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openFrameworks 0.8.3 and Kinect v2

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環境は以下
– Windows 8.0
– VS 2012
– openFrameworks 0.8.3(x86)

まずMSのサイトからKinect SDKをダウンロードしてきてインストール。

1. Includeに$(KINECTSDK20_DIR)¥inc;を追加
setup11

2. Libに$(KINECTSDK20_DIR)¥lib¥x86;を追加

3. DependenciesにKinect20.libを追加

4. コードを書く
Kinect for Windows v2 Developer Preview入門 ― C++プログラマー向け連載をほぼコピってof向けに整形しただけですが…

ofApp.h

#pragma once

#include "ofMain.h"
#include "ofxOpenCv.h"
#include <kinect.h>
#include <Windows.h>

using namespace cv;

template
inline void SafeRelease( Interface *& pInterfaceToRelease )
{
	if( pInterfaceToRelease != NULL ){
		pInterfaceToRelease->Release();
		pInterfaceToRelease = NULL;
	}
}

class ofApp : public ofBaseApp{
	public:
		void setup();
		void update();
		void draw();

		bool initializeKinectv2();

		IKinectSensor* pSensor;
		IDepthFrameSource* pDepthSource;
		IColorFrameSource* pColorSource;
		IBodyFrameSource* pBodySource;

		IColorFrameReader* pColorReader;
		IBodyFrameReader* pBodyReader;
		IDepthFrameReader* pDepthReader;

		IFrameDescription* pDepthDescription;
		IFrameDescription* pColorDescription;

		ICoordinateMapper* pCoordinateMapper;


		// buffer
		ofxCvGrayscaleImage grayscaleImage;
		ofxCvColorImage colorscaleImage;

		// 
		int depthWidth, depthHeight;
		unsigned int depthBufferSize;

		int colorWidth, colorHeight;
		unsigned int colorBufferSize;

};

ofApp.cpp

#include "ofApp.h"

//--------------------------------------------------------------
void ofApp::setup(){
	ofSetVerticalSync(true);
	ofBackground(255, 255, 255);
	// ofSetFullscreen(true);
	ofEnableAlphaBlending();
	ofEnableSmoothing();
	ofSetBackgroundAuto(true);

	if (!this->initializeKinectv2())
		exit();
}

bool ofApp::initializeKinectv2() {
	HRESULT hResult = S_OK;

	// Open Kinect
	hResult = GetDefaultKinectSensor( &this->pSensor );
	if( FAILED( hResult ) ){
		std::cerr << "Error : GetDefaultKinectSensor" << std::endl;
 		return false;
 	}
 	hResult = this->pSensor->Open( );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IKinectSensor::Open()" << std::endl;
 		return false;
 	}

 	// Open Source
 	hResult = this->pSensor->get_ColorFrameSource( &this->pColorSource );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IKinectSensor::get_ColorFrameSource()" << std::endl;
 		return false;
 	}
 	hResult = this->pSensor->get_BodyFrameSource( &this->pBodySource );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IKinectSensor::get_BodyFrameSource()" << std::endl;
 		return false;
 	}
 	hResult = pSensor->get_DepthFrameSource( &this->pDepthSource );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IKinectSensor::get_DepthFrameSource()" << std::endl;
 		return false;
 	}
 	// Open Reader
 	hResult = this->pColorSource->OpenReader( &this->pColorReader );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IColorFrameSource::OpenReader()" << std::endl;
 		return false;
 	}
 	hResult = this->pBodySource->OpenReader( &this->pBodyReader );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IBodyFrameSource::OpenReader()" << std::endl;
 		return false;
 	}
 	hResult = this->pDepthSource->OpenReader( &this->pDepthReader );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IDepthFrameSource::OpenReader()" << std::endl;
 		return false;
 	}
 	// get descriptions
 	hResult = pDepthSource->get_FrameDescription( &this->pDepthDescription );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IDepthFrameSource::get_FrameDescription()" << std::endl;
 		return false;
 	}
 	hResult = pColorSource->get_FrameDescription( &this->pColorDescription );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IColorFrameSource::get_FrameDescription()" << std::endl;
 		return false;
 	}
 	// get coordinate mapper
 	hResult = this->pSensor->get_CoordinateMapper( &this->pCoordinateMapper );
	if( FAILED( hResult ) ){
		std::cerr << "Error : IKinectSensor::get_CoordinateMapper()" << std::endl;
 		return false;
 	}
 	this->pDepthDescription->get_Width( &depthWidth ); // 512
	this->pDepthDescription->get_Height( &depthHeight ); // 424
	this->depthBufferSize = depthWidth * depthHeight * sizeof( unsigned short );

	this->pColorDescription->get_Width( &colorWidth );
	this->pColorDescription->get_Height( &colorHeight );
	this->colorBufferSize = colorWidth * colorHeight * 4 * sizeof( unsigned char );

	this->grayscaleImage.allocate(depthHeight, depthWidth);
	this->colorscaleImage.allocate(colorHeight, colorWidth);

}

//--------------------------------------------------------------
void ofApp::update(){

	// get depth frame
	Mat bufferMat( depthHeight, depthWidth, CV_16SC1 );
	Mat depthMat(depthHeight, depthWidth, CV_8UC1 );

	cv::Mat colorBufferMat( colorHeight, colorWidth, CV_8UC4 );
	cv::Mat colorMat( colorHeight, colorWidth, CV_8UC4 );

	// Frame
	IDepthFrame* pDepthFrame = nullptr;
	HRESULT hResult = pDepthReader->AcquireLatestFrame( &pDepthFrame );

	if(SUCCEEDED( hResult )){
		hResult = pDepthFrame->AccessUnderlyingBuffer( &depthBufferSize, reinterpret_cast<UINT16**>( &bufferMat.data ) );
		if( SUCCEEDED( hResult ) ){
			bufferMat.convertTo(depthMat, CV_8U, -255.0f / 4500.0f, 255.0f);
			grayscaleImage.setFromPixels(depthMat.data, depthWidth, depthHeight);
		}
	}
	SafeRelease( pDepthFrame );


	// get color frame
	cv::Vec3b color[6];
	color[0] = cv::Vec3b( 255,   0,   0 );
	color[1] = cv::Vec3b(   0, 255,   0 );
	color[2] = cv::Vec3b(   0,   0, 255 );
	color[3] = cv::Vec3b( 255, 255,   0 );
	color[4] = cv::Vec3b( 255,   0, 255 );
	color[5] = cv::Vec3b(   0, 255, 255 );

	IColorFrame* pColorFrame = nullptr;
	hResult = pColorReader->AcquireLatestFrame( &pColorFrame );
	if( SUCCEEDED( hResult ) ){
		hResult = pColorFrame->CopyConvertedFrameDataToArray( colorBufferSize, reinterpret_cast<BYTE*>( colorBufferMat.data ), ColorImageFormat_Bgra );
		/*
		if( SUCCEEDED( hResult ) ){
			cvtColor(colorBufferMat, colorMat, CV_BGR2RGB);
			colorscaleImage.setFromPixels(colorMat.data, colorWidth, colorHeight);
		}
		*/
	}
	SafeRelease( pColorFrame );

	// get body frame
	IBodyFrame* pBodyFrame = nullptr;
	hResult = pBodyReader->AcquireLatestFrame( &pBodyFrame );
	if( SUCCEEDED( hResult ) ){
		IBody* pBody[BODY_COUNT] = { 0 };
		hResult = pBodyFrame->GetAndRefreshBodyData( BODY_COUNT, pBody );
		if( SUCCEEDED( hResult ) ){
			for( int count = 0; count < BODY_COUNT; count++ ){
 				BOOLEAN bTracked = false;
 				hResult = pBody[count]->get_IsTracked( &bTracked );
				if( SUCCEEDED( hResult ) && bTracked ){
					Joint joint[JointType::JointType_Count];
					hResult = pBody[ count ]->GetJoints( JointType::JointType_Count, joint );
					if( SUCCEEDED( hResult ) ){
						// Left Hand State
						HandState leftHandState = HandState::HandState_Unknown;
						hResult = pBody[count]->get_HandLeftState( &leftHandState );
						if( SUCCEEDED( hResult ) ){
							ColorSpacePoint colorSpacePoint = { 0 };
							hResult = pCoordinateMapper->MapCameraPointToColorSpace( joint[JointType::JointType_HandLeft].Position, &colorSpacePoint );
							if( SUCCEEDED( hResult ) ){
								int x = static_cast( colorSpacePoint.X );
								int y = static_cast( colorSpacePoint.Y );
								if( ( x >= 0 ) && ( x < colorWidth ) && ( y >= 0 ) && ( y < colorHeight ) ){ 									if( leftHandState == HandState::HandState_Open ){ 										cv::circle( colorBufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 128, 0 ), 5, CV_AA );
 									} else if( leftHandState == HandState::HandState_Closed ){
 										cv::circle( colorBufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 0, 128 ), 5, CV_AA );
 									} else if( leftHandState == HandState::HandState_Lasso ) {
 										cv::circle( colorBufferMat, cv::Point( x, y ), 75, cv::Scalar( 128, 128, 0 ), 5, CV_AA );
 									}
 							        }
 							}
 						}
 						// Right Hand State
 						HandState rightHandState = HandState::HandState_Unknown;
 						hResult = pBody[count]->get_HandRightState( &rightHandState );
						if( SUCCEEDED( hResult ) ){
							ColorSpacePoint colorSpacePoint = { 0 };
							hResult = pCoordinateMapper->MapCameraPointToColorSpace( joint[JointType::JointType_HandRight].Position, &colorSpacePoint );
							if( SUCCEEDED( hResult ) ){
								int x = static_cast( colorSpacePoint.X );
								int y = static_cast( colorSpacePoint.Y );
								if( ( x >= 0 ) && ( x < colorWidth ) && ( y >= 0 ) && ( y < colorHeight ) ){
									if( rightHandState == HandState::HandState_Open ){
										cv::circle( colorBufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 128, 0 ), 5, CV_AA );
									}
									else if( rightHandState == HandState::HandState_Closed ){
										cv::circle( colorBufferMat, cv::Point( x, y ), 75, cv::Scalar( 0, 0, 128 ), 5, CV_AA );
									}
									else if( rightHandState == HandState::HandState_Lasso ){
										cv::circle( colorBufferMat, cv::Point( x, y ), 75, cv::Scalar( 128, 128, 0 ), 5, CV_AA );
									}
								}
							}
						}

						// Joint
						for( int type = 0; type < JointType::JointType_Count; type++ ){
 							ColorSpacePoint colorSpacePoint = { 0 };
 							pCoordinateMapper->MapCameraPointToColorSpace( joint[type].Position, &colorSpacePoint );
							int x = static_cast( colorSpacePoint.X );
							int y = static_cast( colorSpacePoint.Y );
							if( ( x >= 0 ) && ( x < colorWidth ) && ( y >= 0 ) && ( y < colorHeight ) ){
								cv::circle( colorBufferMat, cv::Point( x, y ), 5, static_cast< cv::Scalar >( color[count] ), -1, CV_AA );
							}
						}
					}
				}
			}
			cvtColor(colorBufferMat, colorMat, CV_BGR2RGB);
			colorscaleImage.setFromPixels(colorMat.data, colorWidth, colorHeight);
		}
	}
	SafeRelease( pBodyFrame );

}

//--------------------------------------------------------------
void ofApp::draw(){
	colorscaleImage.draw(0, 0);
	grayscaleImage.draw(0, 0);
}

5. 実行

「openFrameworks 0.8.3 and Kinect v2」への1件のフィードバック

  1. ピンバック: openFrameworksでKinect v2 | Natural Days

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