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

365 lines
12 KiB
C++

#include "app.h"
#include "util.h"
#include <thread>
#include <chrono>
#include <ppl.h>
#include <atlbase.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;
}
else if( key == 'r' ){
std::cout << "Reset Reconstruction" << std::endl;
reset();
}
else if( key == 's' ){
std::cout << "Save Mesh Data to File" << std::endl;
save();
}
}
}
// Initialize
void Kinect::initialize()
{
cv::setUseOptimized( true );
// Initialize Sensor
initializeSensor();
// Initialize Color
initializeColor();
// Initialize Depth
initializeDepth();
// Initialize Fusion
initializeFusion();
// 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 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
// Allocation Depth Buffer
depthBuffer.resize( depthWidth * depthHeight );
}
// Initialize Fusion
inline void Kinect::initializeFusion()
{
// Set Reconstruction Parameters
reconstructionParameters.voxelsPerMeter = 256;
reconstructionParameters.voxelCountX = 512;
reconstructionParameters.voxelCountY = 384;
reconstructionParameters.voxelCountZ = 512;
// Create Reconstruction
SetIdentityMatrix( worldToCameraTransform );
ERROR_CHECK( NuiFusionCreateColorReconstruction( &reconstructionParameters, NUI_FUSION_RECONSTRUCTION_PROCESSOR_TYPE::NUI_FUSION_RECONSTRUCTION_PROCESSOR_TYPE_AMP, -1, &worldToCameraTransform, &reconstruction ) );
// Set Camera Parameters
cameraParameters.focalLengthX = NUI_KINECT_DEPTH_NORM_FOCAL_LENGTH_X;
cameraParameters.focalLengthY = NUI_KINECT_DEPTH_NORM_FOCAL_LENGTH_Y;
cameraParameters.principalPointX = NUI_KINECT_DEPTH_NORM_PRINCIPAL_POINT_X;
cameraParameters.principalPointY = NUI_KINECT_DEPTH_NORM_PRINCIPAL_POINT_Y;
// Create Image Frame Buffers
ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_FLOAT, depthWidth, depthHeight, &cameraParameters, &depthImageFrame ) );
ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_FLOAT, depthWidth, depthHeight, &cameraParameters, &smoothDepthImageFrame ) );
ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_COLOR, depthWidth, depthHeight, &cameraParameters, &colorImageFrame ) );
ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_POINT_CLOUD, depthWidth, depthHeight, &cameraParameters, &pointCloudImageFrame ) );
ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_COLOR, depthWidth, depthHeight, &cameraParameters, &surfaceImageFrame ) );
/*ERROR_CHECK( NuiFusionCreateImageFrame( NUI_FUSION_IMAGE_TYPE::NUI_FUSION_IMAGE_TYPE_COLOR, depthWidth, depthHeight, &cameraParameters, &normalImageFrame ) );*/
}
// Finalize
void Kinect::finalize()
{
cv::destroyAllWindows();
// Release Image Frame Buffers
ERROR_CHECK( NuiFusionReleaseImageFrame( depthImageFrame ) );
ERROR_CHECK( NuiFusionReleaseImageFrame( smoothDepthImageFrame ) );
ERROR_CHECK( NuiFusionReleaseImageFrame( colorImageFrame ) );
ERROR_CHECK( NuiFusionReleaseImageFrame( pointCloudImageFrame ) );
ERROR_CHECK( NuiFusionReleaseImageFrame( surfaceImageFrame ) );
/*ERROR_CHECK( NuiFusionReleaseImageFrame( normalImageFrame ) );*/
// Close Sensor
if( kinect != nullptr ){
kinect->Close();
}
}
// Update Data
void Kinect::update()
{
// Update Color
updateColor();
// Update Depth
updateDepth();
// Update Fusion
updateFusion();
}
// 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 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] ) );
}
// Update Fusion
inline void Kinect::updateFusion()
{
// Set Depth Data to Depth Float Frame Buffer
ERROR_CHECK( reconstruction->DepthToDepthFloatFrame( &depthBuffer[0], static_cast<UINT>( depthBuffer.size() * depthBytesPerPixel ), depthImageFrame, NUI_FUSION_DEFAULT_MINIMUM_DEPTH/* 0.5[m] */, NUI_FUSION_DEFAULT_MAXIMUM_DEPTH/* 8.0[m] */, true ) );
// Smoothing Depth Float Frame
ERROR_CHECK( reconstruction->SmoothDepthFloatFrame( depthImageFrame, smoothDepthImageFrame, NUI_FUSION_DEFAULT_SMOOTHING_KERNEL_WIDTH, NUI_FUSION_DEFAULT_SMOOTHING_DISTANCE_THRESHOLD ) );
// Retrieve Mapped Coordinates
std::vector<ColorSpacePoint> points( depthWidth * depthHeight );
ERROR_CHECK( coordinateMapper->MapDepthFrameToColorSpace( depthWidth * depthHeight, &depthBuffer[0], depthWidth * depthHeight, &points[0] ) );
// Mapping Color to Depth Resolution and Set Color Data to Color Frame Buffer
NUI_FUSION_BUFFER* colorImageFrameBuffer = colorImageFrame->pFrameBuffer;
RGBQUAD* src = reinterpret_cast<RGBQUAD*>( &colorBuffer[0] );
RGBQUAD* dst = reinterpret_cast<RGBQUAD*>( colorImageFrameBuffer->pBits );
Concurrency::parallel_for( 0, depthHeight, [&]( const int y ){
for( int x = 0; x < depthWidth; x++ ){
unsigned int index = y * depthWidth + x;
const ColorSpacePoint point = points[index];
int colorX = static_cast<int>( point.X + 0.5f );
int colorY = static_cast<int>( point.Y + 0.5f );
if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){
dst[index] = src[colorY * colorWidth + colorX];
}
else{
dst[index] = {};
}
}
} );
// Retrieve Transformation Matrix to Camera Coordinate System from World Coordinate System
ERROR_CHECK( reconstruction->GetCurrentWorldToCameraTransform( &worldToCameraTransform ) );
// Reconstruction Frame Process
HRESULT ret = reconstruction->ProcessFrame( smoothDepthImageFrame, colorImageFrame, NUI_FUSION_DEFAULT_ALIGN_ITERATION_COUNT, NUI_FUSION_DEFAULT_INTEGRATION_WEIGHT, NUI_FUSION_DEFAULT_COLOR_INTEGRATION_OF_ALL_ANGLES, nullptr, &worldToCameraTransform );
if( FAILED( ret ) ){
// Reset Reconstruction when Retrived Many Accumulated Error Frames ( Over 100 Error Frames )
static unsigned int errorCount = 0;
if( ++errorCount >= 100 ){
errorCount = 0;
reset();
}
}
// Calculate Point Cloud
ERROR_CHECK( reconstruction->CalculatePointCloud( pointCloudImageFrame, surfaceImageFrame, &worldToCameraTransform ) );
/*
// Shading Color Transform Matrix
Matrix4 worldToBGRTransform = { 0.0f };
worldToBGRTransform.M11 = reconstructionParameters.voxelsPerMeter / reconstructionParameters.voxelCountX;
worldToBGRTransform.M22 = reconstructionParameters.voxelsPerMeter / reconstructionParameters.voxelCountY;
worldToBGRTransform.M33 = reconstructionParameters.voxelsPerMeter / reconstructionParameters.voxelCountZ;
worldToBGRTransform.M41 = 0.5f;
worldToBGRTransform.M42 = 0.5f;
worldToBGRTransform.M43 = 0.0f;
worldToBGRTransform.M44 = 1.0f;
// Shading Point Cloud
ERROR_CHECK( NuiFusionShadePointCloud( pointCloudImageFrame, &worldToCameraTransform, &worldToBGRTransform, surfaceImageFrame, normalImageFrame ) );
*/
}
// Reset Reconstruction
inline void Kinect::reset()
{
// Set Identity Matrix
SetIdentityMatrix( worldToCameraTransform );
// Reset Reconstruction
ERROR_CHECK( reconstruction->ResetReconstruction( &worldToCameraTransform, nullptr ) );
}
// Draw Data
void Kinect::draw()
{
// Draw Fusion
drawFusion();
}
// Draw Fusion
inline void Kinect::drawFusion()
{
// Retrive Surface Image from Surface Frame Buffer
NUI_FUSION_BUFFER* surfaceImageFrameBuffer = surfaceImageFrame->pFrameBuffer;
surfaceMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, surfaceImageFrameBuffer->pBits );
/*
// Retrive Normal Image from Normal Frame Buffer
NUI_FUSION_BUFFER* normalImageFrameBuffer = normalImageFrame->pFrameBuffer;
normalMat = cv::Mat( depthHeight, depthWidth, CV_8UC4, normalImageFrameBuffer->pBits );
*/
}
// Show Data
void Kinect::show()
{
// Show Fusion
showFusion();
}
// Show Fusion
inline void Kinect::showFusion()
{
if( surfaceMat.empty() ){
return;
}
// Show Surface Image
cv::imshow( "Surface", surfaceMat );
/*
if( normalMat.empty() ){
return;
}
// Show Normal Image
cv::imshow( "Normal", normalMat );
*/
}
// Save Mesh
inline void Kinect::save()
{
// Calculate Mesh Data
ComPtr<INuiFusionColorMesh> mesh;
ERROR_CHECK( reconstruction->CalculateMesh( 1, &mesh ) );
// Save Mesh Data to PLY File
wchar_t* fileName = L"../mesh.ply";
WriteAsciiPlyMeshFile( mesh.Get(), W2OLE( fileName ), true, true );
/*
// Save Mesh Data to STL File
wchar_t* fileName = L"../mesh.stl";
ERROR_CHECK( WriteBinarySTLMeshFile( mesh, W2OLE( fileName ), true ) );
*/
/*
// Save Mesh Data to Obj File
wchar_t* fileName = L"../mesh.obj";
ERROR_CHECK( WriteAsciiObjMeshFile( mesh, W2OLE( fileName ), true ) );
*/
}