void KinectDevice::getFrameInformation() {
// Get the frame information
IDepthFrameSource *depthSrc;
IColorFrameSource *colorSrc;
IInfraredFrameSource *irSrc;
ILongExposureInfraredFrameSource *hdirSrc;
IBodyIndexFrameSource *indexSrc;
IFrameDescription *depthDesc, *colorDesc, *irDesc, *hdirDesc, *indexDesc;
if (_streams & Streams::DEPTH_STREAM) {
_sensor->get_DepthFrameSource(&depthSrc);
depthSrc->get_FrameDescription(&depthDesc);
depthFrameInfo = FrameInfo(depthDesc);
// Min/max vals
depthSrc->get_DepthMinReliableDistance(&depthFrameInfo.minVal);
depthSrc->get_DepthMaxReliableDistance(&depthFrameInfo.maxVal);
// Allocate
depthData = std::shared_ptr<uint16_t>(new uint16_t[depthFrameInfo.frameSize]);
prevDepthData = std::shared_ptr<uint16_t>(new uint16_t[depthFrameInfo.frameSize]);
}
else {
depthData = nullptr;
prevDepthData = nullptr;
}
if (_streams & Streams::COLOR_STREAM) {
_sensor->get_ColorFrameSource(&colorSrc);
colorSrc->get_FrameDescription(&colorDesc);
colorFrameInfo = FrameInfo(colorDesc);
colorData = std::shared_ptr<uint16_t>(new uint16_t[colorFrameInfo.frameSize]);
}
if (_streams & Streams::IR_STREAM) {
_sensor->get_InfraredFrameSource(&irSrc);
irSrc->get_FrameDescription(&irDesc);
irFrameInfo = FrameInfo(irDesc);
irData = std::shared_ptr<uint16_t>(new uint16_t[irFrameInfo.frameSize]);
}
if (_streams & Streams::HDIR_STREAM) {
_sensor->get_LongExposureInfraredFrameSource(&hdirSrc);
hdirSrc->get_FrameDescription(&hdirDesc);
hdirFrameInfo = FrameInfo(hdirDesc);
hdirData = std::shared_ptr<uint16_t>(new uint16_t[hdirFrameInfo.frameSize]);
}
if (_streams & Streams::INDEX_STREAM) {
_sensor->get_BodyIndexFrameSource(&indexSrc);
indexSrc->get_FrameDescription(&indexDesc);
indexFrameInfo = FrameInfo(indexDesc);
indexData = std::shared_ptr<BYTE>(new BYTE[indexFrameInfo.frameSize]);
}
}
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;
}
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;
}