kinect/codes/Kinect2Sample-master/sample/BodyIndex/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 BodyIndex
initializeBodyIndex();
// 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 BodyIndex
inline void Kinect::initializeBodyIndex()
{
// Open BodyIndex Reader
ComPtr<IBodyIndexFrameSource> bodyIndexFrameSource;
ERROR_CHECK( kinect->get_BodyIndexFrameSource( &bodyIndexFrameSource ) );
ERROR_CHECK( bodyIndexFrameSource->OpenReader( &bodyIndexFrameReader ) );
// Retrieve BodyIndex Description
ComPtr<IFrameDescription> bodyIndexFrameDescription;
ERROR_CHECK( bodyIndexFrameSource->get_FrameDescription( &bodyIndexFrameDescription ) );
ERROR_CHECK( bodyIndexFrameDescription->get_Width( &bodyIndexWidth ) ); // 512
ERROR_CHECK( bodyIndexFrameDescription->get_Height( &bodyIndexHeight ) ); // 424
ERROR_CHECK( bodyIndexFrameDescription->get_BytesPerPixel( &bodyIndexBytesPerPixel ) ); // 1
// Allocation BodyIndex Buffer
bodyIndexBuffer.resize( bodyIndexWidth * bodyIndexHeight );
// Color Table for Visualization
colors[0] = cv::Vec3b( 255, 0, 0 ); // Blue
colors[1] = cv::Vec3b( 0, 255, 0 ); // Green
colors[2] = cv::Vec3b( 0, 0, 255 ); // Red
colors[3] = cv::Vec3b( 255, 255, 0 ); // Cyan
colors[4] = cv::Vec3b( 255, 0, 255 ); // Magenta
colors[5] = cv::Vec3b( 0, 255, 255 ); // Yellow
}
// Finalize
void Kinect::finalize()
{
cv::destroyAllWindows();
// Close Sensor
if( kinect != nullptr ){
kinect->Close();
}
}
// Update Data
void Kinect::update()
{
// Update BodyIndex
updateBodyIndex();
}
// Update BodyIndex
inline void Kinect::updateBodyIndex()
{
// Retrieve BodyIndex Frame
ComPtr<IBodyIndexFrame> bodyIndexFrame;
const HRESULT ret = bodyIndexFrameReader->AcquireLatestFrame( &bodyIndexFrame );
if( FAILED( ret ) ){
return;
}
// Retrieve BodyIndex Data
ERROR_CHECK( bodyIndexFrame->CopyFrameDataToArray( static_cast<UINT>( bodyIndexBuffer.size() ), &bodyIndexBuffer[0] ) );
}
// Draw Data
void Kinect::draw()
{
// Draw BodyIndex
drawBodyIndex();
}
// Draw BodyIndex
inline void Kinect::drawBodyIndex()
{
// Visualization Color to Each Index
bodyIndexMat = cv::Mat::zeros( bodyIndexHeight, bodyIndexWidth, CV_8UC3 );
bodyIndexMat.forEach<cv::Vec3b>( [&]( cv::Vec3b &p, const int* position ){
uchar index = bodyIndexBuffer[position[0] * bodyIndexWidth + position[1]];
if( index != 0xff ){
p = colors[index];
}
} );
}
// Show Data
void Kinect::show()
{
// Show BodyIndex
showBodyIndex();
}
// Show BodyIndex
inline void Kinect::showBodyIndex()
{
// Show Image
cv::imshow( "BodyIndex", bodyIndexMat );
}