << endl;
}
// 4e. release frame
pBodyFrame->Release();
}
switch (coach.state){
case 0: putText(imgTarget, "CMU Inhaler Coaching System", Point(120, 120), FONT_HERSHEY_DUPLEX, 2, text_color); break;
case 1: putText(imgTarget, "Please shake the inhaler", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 2: putText(imgTarget, "Shaking detected", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 3: putText(imgTarget, "Please put the inhaler in front of your mouth", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 4: putText(imgTarget, "Position check OK", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color2); break;
case 5: putText(imgTarget, "You forget to shake the inhaler first!!!", Point(20, 120), FONT_HERSHEY_DUPLEX, 2, text_color3); break;
}
// show image
Mat dst;
resize(imgTarget, dst, screen_size);
imshow("Coach", dst);
// 4c. check keyboard input
if (cv::waitKey(30) == VK_ESCAPE){
break;
}
}
mThread.join();
// 3. delete body data array
delete[] aBodyData;
// 3. release frame reader
cout << "Release body frame reader" << endl;
pBodyFrameReader->Release();
pBodyFrameReader = nullptr;
// 2. release color frame reader
cout << "Release color frame reader" << endl;
pColorFrameReader->Release();
pColorFrameReader = nullptr;
// 1c. Close Sensor
cout << "close sensor" << endl;
pSensor->Close();
// 1d. Release Sensor
cout << "Release sensor" << endl;
pSensor->Release();
pSensor = nullptr;
return 0;
}
void Device::update()
{
if ( mFrameReader == 0 ) {
return;
}
IAudioBeamFrame* audioFrame = 0;
IBodyFrame* bodyFrame = 0;
IBodyIndexFrame* bodyIndexFrame = 0;
IColorFrame* colorFrame = 0;
IDepthFrame* depthFrame = 0;
IMultiSourceFrame* frame = 0;
IInfraredFrame* infraredFrame = 0;
ILongExposureInfraredFrame* infraredLongExposureFrame = 0;
HRESULT hr = mFrameReader->AcquireLatestFrame( &frame );
if ( SUCCEEDED( hr ) && mDeviceOptions.isAudioEnabled() ) {
// TODO audio
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyEnabled() ) {
IBodyFrameReference* frameRef = 0;
hr = frame->get_BodyFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyIndexEnabled() ) {
IBodyIndexFrameReference* frameRef = 0;
hr = frame->get_BodyIndexFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &bodyIndexFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isColorEnabled() ) {
IColorFrameReference* frameRef = 0;
hr = frame->get_ColorFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &colorFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isDepthEnabled() ) {
IDepthFrameReference* frameRef = 0;
hr = frame->get_DepthFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &depthFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredEnabled() ) {
IInfraredFrameReference* frameRef = 0;
hr = frame->get_InfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredLongExposureEnabled() ) {
ILongExposureInfraredFrameReference* frameRef = 0;
hr = frame->get_LongExposureInfraredFrameReference( &frameRef );
if ( SUCCEEDED( hr ) ) {
hr = frameRef->AcquireFrame( &infraredLongExposureFrame );
}
if ( frameRef != 0 ) {
frameRef->Release();
frameRef = 0;
}
}
if ( SUCCEEDED( hr ) ) {
long long timeStamp = 0L;
// TODO audio
std::vector<Body> bodies;
int64_t bodyTime = 0L;
IBody* kinectBodies[ BODY_COUNT ] = { 0 };
Vec4f floorClipPlane = Vec4f::zero();
Channel8u bodyIndexChannel;
IFrameDescription* bodyIndexFrameDescription = 0;
int32_t bodyIndexWidth = 0;
int32_t bodyIndexHeight = 0;
uint32_t bodyIndexBufferSize = 0;
uint8_t* bodyIndexBuffer = 0;
int64_t bodyIndexTime = 0L;
Surface8u colorSurface;
IFrameDescription* colorFrameDescription = 0;
int32_t colorWidth = 0;
int32_t colorHeight = 0;
ColorImageFormat colorImageFormat = ColorImageFormat_None;
uint32_t colorBufferSize = 0;
uint8_t* colorBuffer = 0;
Channel16u depthChannel;
IFrameDescription* depthFrameDescription = 0;
int32_t depthWidth = 0;
int32_t depthHeight = 0;
uint16_t depthMinReliableDistance = 0;
uint16_t depthMaxReliableDistance = 0;
uint32_t depthBufferSize = 0;
uint16_t* depthBuffer = 0;
Channel16u infraredChannel;
IFrameDescription* infraredFrameDescription = 0;
int32_t infraredWidth = 0;
int32_t infraredHeight = 0;
uint32_t infraredBufferSize = 0;
uint16_t* infraredBuffer = 0;
Channel16u infraredLongExposureChannel;
IFrameDescription* infraredLongExposureFrameDescription = 0;
int32_t infraredLongExposureWidth = 0;
int32_t infraredLongExposureHeight = 0;
uint32_t infraredLongExposureBufferSize = 0;
uint16_t* infraredLongExposureBuffer = 0;
hr = depthFrame->get_RelativeTime( &timeStamp );
// TODO audio
if ( mDeviceOptions.isAudioEnabled() ) {
}
if ( mDeviceOptions.isBodyEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = bodyFrame->get_RelativeTime( &bodyTime );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyFrame->GetAndRefreshBodyData( BODY_COUNT, kinectBodies );
}
if ( SUCCEEDED( hr ) ) {
Vector4 v;
hr = bodyFrame->get_FloorClipPlane( &v );
floorClipPlane = toVec4f( v );
}
if ( SUCCEEDED( hr ) ) {
for ( uint8_t i = 0; i < BODY_COUNT; ++i ) {
IBody* kinectBody = kinectBodies[ i ];
if ( kinectBody != 0 ) {
uint8_t isTracked = false;
hr = kinectBody->get_IsTracked( &isTracked );
if ( SUCCEEDED( hr ) && isTracked ) {
Joint joints[ JointType_Count ];
kinectBody->GetJoints( JointType_Count, joints );
JointOrientation jointOrientations[ JointType_Count ];
kinectBody->GetJointOrientations( JointType_Count, jointOrientations );
uint64_t id = 0;
kinectBody->get_TrackingId( &id );
std::map<JointType, Body::Joint> jointMap;
for ( int32_t j = 0; j < JointType_Count; ++j ) {
Body::Joint joint(
toVec3f( joints[ j ].Position ),
toQuatf( jointOrientations[ j ].Orientation ),
joints[ j ].TrackingState
);
jointMap.insert( pair<JointType, Body::Joint>( static_cast<JointType>( j ), joint ) );
}
Body body( id, i, jointMap );
bodies.push_back( body );
}
}
}
}
}
if ( mDeviceOptions.isBodyIndexEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->get_RelativeTime( &bodyIndexTime );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->get_FrameDescription( &bodyIndexFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Width( &bodyIndexWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrameDescription->get_Height( &bodyIndexHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = bodyIndexFrame->AccessUnderlyingBuffer( &bodyIndexBufferSize, &bodyIndexBuffer );
}
if ( SUCCEEDED( hr ) ) {
bodyIndexChannel = Channel8u( bodyIndexWidth, bodyIndexHeight );
memcpy( bodyIndexChannel.getData(), bodyIndexBuffer, bodyIndexWidth * bodyIndexHeight * sizeof( uint8_t ) );
}
}
if ( mDeviceOptions.isColorEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_FrameDescription( &colorFrameDescription );
if ( SUCCEEDED( hr ) ) {
float vFov = 0.0f;
float hFov = 0.0f;
float dFov = 0.0f;
colorFrameDescription->get_VerticalFieldOfView( &vFov );
colorFrameDescription->get_HorizontalFieldOfView( &hFov );
colorFrameDescription->get_DiagonalFieldOfView( &dFov );
}
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Width( &colorWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrameDescription->get_Height( &colorHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = colorFrame->get_RawColorImageFormat( &colorImageFormat );
}
if ( SUCCEEDED( hr ) ) {
colorBufferSize = colorWidth * colorHeight * sizeof( uint8_t ) * 4;
colorBuffer = new uint8_t[ colorBufferSize ];
hr = colorFrame->CopyConvertedFrameDataToArray( colorBufferSize, reinterpret_cast<uint8_t*>( colorBuffer ), ColorImageFormat_Rgba );
if ( SUCCEEDED( hr ) ) {
colorSurface = Surface8u( colorWidth, colorHeight, false, SurfaceChannelOrder::RGBA );
memcpy( colorSurface.getData(), colorBuffer, colorWidth * colorHeight * sizeof( uint8_t ) * 4 );
}
delete [] colorBuffer;
colorBuffer = 0;
}
}
if ( mDeviceOptions.isDepthEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_FrameDescription( &depthFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Width( &depthWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrameDescription->get_Height( &depthHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMinReliableDistance( &depthMinReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->get_DepthMaxReliableDistance( &depthMaxReliableDistance );
}
if ( SUCCEEDED( hr ) ) {
hr = depthFrame->AccessUnderlyingBuffer( &depthBufferSize, &depthBuffer );
}
if ( SUCCEEDED( hr ) ) {
depthChannel = Channel16u( depthWidth, depthHeight );
memcpy( depthChannel.getData(), depthBuffer, depthWidth * depthHeight * sizeof( uint16_t ) );
}
}
if ( mDeviceOptions.isInfraredEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->get_FrameDescription( &infraredFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Width( &infraredWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrameDescription->get_Height( &infraredHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredFrame->AccessUnderlyingBuffer( &infraredBufferSize, &infraredBuffer );
}
if ( SUCCEEDED( hr ) ) {
infraredChannel = Channel16u( infraredWidth, infraredHeight );
memcpy( infraredChannel.getData(), infraredBuffer, infraredWidth * infraredHeight * sizeof( uint16_t ) );
}
}
if ( mDeviceOptions.isInfraredLongExposureEnabled() ) {
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->get_FrameDescription( &infraredLongExposureFrameDescription );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Width( &infraredLongExposureWidth );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrameDescription->get_Height( &infraredLongExposureHeight );
}
if ( SUCCEEDED( hr ) ) {
hr = infraredLongExposureFrame->AccessUnderlyingBuffer( &infraredLongExposureBufferSize, &infraredLongExposureBuffer );
}
if ( SUCCEEDED( hr ) ) {
infraredLongExposureChannel = Channel16u( infraredLongExposureWidth, infraredLongExposureHeight );
memcpy( infraredLongExposureChannel.getData(), infraredLongExposureBuffer, infraredLongExposureWidth * infraredLongExposureHeight * sizeof( uint16_t ) );
}
}
if ( SUCCEEDED( hr ) ) {
mFrame.mBodies = bodies;
mFrame.mChannelBodyIndex = bodyIndexChannel;
mFrame.mChannelDepth = depthChannel;
mFrame.mChannelInfrared = infraredChannel;
mFrame.mChannelInfraredLongExposure = infraredLongExposureChannel;
mFrame.mDeviceId = mDeviceOptions.getDeviceId();
mFrame.mSurfaceColor = colorSurface;
mFrame.mTimeStamp = timeStamp;
mFrame.mFloorClipPlane = floorClipPlane;
}
if ( bodyIndexFrameDescription != 0 ) {
bodyIndexFrameDescription->Release();
bodyIndexFrameDescription = 0;
}
if ( colorFrameDescription != 0 ) {
colorFrameDescription->Release();
colorFrameDescription = 0;
}
if ( depthFrameDescription != 0 ) {
depthFrameDescription->Release();
depthFrameDescription = 0;
}
if ( infraredFrameDescription != 0 ) {
infraredFrameDescription->Release();
infraredFrameDescription = 0;
}
if ( infraredLongExposureFrameDescription != 0 ) {
infraredLongExposureFrameDescription->Release();
infraredLongExposureFrameDescription = 0;
}
}
if ( audioFrame != 0 ) {
audioFrame->Release();
audioFrame = 0;
}
if ( bodyFrame != 0 ) {
bodyFrame->Release();
bodyFrame = 0;
}
if ( bodyIndexFrame != 0 ) {
bodyIndexFrame->Release();
bodyIndexFrame = 0;
}
if ( colorFrame != 0 ) {
colorFrame->Release();
colorFrame = 0;
}
if ( depthFrame != 0 ) {
depthFrame->Release();
depthFrame = 0;
}
if ( frame != 0 ) {
frame->Release();
frame = 0;
}
if ( infraredFrame != 0 ) {
infraredFrame->Release();
infraredFrame = 0;
}
if ( infraredLongExposureFrame != 0 ) {
infraredLongExposureFrame->Release();
infraredLongExposureFrame = 0;
}
}
int main(int argc, char** argv)
{
// 1a. Get default Sensor
cout << "Try to get default sensor" << endl;
IKinectSensor* pSensor = nullptr;
if (GetDefaultKinectSensor(&pSensor) != S_OK)
{
cerr << "Get Sensor failed" << endl;
return -1;
}
// 1b. Open sensor
cout << "Try to open sensor" << endl;
if (pSensor->Open() != S_OK)
{
cerr << "Can't open sensor" << endl;
return -1;
}
// 2a. Get frame source
cout << "Try to get Infrared source" << endl;
IInfraredFrameSource* pFrameSource = nullptr;
if (pSensor->get_InfraredFrameSource(&pFrameSource) != S_OK)
{
cerr << "Can't get Infrared frame source" << endl;
return -1;
}
// 2b. Get frame description
cout << "get Infrared frame description" << endl;
int iWidth = 0;
int iHeight = 0;
IFrameDescription* pFrameDescription = nullptr;
if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
{
pFrameDescription->get_Width(&iWidth);
pFrameDescription->get_Height(&iHeight);
}
pFrameDescription->Release();
pFrameDescription = nullptr;
// 3a. get frame reader
cout << "Try to get Infrared frame reader" << endl;
IInfraredFrameReader* pFrameReader = nullptr;
if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
{
cerr << "Can't get Infrared frame reader" << endl;
return -1;
}
// 2c. release Frame source
cout << "Release frame source" << endl;
pFrameSource->Release();
pFrameSource = nullptr;
// create OpenCV window
cv::namedWindow( "Infrared Image" );
// Enter main loop
while (true)
{
// 4a. Get last frame
IInfraredFrame* pFrame = nullptr;
if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
{
// 4c. Copy to OpenCV image
UINT uSize = 0;
UINT16* pBuffer = nullptr;
if (pFrame->AccessUnderlyingBuffer(&uSize, &pBuffer) == S_OK)
{
cv::Mat mIRImg(iHeight, iWidth, CV_16UC1, pBuffer);
cv::imshow("Infrared Image", mIRImg);
}
else
{
cerr << "Data access error" << endl;
}
// 4e. release frame
pFrame->Release();
}
// 4f. check keyboard input
if (cv::waitKey(30) == VK_ESCAPE){
break;
}
}
// 3b. release frame reader
cout << "Release frame reader" << endl;
pFrameReader->Release();
pFrameReader = nullptr;
// 1c. Close Sensor
cout << "close sensor" << endl;
pSensor->Close();
// 1d. Release Sensor
cout << "Release sensor" << endl;
pSensor->Release();
pSensor = nullptr;
return 0;
}
