kinect/Kinect2Sample-master/sample/Body/app.cpp

#include "app.h"
#include "util.h"

#include <thread>
#include <chrono>

#include <ppl.h>

// 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 Color
    initializeColor();

    // Initialize Body
    initializeBody();

    // 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 )" );
    }

    // Retrieve Coordinate Mapper
    ERROR_CHECK( kinect->get_CoordinateMapper( &coordinateMapper ) );
}

// Initialize Color
inline void Kinect::initializeColor()
{
    // Open Color Reader
    ComPtr<IColorFrameSource> colorFrameSource;
    ERROR_CHECK( kinect->get_ColorFrameSource( &colorFrameSource ) );
    ERROR_CHECK( colorFrameSource->OpenReader( &colorFrameReader ) );

    // Retrieve Color Description
    ComPtr<IFrameDescription> colorFrameDescription;
    ERROR_CHECK( colorFrameSource->CreateFrameDescription( ColorImageFormat::ColorImageFormat_Bgra, &colorFrameDescription ) );
    ERROR_CHECK( colorFrameDescription->get_Width( &colorWidth ) ); // 1920
    ERROR_CHECK( colorFrameDescription->get_Height( &colorHeight ) ); // 1080
    ERROR_CHECK( colorFrameDescription->get_BytesPerPixel( &colorBytesPerPixel ) ); // 4

    // Allocation Color Buffer
    colorBuffer.resize( colorWidth * colorHeight * colorBytesPerPixel );
}

// Initialize Body
inline void Kinect::initializeBody()
{
    // Open Body Reader
    ComPtr<IBodyFrameSource> bodyFrameSource;
    ERROR_CHECK( kinect->get_BodyFrameSource( &bodyFrameSource ) );
    ERROR_CHECK( bodyFrameSource->OpenReader( &bodyFrameReader ) );

    // Initialize Body Buffer
    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
        SafeRelease( body );
    } );

    // 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();

    // Release Body Buffer
    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
        SafeRelease( body );
    } );

    // Close Sensor
    if( kinect != nullptr ){
        kinect->Close();
    }
}

// Update Data
void Kinect::update()
{
    // Update Color
    updateColor();

    // Update Body
    updateBody();
}

// Update Color
inline void Kinect::updateColor()
{
    // Retrieve Color Frame
    ComPtr<IColorFrame> colorFrame;
    const HRESULT ret = colorFrameReader->AcquireLatestFrame( &colorFrame );
    if( FAILED( ret ) ){
        return;
    }

    // Convert Format ( YUY2 -> BGRA )
    ERROR_CHECK( colorFrame->CopyConvertedFrameDataToArray( static_cast<UINT>( colorBuffer.size() ), &colorBuffer[0], ColorImageFormat::ColorImageFormat_Bgra ) );
}

// Update Body
inline void Kinect::updateBody()
{
    // Retrieve Body Frame
    ComPtr<IBodyFrame> bodyFrame;
    const HRESULT ret = bodyFrameReader->AcquireLatestFrame( &bodyFrame );
    if( FAILED( ret ) ){
        return;
    }

    // Release Previous Bodies
    Concurrency::parallel_for_each( bodies.begin(), bodies.end(), []( IBody*& body ){
        SafeRelease( body );
    } );

    // Retrieve Body Data
    ERROR_CHECK( bodyFrame->GetAndRefreshBodyData( static_cast<UINT>( bodies.size() ), &bodies[0] ) );
}

// Draw Data
void Kinect::draw()
{
    // Draw Color
    drawColor();

    // Draw Body
    drawBody();
}

// Draw Color
inline void Kinect::drawColor()
{
    // Create cv::Mat from Color Buffer
    colorMat = cv::Mat( colorHeight, colorWidth, CV_8UC4, &colorBuffer[0] );
}

// Draw Body
inline void Kinect::drawBody()
{
    // Draw Body Data to Color Data
    Concurrency::parallel_for( 0, BODY_COUNT, [&]( const int count ){
        const ComPtr<IBody> body = bodies[count];
        if( body == nullptr ){
            return;
        }

        // Check Body Tracked
        BOOLEAN tracked = FALSE;
        ERROR_CHECK( body->get_IsTracked( &tracked ) );
        if( !tracked ){
            return;
        }

        // Retrieve Joints
        std::array<Joint, JointType::JointType_Count> joints;
        ERROR_CHECK( body->GetJoints( static_cast<UINT>( joints.size() ), &joints[0] ) );

        Concurrency::parallel_for_each( joints.begin(), joints.end(), [&]( const Joint& joint ){
            // Check Joint Tracked
            if( joint.TrackingState == TrackingState::TrackingState_NotTracked ){
                return;
            }

            // Draw Joint Position
            drawEllipse( colorMat, joint, 5, colors[count] );

            // Draw Left Hand State
            if( joint.JointType == JointType::JointType_HandLeft ){
                HandState handState;
                TrackingConfidence handConfidence;
                ERROR_CHECK( body->get_HandLeftState( &handState ) );
                ERROR_CHECK( body->get_HandLeftConfidence( &handConfidence ) );

                drawHandState( colorMat, joint, handState, handConfidence );
            }

            // Draw Right Hand State
            if( joint.JointType == JointType::JointType_HandRight ){
                HandState handState;
                TrackingConfidence handConfidence;
                ERROR_CHECK( body->get_HandRightState( &handState ) );
                ERROR_CHECK( body->get_HandRightConfidence( &handConfidence ) );

                drawHandState( colorMat, joint, handState, handConfidence );
            }
        } );

        /*
        // Retrieve Joint Orientations
        std::array<JointOrientation, JointType::JointType_Count> orientations;
        ERROR_CHECK( body->GetJointOrientations( JointType::JointType_Count, &orientations[0] ) );
        */

        /*
        // Retrieve Amount of Body Lean
        PointF amount;
        ERROR_CHECK( body->get_Lean( &amount ) );
        */
    } );
}

// Draw Ellipse
inline void Kinect::drawEllipse( cv::Mat& image, const Joint& joint, const int radius, const cv::Vec3b& color, const int thickness )
{
    if( image.empty() ){
        return;
    }

    // Convert Coordinate System and Draw Joint
    ColorSpacePoint colorSpacePoint;
    ERROR_CHECK( coordinateMapper->MapCameraPointToColorSpace( joint.Position, &colorSpacePoint ) );
    const int x = static_cast<int>( colorSpacePoint.X + 0.5f );
    const int y = static_cast<int>( colorSpacePoint.Y + 0.5f );
    if( ( 0 <= x ) && ( x < image.cols ) && ( 0 <= y ) && ( y < image.rows ) ){
        cv::circle( image, cv::Point( x, y ), radius, static_cast<cv::Scalar>( color ), thickness, cv::LINE_AA );
    }
}

// Draw Hand State
inline void Kinect::drawHandState( cv::Mat& image, const Joint& joint, HandState handState, TrackingConfidence handConfidence )
{
    if( image.empty() ){
        return;
    }

    // Check Tracking Confidence
    if( handConfidence != TrackingConfidence::TrackingConfidence_High ){
        return;
    }

    // Draw Hand State 
    const int radius = 75;
    const cv::Vec3b blue = cv::Vec3b( 128, 0, 0 ), green = cv::Vec3b( 0, 128, 0 ), red = cv::Vec3b( 0, 0, 128 );
    switch( handState ){
        // Open
        case HandState::HandState_Open:
            drawEllipse( image, joint, radius, green, 5 );
            break;
        // Close
        case HandState::HandState_Closed:
            drawEllipse( image, joint, radius, red, 5 );
            break;
        // Lasso
        case HandState::HandState_Lasso:
            drawEllipse( image, joint, radius, blue, 5 );
            break;
        default:
            break;
    }
}

// Show Data
void Kinect::show()
{
    // Show Body
    showBody();
}

// Show Body
inline void Kinect::showBody()
{
    if( colorMat.empty() ){
        return;
    }

    // Resize Image
    cv::Mat resizeMat;
    const double scale = 0.5;
    cv::resize( colorMat, resizeMat, cv::Size(), scale, scale );

    // Show Image
    cv::imshow( "Body", resizeMat );
}