kinect/codes/Kinect2Sample-master/sample/Depth/app.cpp

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2024-03-07 09:11:31 +00:00
#include "app.h"
#include "util.h"
#include <thread>
#include <chrono>
// Constructor
Kinect::Kinect()
{
// Initialize
initialize();
}
// Destructor
Kinect::~Kinect()
{
// Finalize
finalize();
}
// Processing
void Kinect::run()
{
// Main Loop
while( true ){
// Update Data
update();
// Draw Data
draw();
// Show Data
show();
// Key Check
const int key = cv::waitKey( 10 );
if( key == VK_ESCAPE ){
break;
}
}
}
// Initialize
void Kinect::initialize()
{
cv::setUseOptimized( true );
// Initialize Sensor
initializeSensor();
// Initialize Depth
initializeDepth();
// Wait a Few Seconds until begins to Retrieve Data from Sensor ( about 2000-[ms] )
std::this_thread::sleep_for( std::chrono::seconds( 2 ) );
}
// Initialize Sensor
inline void Kinect::initializeSensor()
{
// Open Sensor
ERROR_CHECK( GetDefaultKinectSensor( &kinect ) );
ERROR_CHECK( kinect->Open() );
// Check Open
BOOLEAN isOpen = FALSE;
ERROR_CHECK( kinect->get_IsOpen( &isOpen ) );
if( !isOpen ){
throw std::runtime_error( "failed IKinectSensor::get_IsOpen( &isOpen )" );
}
}
// Initialize Depth
inline void Kinect::initializeDepth()
{
// Open Depth Reader
ComPtr<IDepthFrameSource> depthFrameSource;
ERROR_CHECK( kinect->get_DepthFrameSource( &depthFrameSource ) );
ERROR_CHECK( depthFrameSource->OpenReader( &depthFrameReader ) );
// Retrieve Depth Description
ComPtr<IFrameDescription> depthFrameDescription;
ERROR_CHECK( depthFrameSource->get_FrameDescription( &depthFrameDescription ) );
ERROR_CHECK( depthFrameDescription->get_Width( &depthWidth ) ); // 512
ERROR_CHECK( depthFrameDescription->get_Height( &depthHeight ) ); // 424
ERROR_CHECK( depthFrameDescription->get_BytesPerPixel( &depthBytesPerPixel ) ); // 2
// Retrieve Depth Reliable Range
UINT16 minReliableDistance;
UINT16 maxReliableDistance;
ERROR_CHECK( depthFrameSource->get_DepthMinReliableDistance( &minReliableDistance ) ); // 500
ERROR_CHECK( depthFrameSource->get_DepthMaxReliableDistance( &maxReliableDistance ) ); // 4500
std::cout << "Depth Reliable Range : " << minReliableDistance << " - " << maxReliableDistance << std::endl;
// Allocation Depth Buffer
depthBuffer.resize( depthWidth * depthHeight );
}
// Finalize
void Kinect::finalize()
{
cv::destroyAllWindows();
// Close Sensor
if( kinect != nullptr ){
kinect->Close();
}
}
// Update Data
void Kinect::update()
{
// Update Depth
updateDepth();
}
// Update Depth
inline void Kinect::updateDepth()
{
// Retrieve Depth Frame
ComPtr<IDepthFrame> depthFrame;
const HRESULT ret = depthFrameReader->AcquireLatestFrame( &depthFrame );
if( FAILED( ret ) ){
return;
}
// Retrieve Depth Data
ERROR_CHECK( depthFrame->CopyFrameDataToArray( static_cast<UINT>( depthBuffer.size() ), &depthBuffer[0] ) );
}
// Draw Data
void Kinect::draw()
{
// Draw Depth
drawDepth();
}
// Draw Depth
inline void Kinect::drawDepth()
{
// Create cv::Mat from Depth Buffer
depthMat = cv::Mat( depthHeight, depthWidth, CV_16UC1, &depthBuffer[0] );
}
// Show Data
void Kinect::show()
{
// Show Depth
showDepth();
}
// Show Depth
inline void Kinect::showDepth()
{
if( depthMat.empty() ){
return;
}
// Scaling ( 0-8000 -> 255-0 )
cv::Mat scaleMat;
depthMat.convertTo( scaleMat, CV_8U, -255.0 / 8000.0, 255.0 );
//cv::applyColorMap( scaleMat, scaleMat, cv::COLORMAP_BONE );
// Show Image
cv::imshow( "Depth", scaleMat );
}