void Microsoft2Grabber::BodyIndexFrameArrived(IBodyIndexFrameReference* pBodyIndexFrameReference) {
IBodyIndexFrame* pBodyIndexFrame = NULL;
HRESULT hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
if(FAILED(hr))
return;
//cout << "got a body index frame" << endl;
IFrameDescription* pBodyIndexFrameDescription = NULL;
int nBodyIndexWidth = 0;
int nBodyIndexHeight = 0;
UINT nBodyIndexBufferSize = 0;
BYTE *pBodyIndexBuffer = NULL;
// get body index frame data
if (SUCCEEDED(hr)) {
hr = pBodyIndexFrame->get_FrameDescription(&pBodyIndexFrameDescription);
}
if (SUCCEEDED(hr)) {
hr = pBodyIndexFrameDescription->get_Width(&nBodyIndexWidth);
}
if (SUCCEEDED(hr)) {
hr = pBodyIndexFrameDescription->get_Height(&nBodyIndexHeight);
}
if (SUCCEEDED(hr)) {
hr = pBodyIndexFrame->AccessUnderlyingBuffer(&nBodyIndexBufferSize, &pBodyIndexBuffer);
}
SafeRelease(pBodyIndexFrameDescription);
SafeRelease(pBodyIndexFrame);
}
/// <summary>
/// Main processing function
/// </summary>
void CCoordinateMappingBasics::Update()
{
if (!m_pMultiSourceFrameReader)
{
return;
}
IMultiSourceFrame* pMultiSourceFrame = NULL;
IDepthFrame* pDepthFrame = NULL;
IColorFrame* pColorFrame = NULL;
IBodyIndexFrame* pBodyIndexFrame = NULL;
IBodyFrame* pBodyFrame = NULL;
HRESULT hr = m_pMultiSourceFrameReader->AcquireLatestFrame(&pMultiSourceFrame);
if (SUCCEEDED(hr))
{
IDepthFrameReference* pDepthFrameReference = NULL;
hr = pMultiSourceFrame->get_DepthFrameReference(&pDepthFrameReference);
if (SUCCEEDED(hr))
{
hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
}
SafeRelease(pDepthFrameReference);
}
if (SUCCEEDED(hr))
{
IColorFrameReference* pColorFrameReference = NULL;
hr = pMultiSourceFrame->get_ColorFrameReference(&pColorFrameReference);
if (SUCCEEDED(hr))
{
hr = pColorFrameReference->AcquireFrame(&pColorFrame);
}
SafeRelease(pColorFrameReference);
}
if (SUCCEEDED(hr))
{
IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
hr = pMultiSourceFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
}
SafeRelease(pBodyIndexFrameReference);
}
if (SUCCEEDED(hr))
{
IBodyFrameReference* pBodyFrameReference = NULL;
hr = pMultiSourceFrame->get_BodyFrameReference(&pBodyFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyFrameReference->AcquireFrame(&pBodyFrame);
}
SafeRelease(pBodyFrameReference);
}
if (SUCCEEDED(hr))
{
// Depth
INT64 nDepthTime = 0;
IFrameDescription* pDepthFrameDescription = NULL;
int nDepthWidth = 0;
int nDepthHeight = 0;
UINT nDepthBufferSize = 0;
UINT16 *pDepthBuffer = NULL;
// Color
IFrameDescription* pColorFrameDescription = NULL;
int nColorWidth = 0;
int nColorHeight = 0;
ColorImageFormat imageFormat = ColorImageFormat_None;
UINT nColorBufferSize = 0;
RGBQUAD *pColorBuffer = NULL;
// BodyIndex
IFrameDescription* pBodyIndexFrameDescription = NULL;
int nBodyIndexWidth = 0;
int nBodyIndexHeight = 0;
UINT nBodyIndexBufferSize = 0;
BYTE *pBodyIndexBuffer = NULL;
// Body
IBody* ppBodies[BODY_COUNT] = { 0 };
// get depth frame data
hr = pDepthFrame->get_RelativeTime(&nDepthTime);
// Depth
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_FrameDescription(&pDepthFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrameDescription->get_Width(&nDepthWidth);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrameDescription->get_Height(&nDepthHeight);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrame->AccessUnderlyingBuffer(&nDepthBufferSize, &pDepthBuffer);
}
// get color frame data
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_FrameDescription(&pColorFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pColorFrameDescription->get_Width(&nColorWidth);
}
if (SUCCEEDED(hr))
{
hr = pColorFrameDescription->get_Height(&nColorHeight);
}
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_RawColorImageFormat(&imageFormat);
}
if (SUCCEEDED(hr))
{
if (imageFormat == ColorImageFormat_Bgra)
{
hr = pColorFrame->AccessRawUnderlyingBuffer(&nColorBufferSize, reinterpret_cast<BYTE**>(&pColorBuffer));
}
else if (m_pColorRGBX)
{
pColorBuffer = m_pColorRGBX;
nColorBufferSize = cColorWidth * cColorHeight * sizeof(RGBQUAD);
hr = pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast<BYTE*>(pColorBuffer), ColorImageFormat_Bgra);
}
else
{
hr = E_FAIL;
}
}
// get body index frame data
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrame->get_FrameDescription(&pBodyIndexFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameDescription->get_Width(&nBodyIndexWidth);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameDescription->get_Height(&nBodyIndexHeight);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrame->AccessUnderlyingBuffer(&nBodyIndexBufferSize, &pBodyIndexBuffer);
}
// get body frame data
if (SUCCEEDED(hr))
{
hr = pBodyFrame->GetAndRefreshBodyData(_countof(ppBodies), ppBodies);
}
if (SUCCEEDED(hr))
{
ProcessFrame(nDepthTime, pDepthBuffer, nDepthWidth, nDepthHeight,
pColorBuffer, nColorWidth, nColorHeight,
pBodyIndexBuffer, nBodyIndexWidth, nBodyIndexHeight, BODY_COUNT, ppBodies);
}
SafeRelease(pDepthFrameDescription);
SafeRelease(pColorFrameDescription);
SafeRelease(pBodyIndexFrameDescription);
for (int i = 0; i < _countof(ppBodies); ++i)
{
SafeRelease(ppBodies[i]);
}
}
SafeRelease(pDepthFrame);
SafeRelease(pColorFrame);
SafeRelease(pBodyIndexFrame);
SafeRelease(pBodyFrame);
SafeRelease(pMultiSourceFrame);
}
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;
}
}
bool BodyIndexStream::readFrame(IMultiSourceFrame *multiFrame)
{
bool isSuccess = false;
if (!m_StreamHandle.depthFrameReader) {
ofLogWarning("ofxKinect2::BodyIndexStream") << "Stream is not open.";
return isSuccess;
}
Stream::readFrame(multiFrame);
IBodyIndexFrame *bodyIndexFrame = nullptr;
HRESULT hr = E_FAIL;
if (!multiFrame) {
hr = m_StreamHandle.bodyIndexFrameReader->AcquireLatestFrame(&bodyIndexFrame);
}
else {
IBodyIndexFrameReference *frameReference = nullptr;
hr = multiFrame->get_BodyIndexFrameReference(&frameReference);
if (SUCCEEDED(hr)) {
hr = frameReference->AcquireFrame(&bodyIndexFrame);
}
safeRelease(frameReference);
}
if (SUCCEEDED(hr)) {
IFrameDescription *frameDescription = nullptr;
hr = bodyIndexFrame->get_RelativeTime((INT64 *)&m_Frame.timestamp);
if (SUCCEEDED(hr)) {
hr = bodyIndexFrame->get_FrameDescription(&frameDescription);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_Width(&m_Frame.width);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_Height(&m_Frame.height);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_HorizontalFieldOfView(&m_Frame.horizontalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_VerticalFieldOfView(&m_Frame.verticalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = frameDescription->get_DiagonalFieldOfView(&m_Frame.diagonalFieldOfView);
}
if (SUCCEEDED(hr)) {
hr = bodyIndexFrame->AccessUnderlyingBuffer((UINT *)&m_Frame.dataSize, reinterpret_cast<BYTE **>(&m_Frame.data));
}
if (SUCCEEDED(hr)) {
isSuccess = true;
setPixels(m_Frame);
}
safeRelease(frameDescription);
}
safeRelease(bodyIndexFrame);
return isSuccess;
}
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;
}
}
void KinectGrabber::GetNextFrame() {
if (!m_pMultiSourceFrameReader)
{
return;
}
IMultiSourceFrame* pMultiSourceFrame = NULL;
IDepthFrame* pDepthFrame = NULL;
IColorFrame* pColorFrame = NULL;
IBodyIndexFrame* pBodyIndexFrame = NULL;
HRESULT hr = m_pMultiSourceFrameReader->AcquireLatestFrame(&pMultiSourceFrame);
if (SUCCEEDED(hr))
{
IDepthFrameReference* pDepthFrameReference = NULL;
hr = pMultiSourceFrame->get_DepthFrameReference(&pDepthFrameReference);
if (SUCCEEDED(hr))
{
hr = pDepthFrameReference->AcquireFrame(&pDepthFrame);
}
SafeRelease(pDepthFrameReference);
}
if (SUCCEEDED(hr))
{
IColorFrameReference* pColorFrameReference = NULL;
hr = pMultiSourceFrame->get_ColorFrameReference(&pColorFrameReference);
if (SUCCEEDED(hr))
{
hr = pColorFrameReference->AcquireFrame(&pColorFrame);
}
SafeRelease(pColorFrameReference);
}
if (SUCCEEDED(hr))
{
IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
hr = pMultiSourceFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
}
SafeRelease(pBodyIndexFrameReference);
}
if (SUCCEEDED(hr))
{
INT64 nDepthTime = 0;
IFrameDescription* pDepthFrameDescription = NULL;
int nDepthWidth = 0;
int nDepthHeight = 0;
UINT nDepthBufferSize = 0;
IFrameDescription* pColorFrameDescription = NULL;
int nColorWidth = 0;
int nColorHeight = 0;
ColorImageFormat imageFormat = ColorImageFormat_None;
UINT nColorBufferSize = 0;
RGBQUAD *pColorBuffer = NULL;
IFrameDescription* pBodyIndexFrameDescription = NULL;
int nBodyIndexWidth = 0;
int nBodyIndexHeight = 0;
UINT nBodyIndexBufferSize = 0;
BYTE *pBodyIndexBuffer = NULL;
// get depth frame data
hr = pDepthFrame->get_RelativeTime(&nDepthTime);
if (SUCCEEDED(hr))
{
hr = pDepthFrame->get_FrameDescription(&pDepthFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrameDescription->get_Width(&nDepthWidth);
}
if (SUCCEEDED(hr))
{
hr = pDepthFrameDescription->get_Height(&nDepthHeight);
}
if (SUCCEEDED(hr))
{
//m_pDepthBuffer = new UINT16[cDepthWidth * cDepthHeight];
hr = pDepthFrame->AccessUnderlyingBuffer(&nDepthBufferSize, &m_pDepthBuffer);
//pDepthFrame->CopyFrameDataToArray(nDepthBufferSize,m_pDepthBuffer);
WaitForSingleObject(hDepthMutex,INFINITE);
m_depthImage.release();
Mat tmp = Mat(m_depthSize, DEPTH_PIXEL_TYPE, m_pDepthBuffer, Mat::AUTO_STEP);
m_depthImage = tmp.clone(); //need to deep copy because of the call to SafeRelease(pDepthFrame) to prevent access violation
ReleaseMutex(hDepthMutex);
}
// get color frame data
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_FrameDescription(&pColorFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pColorFrameDescription->get_Width(&nColorWidth);
}
if (SUCCEEDED(hr))
{
hr = pColorFrameDescription->get_Height(&nColorHeight);
}
if (SUCCEEDED(hr))
{
hr = pColorFrame->get_RawColorImageFormat(&imageFormat);
}
if (SUCCEEDED(hr))
{
if (imageFormat == ColorImageFormat_Bgra)
{
hr = pColorFrame->AccessRawUnderlyingBuffer(&nColorBufferSize, reinterpret_cast<BYTE**>(&pColorBuffer));
}
else if (m_pColorRGBX)
{
pColorBuffer = m_pColorRGBX;
nColorBufferSize = cColorWidth * cColorHeight * sizeof(RGBQUAD);
hr = pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast<BYTE*>(pColorBuffer), ColorImageFormat_Bgra);
}
else
{
hr = E_FAIL;
}
if(SUCCEEDED(hr)) {
WaitForSingleObject(hColorMutex,INFINITE);
m_colorImage.release();
Mat tmp = Mat(m_colorSize, COLOR_PIXEL_TYPE, pColorBuffer, Mat::AUTO_STEP);
m_colorImage = tmp.clone();
ReleaseMutex(hColorMutex);
}
}
// get body index frame data
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrame->get_FrameDescription(&pBodyIndexFrameDescription);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameDescription->get_Width(&nBodyIndexWidth);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrameDescription->get_Height(&nBodyIndexHeight);
}
if (SUCCEEDED(hr))
{
hr = pBodyIndexFrame->AccessUnderlyingBuffer(&nBodyIndexBufferSize, &pBodyIndexBuffer);
}
SafeRelease(pDepthFrameDescription);
SafeRelease(pColorFrameDescription);
SafeRelease(pBodyIndexFrameDescription);
}
SafeRelease(pDepthFrame);
SafeRelease(pColorFrame);
SafeRelease(pBodyIndexFrame);
SafeRelease(pMultiSourceFrame);
}