kinect – ページ 3 – プログラミング de 落描き

2017年12月5日2017年12月5日

Insta20171204

[ Video ]

[ About ]
Kinectを使ってマトリックスごっこ。
Playing Matrix. Using Kinect.

[ Source ]

#pragma once

#include <Windows.h>
#include <NuiApi.h>
#include <opencv2/opencv.hpp>
#include "ofMain.h"

#ifdef _DEBUG
#pragma comment(lib,"opencv_calib3d310d.lib")
#pragma comment(lib,"opencv_core310d.lib")
#pragma comment(lib,"opencv_features2d310d.lib")
#pragma comment(lib,"opencv_flann310d.lib")
#pragma comment(lib,"opencv_highgui310d.lib")
#pragma comment(lib,"opencv_imgcodecs310d.lib")
#pragma comment(lib,"opencv_imgproc310d.lib")
#pragma comment(lib,"opencv_ml310d.lib")
#pragma comment(lib,"opencv_objdetect310d.lib")
#pragma comment(lib,"opencv_photo310d.lib")
#pragma comment(lib,"opencv_shape310d.lib")
#pragma comment(lib,"opencv_stitching310d.lib")
#pragma comment(lib,"opencv_superres310d.lib")
#pragma comment(lib,"opencv_video310d.lib")
#pragma comment(lib,"opencv_videoio310d.lib")
#pragma comment(lib,"opencv_videostab310d.lib")
#else
#pragma comment(lib,"opencv_calib3d310.lib")
#pragma comment(lib,"opencv_core310.lib")
#pragma comment(lib,"opencv_features2d310.lib")
#pragma comment(lib,"opencv_flann310.lib")
#pragma comment(lib,"opencv_highgui310.lib")
#pragma comment(lib,"opencv_imgcodecs310.lib")
#pragma comment(lib,"opencv_imgproc310.lib")
#pragma comment(lib,"opencv_ml310.lib")
#pragma comment(lib,"opencv_objdetect310.lib")
#pragma comment(lib,"opencv_photo310.lib")
#pragma comment(lib,"opencv_shape310.lib")
#pragma comment(lib,"opencv_stitching310.lib")
#pragma comment(lib,"opencv_superres310.lib")
#pragma comment(lib,"opencv_video310.lib")
#pragma comment(lib,"opencv_videoio310.lib")
#pragma comment(lib,"opencv_videostab310.lib")
#endif

class ofApp : public ofBaseApp {

public:
	void setup();
	void update();
	void draw();

	void keyPressed(int key) {}
	void keyReleased(int key) {}
	void mouseMoved(int x, int y) {}
	void mouseDragged(int x, int y, int button) {}
	void mousePressed(int x, int y, int button) {}
	void mouseReleased(int x, int y, int button) {}
	void mouseEntered(int x, int y) {}
	void mouseExited(int x, int y) {}
	void windowResized(int w, int h) {}
	void dragEvent(ofDragInfo dragInfo) {}
	void gotMessage(ofMessage msg) {}

	// Kinect
	INuiSensor* sensor;
	INuiCoordinateMapper* cordinate_mapper;
	HANDLE color_event;
	HANDLE color_handle;
	HANDLE depth_event;
	HANDLE depth_handle;
	HANDLE events[2];
	int width, height;

	// OpenCV
	cv::Mat frame;
	cv::Mat depth;

	// openFrameworks
	ofEasyCam cam;
	ofImage frame_img;
	ofTrueTypeFont font;
};

#pragma once

#include <Windows.h>

#include <NuiApi.h>

#include <opencv2/opencv.hpp>

#include "ofMain.h"

#ifdef _DEBUG

#pragma comment(lib,"opencv_calib3d310d.lib")

#pragma comment(lib,"opencv_core310d.lib")

#pragma comment(lib,"opencv_features2d310d.lib")

#pragma comment(lib,"opencv_flann310d.lib")

#pragma comment(lib,"opencv_highgui310d.lib")

#pragma comment(lib,"opencv_imgcodecs310d.lib")

#pragma comment(lib,"opencv_imgproc310d.lib")

#pragma comment(lib,"opencv_ml310d.lib")

#pragma comment(lib,"opencv_objdetect310d.lib")

#pragma comment(lib,"opencv_photo310d.lib")

#pragma comment(lib,"opencv_shape310d.lib")

#pragma comment(lib,"opencv_stitching310d.lib")

#pragma comment(lib,"opencv_superres310d.lib")

#pragma comment(lib,"opencv_video310d.lib")

#pragma comment(lib,"opencv_videoio310d.lib")

#pragma comment(lib,"opencv_videostab310d.lib")

#else

#pragma comment(lib,"opencv_calib3d310.lib")

#pragma comment(lib,"opencv_core310.lib")

#pragma comment(lib,"opencv_features2d310.lib")

#pragma comment(lib,"opencv_flann310.lib")

#pragma comment(lib,"opencv_highgui310.lib")

#pragma comment(lib,"opencv_imgcodecs310.lib")

#pragma comment(lib,"opencv_imgproc310.lib")

#pragma comment(lib,"opencv_ml310.lib")

#pragma comment(lib,"opencv_objdetect310.lib")

#pragma comment(lib,"opencv_photo310.lib")

#pragma comment(lib,"opencv_shape310.lib")

#pragma comment(lib,"opencv_stitching310.lib")

#pragma comment(lib,"opencv_superres310.lib")

#pragma comment(lib,"opencv_video310.lib")

#pragma comment(lib,"opencv_videoio310.lib")

#pragma comment(lib,"opencv_videostab310.lib")

#endif

class ofApp : public ofBaseApp {

public:

void setup();

void update();

void draw();

void keyPressed(int key) {}

void keyReleased(int key) {}

void mouseMoved(int x, int y) {}

void mouseDragged(int x, int y, int button) {}

void mousePressed(int x, int y, int button) {}

void mouseReleased(int x, int y, int button) {}

void mouseEntered(int x, int y) {}

void mouseExited(int x, int y) {}

void windowResized(int w, int h) {}

void dragEvent(ofDragInfo dragInfo) {}

void gotMessage(ofMessage msg) {}

// Kinect

INuiSensor* sensor;

INuiCoordinateMapper* cordinate_mapper;

HANDLE color_event;

HANDLE color_handle;

HANDLE depth_event;

HANDLE depth_handle;

HANDLE events[2];

int width, height;

// OpenCV

cv::Mat frame;

cv::Mat depth;

// openFrameworks

ofEasyCam cam;

ofImage frame_img;

ofTrueTypeFont font;

};

#include "ofApp.h"

//--------------------------------------------------------------
void ofApp::setup(){
	ofSetFrameRate(30);
	ofBackground(0);
	ofSetWindowTitle("InstaKinect");
	ofEnableBlendMode(ofBlendMode::OF_BLENDMODE_ADD);

	// Create Instance
	this->sensor = nullptr;
	HRESULT result = S_OK;
	result = NuiCreateSensorByIndex(0, &sensor);
	if (FAILED(result)) {
		cout << "Error : Create Sensor" << endl;
		return;
	}

	// Initialize
	result = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
	if (FAILED(result)) {
		cout << "Error : Initialise COLOR" << endl;
		return;
	}

	// Color
	this->color_event = INVALID_HANDLE_VALUE;
	this->color_handle = INVALID_HANDLE_VALUE;
	color_event = CreateEventW(nullptr, true, false, nullptr);
	result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, color_event, &color_handle);
	if (FAILED(result)) {
		cout << "Error : Color Stream Open" << endl;
		return;
	}

	// Depth
	this->depth_event = INVALID_HANDLE_VALUE;
	this->depth_handle = INVALID_HANDLE_VALUE;
	depth_event = CreateEventW(nullptr, true, false, nullptr);
	result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depth_event, &depth_handle);
	if (FAILED(result)) {
		cout << "Error : Depth Stream Open" << endl;
		return;
	}

	// Size
	unsigned long refWidth = 0;
	unsigned long refHeight = 0;
	NuiImageResolutionToSize(NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight);
	this->width = static_cast<int>(refWidth);
	this->height = static_cast<int>(refHeight);

	// Mapp
	this->cordinate_mapper = nullptr;
	result = sensor->NuiGetCoordinateMapper(&this->cordinate_mapper);
	if (FAILED(result)) {
		cout << "Error : Cordinate Mapper " << endl;
		return;
	}

	// OpenCV
	this->frame_img.allocate(this->width, this->height, OF_IMAGE_COLOR);
	this->frame = cv::Mat(this->frame_img.getHeight(), this->frame_img.getWidth(), CV_MAKETYPE(CV_8UC3, this->frame_img.getPixels().getNumChannels()), this->frame_img.getPixels().getData(), 0);
	this->depth = cv::Mat(height, width, CV_16UC1);

	this->events[0] = this->color_event;
	this->events[1] = this->depth_event;

	this->font.loadFont("fonts/Kazesawa-Bold.ttf", 7);
}

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

	HRESULT result = S_OK;

	// Color Table
	cv::Vec3b color[7];
	color[0] = cv::Vec3b(0, 0, 0);
	color[1] = cv::Vec3b(255, 0, 0);
	color[2] = cv::Vec3b(0, 255, 0);
	color[3] = cv::Vec3b(0, 0, 255);
	color[4] = cv::Vec3b(255, 255, 0);
	color[5] = cv::Vec3b(255, 0, 255);
	color[6] = cv::Vec3b(0, 255, 255);

	std::vector<NUI_COLOR_IMAGE_POINT> color_point(width * height);

	// Wait frame update.
	ResetEvent(this->color_event);
	ResetEvent(this->depth_event);
	WaitForMultipleObjects(ARRAYSIZE(this->events), this->events, true, INFINITE);

	// Get frame from color camera.
	NUI_IMAGE_FRAME colorImageFrame = { 0 };
	result = sensor->NuiImageStreamGetNextFrame(this->color_handle, 0, &colorImageFrame);
	if (FAILED(result)) {
		std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
		return;
	}

	// Get image data.
	INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;
	NUI_LOCKED_RECT colorLockedRect;
	pColorFrameTexture->LockRect(0, &colorLockedRect, nullptr, 0);

	//// Get frame from depth camera.
	NUI_IMAGE_FRAME depthImageFrame = { 0 };
	result = this->sensor->NuiImageStreamGetNextFrame(this->depth_handle, 0, &depthImageFrame);
	if (FAILED(result)) {
		std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH )" << std::endl;
		return ;
	}

	// Get depth data.
	BOOL nearMode = false;
	INuiFrameTexture* pDepthFrameTexture = nullptr;
	this->sensor->NuiImageFrameGetDepthImagePixelFrameTexture(this->depth_handle, &depthImageFrame, &nearMode, &pDepthFrameTexture);
	NUI_LOCKED_RECT depthLockedRect;
	pDepthFrameTexture->LockRect(0, &depthLockedRect, nullptr, 0);

	// OpenCV(image)
	cv::Mat src = cv::Mat(this->height, this->width, CV_8UC4, reinterpret_cast<unsigned char*>(colorLockedRect.pBits));
	cv::cvtColor(src, this->frame, CV_BGRA2RGB);

	// OpenCV(depth)
	cv::Mat bufferMat = cv::Mat::zeros(height, width, CV_16UC1);
	NUI_DEPTH_IMAGE_PIXEL* depth_pixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>(depthLockedRect.pBits);
	this->cordinate_mapper->MapDepthFrameToColorFrame(NUI_IMAGE_RESOLUTION_640x480, width * height, depth_pixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &color_point[0]);
	for (int y = 0; y < height; y++) {
		for (int x = 0; x < width; x++) {
			unsigned int index = y * width + x;
			bufferMat.at<unsigned short>(color_point[index].y, color_point[index].x) = depth_pixel[index].depth;
		}
	}
	bufferMat.copyTo(this->depth);
	//cv::imshow("depth", this->depth);

	// Release
	pColorFrameTexture->UnlockRect(0);
	pDepthFrameTexture->UnlockRect(0);
	this->sensor->NuiImageStreamReleaseFrame(this->color_handle, &colorImageFrame);
	this->sensor->NuiImageStreamReleaseFrame(this->depth_handle, &depthImageFrame);
}

//--------------------------------------------------------------
void ofApp::draw(){
	string moji = "ABCDEFGHIJKLMNOPQRSTUVWXYZ";

	this->cam.begin();
	ofRotateZ(180);
	ofRotateY(180);
	ofTranslate(ofVec3f(-this->frame_img.getWidth() / 2, -this->frame_img.getHeight() / 2, 0));

	for (int y = 0; y < this->depth.rows; y += 8) {
		for (int x = 0; x < this->depth.cols; x += 8) {
			int z = depth.at<unsigned short>(y, x);
			if (z != 0 && z <1280) {
				ofSetColor(ofColor(0, 255 * ofNoise(x, y * 0.025 - ofGetFrameNum() * 0.05), 0));

				ofPushMatrix();
				ofTranslate(0, 0, z - 1024);
				this->font.drawString(moji.substr((int)z % 26, 1), x, y); 
				ofPopMatrix();
			}
		}
	}

	this->cam.end();
}

//========================================================================
int main() {
	ofSetupOpenGL(720, 720, OF_WINDOW);
	ofRunApp(new ofApp());
}

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#include "ofApp.h"

//--------------------------------------------------------------

void ofApp::setup(){

ofSetFrameRate(30);

ofBackground(0);

ofSetWindowTitle("InstaKinect");

ofEnableBlendMode(ofBlendMode::OF_BLENDMODE_ADD);

// Create Instance

this->sensor = nullptr;

HRESULT result = S_OK;

result = NuiCreateSensorByIndex(0, &sensor);

if (FAILED(result)) {

cout << "Error : Create Sensor" << endl;

return;

}

// Initialize

result = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);

if (FAILED(result)) {

cout << "Error : Initialise COLOR" << endl;

return;

}

// Color

this->color_event = INVALID_HANDLE_VALUE;

this->color_handle = INVALID_HANDLE_VALUE;

color_event = CreateEventW(nullptr, true, false, nullptr);

result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, color_event, &color_handle);

if (FAILED(result)) {

cout << "Error : Color Stream Open" << endl;

return;

}

// Depth

this->depth_event = INVALID_HANDLE_VALUE;

this->depth_handle = INVALID_HANDLE_VALUE;

depth_event = CreateEventW(nullptr, true, false, nullptr);

result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depth_event, &depth_handle);

if (FAILED(result)) {

cout << "Error : Depth Stream Open" << endl;

return;

}

// Size

unsigned long refWidth = 0;

unsigned long refHeight = 0;

NuiImageResolutionToSize(NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight);

this->width = static_cast<int>(refWidth);

this->height = static_cast<int>(refHeight);

// Mapp

this->cordinate_mapper = nullptr;

result = sensor->NuiGetCoordinateMapper(&this->cordinate_mapper);

if (FAILED(result)) {

cout << "Error : Cordinate Mapper " << endl;

return;

}

// OpenCV

this->frame_img.allocate(this->width, this->height, OF_IMAGE_COLOR);

this->frame = cv::Mat(this->frame_img.getHeight(), this->frame_img.getWidth(), CV_MAKETYPE(CV_8UC3, this->frame_img.getPixels().getNumChannels()), this->frame_img.getPixels().getData(), 0);

this->depth = cv::Mat(height, width, CV_16UC1);

this->events[0] = this->color_event;

this->events[1] = this->depth_event;

this->font.loadFont("fonts/Kazesawa-Bold.ttf", 7);

}

//--------------------------------------------------------------

void ofApp::update(){

HRESULT result = S_OK;

// Color Table

cv::Vec3b color[7];

color[0] = cv::Vec3b(0, 0, 0);

color[1] = cv::Vec3b(255, 0, 0);

color[2] = cv::Vec3b(0, 255, 0);

color[3] = cv::Vec3b(0, 0, 255);

color[4] = cv::Vec3b(255, 255, 0);

color[5] = cv::Vec3b(255, 0, 255);

color[6] = cv::Vec3b(0, 255, 255);

std::vector<NUI_COLOR_IMAGE_POINT> color_point(width * height);

// Wait frame update.

ResetEvent(this->color_event);

ResetEvent(this->depth_event);

WaitForMultipleObjects(ARRAYSIZE(this->events), this->events, true, INFINITE);

// Get frame from color camera.

NUI_IMAGE_FRAME colorImageFrame = { 0 };

result = sensor->NuiImageStreamGetNextFrame(this->color_handle, 0, &colorImageFrame);

if (FAILED(result)) {

std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;

return;

}

// Get image data.

INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;

NUI_LOCKED_RECT colorLockedRect;

pColorFrameTexture->LockRect(0, &colorLockedRect, nullptr, 0);

//// Get frame from depth camera.

NUI_IMAGE_FRAME depthImageFrame = { 0 };

result = this->sensor->NuiImageStreamGetNextFrame(this->depth_handle, 0, &depthImageFrame);

if (FAILED(result)) {

std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH )" << std::endl;

return ;

}

// Get depth data.

BOOL nearMode = false;

INuiFrameTexture* pDepthFrameTexture = nullptr;

this->sensor->NuiImageFrameGetDepthImagePixelFrameTexture(this->depth_handle, &depthImageFrame, &nearMode, &pDepthFrameTexture);

NUI_LOCKED_RECT depthLockedRect;

pDepthFrameTexture->LockRect(0, &depthLockedRect, nullptr, 0);

// OpenCV(image)

cv::Mat src = cv::Mat(this->height, this->width, CV_8UC4, reinterpret_cast<unsigned char*>(colorLockedRect.pBits));

cv::cvtColor(src, this->frame, CV_BGRA2RGB);

// OpenCV(depth)

cv::Mat bufferMat = cv::Mat::zeros(height, width, CV_16UC1);

NUI_DEPTH_IMAGE_PIXEL* depth_pixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>(depthLockedRect.pBits);

this->cordinate_mapper->MapDepthFrameToColorFrame(NUI_IMAGE_RESOLUTION_640x480, width * height, depth_pixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &color_point[0]);

for (int y = 0; y < height; y++) {

for (int x = 0; x < width; x++) {

unsigned int index = y * width + x;

bufferMat.at<unsigned short>(color_point[index].y, color_point[index].x) = depth_pixel[index].depth;

}

bufferMat.copyTo(this->depth);

//cv::imshow("depth", this->depth);

// Release

pColorFrameTexture->UnlockRect(0);

pDepthFrameTexture->UnlockRect(0);

this->sensor->NuiImageStreamReleaseFrame(this->color_handle, &colorImageFrame);

this->sensor->NuiImageStreamReleaseFrame(this->depth_handle, &depthImageFrame);

}

//--------------------------------------------------------------

void ofApp::draw(){

string moji = "ABCDEFGHIJKLMNOPQRSTUVWXYZ";

this->cam.begin();

ofRotateZ(180);

ofRotateY(180);

ofTranslate(ofVec3f(-this->frame_img.getWidth() / 2, -this->frame_img.getHeight() / 2, 0));

for (int y = 0; y < this->depth.rows; y += 8) {

for (int x = 0; x < this->depth.cols; x += 8) {

int z = depth.at<unsigned short>(y, x);

if (z != 0 && z <1280) {

ofSetColor(ofColor(0, 255 * ofNoise(x, y * 0.025 - ofGetFrameNum() * 0.05), 0));

ofPushMatrix();

ofTranslate(0, 0, z - 1024);

this->font.drawString(moji.substr((int)z % 26, 1), x, y);

ofPopMatrix();

}

this->cam.end();

}

//========================================================================

int main() {

ofSetupOpenGL(720, 720, OF_WINDOW);

ofRunApp(new ofApp());

}

[ Link ]
https://github.com/junkiyoshi/Insta20171204

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2017年10月31日2017年12月5日

Insta20171030

[ Video ]

[ About ]
Kinectを使用して取得した人影を遅延して表示してます。

I am delaying and displaying the captured people captured using Kinect.

[ Source ]

#pragma once

#include <Windows.h>
#include <NuiApi.h>
#include <opencv2/opencv.hpp>
#include "ofMain.h"

#ifdef _DEBUG
#pragma comment(lib,"opencv_calib3d310d.lib")
#pragma comment(lib,"opencv_core310d.lib")
#pragma comment(lib,"opencv_features2d310d.lib")
#pragma comment(lib,"opencv_flann310d.lib")
#pragma comment(lib,"opencv_highgui310d.lib")
#pragma comment(lib,"opencv_imgcodecs310d.lib")
#pragma comment(lib,"opencv_imgproc310d.lib")
#pragma comment(lib,"opencv_ml310d.lib")
#pragma comment(lib,"opencv_objdetect310d.lib")
#pragma comment(lib,"opencv_photo310d.lib")
#pragma comment(lib,"opencv_shape310d.lib")
#pragma comment(lib,"opencv_stitching310d.lib")
#pragma comment(lib,"opencv_superres310d.lib")
#pragma comment(lib,"opencv_video310d.lib")
#pragma comment(lib,"opencv_videoio310d.lib")
#pragma comment(lib,"opencv_videostab310d.lib")
#else
#pragma comment(lib,"opencv_calib3d310.lib")
#pragma comment(lib,"opencv_core310.lib")
#pragma comment(lib,"opencv_features2d310.lib")
#pragma comment(lib,"opencv_flann310.lib")
#pragma comment(lib,"opencv_highgui310.lib")
#pragma comment(lib,"opencv_imgcodecs310.lib")
#pragma comment(lib,"opencv_imgproc310.lib")
#pragma comment(lib,"opencv_ml310.lib")
#pragma comment(lib,"opencv_objdetect310.lib")
#pragma comment(lib,"opencv_photo310.lib")
#pragma comment(lib,"opencv_shape310.lib")
#pragma comment(lib,"opencv_stitching310.lib")
#pragma comment(lib,"opencv_superres310.lib")
#pragma comment(lib,"opencv_video310.lib")
#pragma comment(lib,"opencv_videoio310.lib")
#pragma comment(lib,"opencv_videostab310.lib")
#endif

class ofApp : public ofBaseApp {

public:
	void setup();
	void update();
	void draw();

	void keyPressed(int key) {}
	void keyReleased(int key) {}
	void mouseMoved(int x, int y) {}
	void mouseDragged(int x, int y, int button) {}
	void mousePressed(int x, int y, int button) {}
	void mouseReleased(int x, int y, int button) {}
	void mouseEntered(int x, int y) {}
	void mouseExited(int x, int y) {}
	void windowResized(int w, int h) {}
	void dragEvent(ofDragInfo dragInfo) {}
	void gotMessage(ofMessage msg) {}

	// Kinect
	INuiSensor* sensor;
	INuiCoordinateMapper* cordinate_mapper;
	HANDLE color_event;
	HANDLE color_handle;
	HANDLE depth_event;
	HANDLE depth_handle;
	HANDLE events[2];
	int width, height;

	// OpenCV
	cv::Mat frame;
	cv::Mat depth;
	cv::Mat depth_log[7];

	// openFrameworks
	ofImage frame_img;
	vector<ofVec3f> locations;
	vector<ofColor> colors;
};

#pragma once

#include <Windows.h>

#include <NuiApi.h>

#include <opencv2/opencv.hpp>

#include "ofMain.h"

#ifdef _DEBUG

#pragma comment(lib,"opencv_calib3d310d.lib")

#pragma comment(lib,"opencv_core310d.lib")

#pragma comment(lib,"opencv_features2d310d.lib")

#pragma comment(lib,"opencv_flann310d.lib")

#pragma comment(lib,"opencv_highgui310d.lib")

#pragma comment(lib,"opencv_imgcodecs310d.lib")

#pragma comment(lib,"opencv_imgproc310d.lib")

#pragma comment(lib,"opencv_ml310d.lib")

#pragma comment(lib,"opencv_objdetect310d.lib")

#pragma comment(lib,"opencv_photo310d.lib")

#pragma comment(lib,"opencv_shape310d.lib")

#pragma comment(lib,"opencv_stitching310d.lib")

#pragma comment(lib,"opencv_superres310d.lib")

#pragma comment(lib,"opencv_video310d.lib")

#pragma comment(lib,"opencv_videoio310d.lib")

#pragma comment(lib,"opencv_videostab310d.lib")

#else

#pragma comment(lib,"opencv_calib3d310.lib")

#pragma comment(lib,"opencv_core310.lib")

#pragma comment(lib,"opencv_features2d310.lib")

#pragma comment(lib,"opencv_flann310.lib")

#pragma comment(lib,"opencv_highgui310.lib")

#pragma comment(lib,"opencv_imgcodecs310.lib")

#pragma comment(lib,"opencv_imgproc310.lib")

#pragma comment(lib,"opencv_ml310.lib")

#pragma comment(lib,"opencv_objdetect310.lib")

#pragma comment(lib,"opencv_photo310.lib")

#pragma comment(lib,"opencv_shape310.lib")

#pragma comment(lib,"opencv_stitching310.lib")

#pragma comment(lib,"opencv_superres310.lib")

#pragma comment(lib,"opencv_video310.lib")

#pragma comment(lib,"opencv_videoio310.lib")

#pragma comment(lib,"opencv_videostab310.lib")

#endif

class ofApp : public ofBaseApp {

public:

void setup();

void update();

void draw();

void keyPressed(int key) {}

void keyReleased(int key) {}

void mouseMoved(int x, int y) {}

void mouseDragged(int x, int y, int button) {}

void mousePressed(int x, int y, int button) {}

void mouseReleased(int x, int y, int button) {}

void mouseEntered(int x, int y) {}

void mouseExited(int x, int y) {}

void windowResized(int w, int h) {}

void dragEvent(ofDragInfo dragInfo) {}

void gotMessage(ofMessage msg) {}

// Kinect

INuiSensor* sensor;

INuiCoordinateMapper* cordinate_mapper;

HANDLE color_event;

HANDLE color_handle;

HANDLE depth_event;

HANDLE depth_handle;

HANDLE events[2];

int width, height;

// OpenCV

cv::Mat frame;

cv::Mat depth;

cv::Mat depth_log[7];

// openFrameworks

ofImage frame_img;

vector<ofVec3f> locations;

vector<ofColor> colors;

};

#include "ofApp.h"

//--------------------------------------------------------------
void ofApp::setup(){
	ofSetFrameRate(30);
	ofBackground(0);
	ofSetWindowTitle("InstaKinect");
	ofEnableBlendMode(ofBlendMode::OF_BLENDMODE_ADD);

	// Create Instance
	this->sensor = nullptr;
	HRESULT result = S_OK;
	result = NuiCreateSensorByIndex(0, &sensor);
	if (FAILED(result)) {
		cout << "Error : Create Sensor" << endl;
		return;
	}

	// Initialize
	result = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
	if (FAILED(result)) {
		cout << "Error : Initialise COLOR" << endl;
		return;
	}

	// Color
	this->color_event = INVALID_HANDLE_VALUE;
	this->color_handle = INVALID_HANDLE_VALUE;
	color_event = CreateEventW(nullptr, true, false, nullptr);
	result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, color_event, &color_handle);
	if (FAILED(result)) {
		cout << "Error : Color Stream Open" << endl;
		return;
	}

	// Depth
	this->depth_event = INVALID_HANDLE_VALUE;
	this->depth_handle = INVALID_HANDLE_VALUE;
	depth_event = CreateEventW(nullptr, true, false, nullptr);
	result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depth_event, &depth_handle);
	if (FAILED(result)) {
		cout << "Error : Depth Stream Open" << endl;
		return;
	}

	// Size
	unsigned long refWidth = 0;
	unsigned long refHeight = 0;
	NuiImageResolutionToSize(NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight);
	this->width = static_cast<int>(refWidth);
	this->height = static_cast<int>(refHeight);

	// Mapp
	this->cordinate_mapper = nullptr;
	result = sensor->NuiGetCoordinateMapper(&this->cordinate_mapper);
	if (FAILED(result)) {
		cout << "Error : Cordinate Mapper " << endl;
		return;
	}

	// OpenCV
	this->frame_img.allocate(this->width, this->height, OF_IMAGE_COLOR);
	this->frame = cv::Mat(this->frame_img.getHeight(), this->frame_img.getWidth(), CV_MAKETYPE(CV_8UC3, this->frame_img.getPixels().getNumChannels()), this->frame_img.getPixels().getData(), 0);
	this->depth = cv::Mat(height, width, CV_16UC1);

	this->events[0] = this->color_event;
	this->events[1] = this->depth_event;
}

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

	HRESULT result = S_OK;

	// Color Table
	cv::Vec3b color[7];
	color[0] = cv::Vec3b(0, 0, 0);
	color[1] = cv::Vec3b(255, 0, 0);
	color[2] = cv::Vec3b(0, 255, 0);
	color[3] = cv::Vec3b(0, 0, 255);
	color[4] = cv::Vec3b(255, 255, 0);
	color[5] = cv::Vec3b(255, 0, 255);
	color[6] = cv::Vec3b(0, 255, 255);

	std::vector<NUI_COLOR_IMAGE_POINT> color_point(width * height);

	// Wait frame update.
	ResetEvent(this->color_event);
	ResetEvent(this->depth_event);
	WaitForMultipleObjects(ARRAYSIZE(this->events), this->events, true, INFINITE);

	// Get frame from color camera.
	NUI_IMAGE_FRAME colorImageFrame = { 0 };
	result = sensor->NuiImageStreamGetNextFrame(this->color_handle, 0, &colorImageFrame);
	if (FAILED(result)) {
		std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
		return;
	}

	// Get image data.
	INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;
	NUI_LOCKED_RECT colorLockedRect;
	pColorFrameTexture->LockRect(0, &colorLockedRect, nullptr, 0);

	//// Get frame from depth camera.
	NUI_IMAGE_FRAME depthImageFrame = { 0 };
	result = this->sensor->NuiImageStreamGetNextFrame(this->depth_handle, 0, &depthImageFrame);
	if (FAILED(result)) {
		std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH )" << std::endl;
		return ;
	}

	// Get depth data.
	BOOL nearMode = false;
	INuiFrameTexture* pDepthFrameTexture = nullptr;
	this->sensor->NuiImageFrameGetDepthImagePixelFrameTexture(this->depth_handle, &depthImageFrame, &nearMode, &pDepthFrameTexture);
	NUI_LOCKED_RECT depthLockedRect;
	pDepthFrameTexture->LockRect(0, &depthLockedRect, nullptr, 0);

	// OpenCV(image)
	cv::Mat src = cv::Mat(this->height, this->width, CV_8UC4, reinterpret_cast<unsigned char*>(colorLockedRect.pBits));
	cv::cvtColor(src, this->frame, CV_BGRA2RGB);

	// OpenCV(depth)
	cv::Mat bufferMat = cv::Mat::zeros(height, width, CV_16UC1);
	NUI_DEPTH_IMAGE_PIXEL* depth_pixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>(depthLockedRect.pBits);
	this->cordinate_mapper->MapDepthFrameToColorFrame(NUI_IMAGE_RESOLUTION_640x480, width * height, depth_pixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &color_point[0]);
	for (int y = 0; y < height; y++) {
		for (int x = 0; x < width; x++) {
			unsigned int index = y * width + x;
			bufferMat.at<unsigned short>(color_point[index].y, color_point[index].x) = depth_pixel[index].depth;
		}
	}
	bufferMat.copyTo(this->depth);
	//cv::imshow("depth", this->depth);

	// Release
	pColorFrameTexture->UnlockRect(0);
	pDepthFrameTexture->UnlockRect(0);
	this->sensor->NuiImageStreamReleaseFrame(this->color_handle, &colorImageFrame);
	this->sensor->NuiImageStreamReleaseFrame(this->depth_handle, &depthImageFrame);

	this->depth.copyTo(this->depth_log[ofGetFrameNum() % 7]);
}

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

	if (ofGetFrameNum() <= 7) { return; }

	for (int i = 0; i < 7; i++) {
		ofColor c;
		c.setHsb(216 - i * 35, 255, 255);
		ofSetColor(c);
		for (int y = 0; y < this->depth_log[i].rows; y += 1) {
			for (int x = 0; x < this->depth_log[i].cols; x += 1) {
				int z = depth_log[i].at<unsigned short>(y, x);
				if (z != 0 && z < 1024) {
					ofDrawRectangle(x, y, 1.5, 1.5);
				}
			}
		}
	}
}

//========================================================================
int main() {
	ofSetupOpenGL(720, 720, OF_WINDOW);
	ofRunApp(new ofApp());
}

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#include "ofApp.h"

//--------------------------------------------------------------

void ofApp::setup(){

ofSetFrameRate(30);

ofBackground(0);

ofSetWindowTitle("InstaKinect");

ofEnableBlendMode(ofBlendMode::OF_BLENDMODE_ADD);

// Create Instance

this->sensor = nullptr;

HRESULT result = S_OK;

result = NuiCreateSensorByIndex(0, &sensor);

if (FAILED(result)) {

cout << "Error : Create Sensor" << endl;

return;

}

// Initialize

result = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);

if (FAILED(result)) {

cout << "Error : Initialise COLOR" << endl;

return;

}

// Color

this->color_event = INVALID_HANDLE_VALUE;

this->color_handle = INVALID_HANDLE_VALUE;

color_event = CreateEventW(nullptr, true, false, nullptr);

result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, color_event, &color_handle);

if (FAILED(result)) {

cout << "Error : Color Stream Open" << endl;

return;

}

// Depth

this->depth_event = INVALID_HANDLE_VALUE;

this->depth_handle = INVALID_HANDLE_VALUE;

depth_event = CreateEventW(nullptr, true, false, nullptr);

result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depth_event, &depth_handle);

if (FAILED(result)) {

cout << "Error : Depth Stream Open" << endl;

return;

}

// Size

unsigned long refWidth = 0;

unsigned long refHeight = 0;

NuiImageResolutionToSize(NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight);

this->width = static_cast<int>(refWidth);

this->height = static_cast<int>(refHeight);

// Mapp

this->cordinate_mapper = nullptr;

result = sensor->NuiGetCoordinateMapper(&this->cordinate_mapper);

if (FAILED(result)) {

cout << "Error : Cordinate Mapper " << endl;

return;

}

// OpenCV

this->frame_img.allocate(this->width, this->height, OF_IMAGE_COLOR);

this->frame = cv::Mat(this->frame_img.getHeight(), this->frame_img.getWidth(), CV_MAKETYPE(CV_8UC3, this->frame_img.getPixels().getNumChannels()), this->frame_img.getPixels().getData(), 0);

this->depth = cv::Mat(height, width, CV_16UC1);

this->events[0] = this->color_event;

this->events[1] = this->depth_event;

}

//--------------------------------------------------------------

void ofApp::update(){

HRESULT result = S_OK;

// Color Table

cv::Vec3b color[7];

color[0] = cv::Vec3b(0, 0, 0);

color[1] = cv::Vec3b(255, 0, 0);

color[2] = cv::Vec3b(0, 255, 0);

color[3] = cv::Vec3b(0, 0, 255);

color[4] = cv::Vec3b(255, 255, 0);

color[5] = cv::Vec3b(255, 0, 255);

color[6] = cv::Vec3b(0, 255, 255);

std::vector<NUI_COLOR_IMAGE_POINT> color_point(width * height);

// Wait frame update.

ResetEvent(this->color_event);

ResetEvent(this->depth_event);

WaitForMultipleObjects(ARRAYSIZE(this->events), this->events, true, INFINITE);

// Get frame from color camera.

NUI_IMAGE_FRAME colorImageFrame = { 0 };

result = sensor->NuiImageStreamGetNextFrame(this->color_handle, 0, &colorImageFrame);

if (FAILED(result)) {

std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;

return;

}

// Get image data.

INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;

NUI_LOCKED_RECT colorLockedRect;

pColorFrameTexture->LockRect(0, &colorLockedRect, nullptr, 0);

//// Get frame from depth camera.

NUI_IMAGE_FRAME depthImageFrame = { 0 };

result = this->sensor->NuiImageStreamGetNextFrame(this->depth_handle, 0, &depthImageFrame);

if (FAILED(result)) {

std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH )" << std::endl;

return ;

}

// Get depth data.

BOOL nearMode = false;

INuiFrameTexture* pDepthFrameTexture = nullptr;

this->sensor->NuiImageFrameGetDepthImagePixelFrameTexture(this->depth_handle, &depthImageFrame, &nearMode, &pDepthFrameTexture);

NUI_LOCKED_RECT depthLockedRect;

pDepthFrameTexture->LockRect(0, &depthLockedRect, nullptr, 0);

// OpenCV(image)

cv::Mat src = cv::Mat(this->height, this->width, CV_8UC4, reinterpret_cast<unsigned char*>(colorLockedRect.pBits));

cv::cvtColor(src, this->frame, CV_BGRA2RGB);

// OpenCV(depth)

cv::Mat bufferMat = cv::Mat::zeros(height, width, CV_16UC1);

NUI_DEPTH_IMAGE_PIXEL* depth_pixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>(depthLockedRect.pBits);

this->cordinate_mapper->MapDepthFrameToColorFrame(NUI_IMAGE_RESOLUTION_640x480, width * height, depth_pixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &color_point[0]);

for (int y = 0; y < height; y++) {

for (int x = 0; x < width; x++) {

unsigned int index = y * width + x;

bufferMat.at<unsigned short>(color_point[index].y, color_point[index].x) = depth_pixel[index].depth;

}

bufferMat.copyTo(this->depth);

//cv::imshow("depth", this->depth);

// Release

pColorFrameTexture->UnlockRect(0);

pDepthFrameTexture->UnlockRect(0);

this->sensor->NuiImageStreamReleaseFrame(this->color_handle, &colorImageFrame);

this->sensor->NuiImageStreamReleaseFrame(this->depth_handle, &depthImageFrame);

this->depth.copyTo(this->depth_log[ofGetFrameNum() % 7]);

}

//--------------------------------------------------------------

void ofApp::draw(){

if (ofGetFrameNum() <= 7) { return; }

for (int i = 0; i < 7; i++) {

ofColor c;

c.setHsb(216 - i * 35, 255, 255);

ofSetColor(c);

for (int y = 0; y < this->depth_log[i].rows; y += 1) {

for (int x = 0; x < this->depth_log[i].cols; x += 1) {

int z = depth_log[i].at<unsigned short>(y, x);

if (z != 0 && z < 1024) {

ofDrawRectangle(x, y, 1.5, 1.5);

}

//========================================================================

int main() {

ofSetupOpenGL(720, 720, OF_WINDOW);

ofRunApp(new ofApp());

}

[ Link ]
https://github.com/junkiyoshi/Insta20171030

[ほしいものリスト]
Amazon

[ Sponsor Link ]

2017年10月21日2017年12月5日

Insta20171020

[ Video ]

[ About ]
kinectとOpenCVを使用してBox2dのオブジェクトを生成しています。
Z軸が閾値を超えた部分の色が反映されたRectが生成されます。
KinectSDK1.8 & OpenCV3.1をそれぞれ使っています

[ Source ]

#pragma once

#include <Windows.h>
#include <NuiApi.h>
#include <opencv2/opencv.hpp>
#include "ofMain.h"
#include "ofxBox2d.h"

#ifdef _DEBUG
#pragma comment(lib,"opencv_calib3d310d.lib")
#pragma comment(lib,"opencv_core310d.lib")
#pragma comment(lib,"opencv_features2d310d.lib")
#pragma comment(lib,"opencv_flann310d.lib")
#pragma comment(lib,"opencv_highgui310d.lib")
#pragma comment(lib,"opencv_imgcodecs310d.lib")
#pragma comment(lib,"opencv_imgproc310d.lib")
#pragma comment(lib,"opencv_ml310d.lib")
#pragma comment(lib,"opencv_objdetect310d.lib")
#pragma comment(lib,"opencv_photo310d.lib")
#pragma comment(lib,"opencv_shape310d.lib")
#pragma comment(lib,"opencv_stitching310d.lib")
#pragma comment(lib,"opencv_superres310d.lib")
#pragma comment(lib,"opencv_video310d.lib")
#pragma comment(lib,"opencv_videoio310d.lib")
#pragma comment(lib,"opencv_videostab310d.lib")
#else
#pragma comment(lib,"opencv_calib3d310.lib")
#pragma comment(lib,"opencv_core310.lib")
#pragma comment(lib,"opencv_features2d310.lib")
#pragma comment(lib,"opencv_flann310.lib")
#pragma comment(lib,"opencv_highgui310.lib")
#pragma comment(lib,"opencv_imgcodecs310.lib")
#pragma comment(lib,"opencv_imgproc310.lib")
#pragma comment(lib,"opencv_ml310.lib")
#pragma comment(lib,"opencv_objdetect310.lib")
#pragma comment(lib,"opencv_photo310.lib")
#pragma comment(lib,"opencv_shape310.lib")
#pragma comment(lib,"opencv_stitching310.lib")
#pragma comment(lib,"opencv_superres310.lib")
#pragma comment(lib,"opencv_video310.lib")
#pragma comment(lib,"opencv_videoio310.lib")
#pragma comment(lib,"opencv_videostab310.lib")
#endif

class ofApp : public ofBaseApp {

public:
	void setup();
	void update();
	void draw();

	void keyPressed(int key) {}
	void keyReleased(int key) {}
	void mouseMoved(int x, int y) {}
	void mouseDragged(int x, int y, int button) {}
	void mousePressed(int x, int y, int button) {}
	void mouseReleased(int x, int y, int button) {}
	void mouseEntered(int x, int y) {}
	void mouseExited(int x, int y) {}
	void windowResized(int w, int h) {}
	void dragEvent(ofDragInfo dragInfo) {}
	void gotMessage(ofMessage msg) {}

	// Kinect
	INuiSensor* sensor;
	INuiCoordinateMapper* cordinate_mapper;
	HANDLE color_event;
	HANDLE color_handle;
	HANDLE depth_event;
	HANDLE depth_handle;
	HANDLE events[2];
	int width, height;

	// OpenCV
	cv::Mat frame;
	cv::Mat depth;

	// Box2d
	ofxBox2d box2d;
	vector<shared_ptr<ofxBox2dRect>> rects;
	vector<ofColor> rects_color;
	vector<float>	rects_life;

	// openFrameworks
	ofImage frame_img;
	vector<ofVec3f> locations;
	vector<ofColor> colors;
};

#pragma once

#include <Windows.h>

#include <NuiApi.h>

#include <opencv2/opencv.hpp>

#include "ofMain.h"

#include "ofxBox2d.h"

#ifdef _DEBUG

#pragma comment(lib,"opencv_calib3d310d.lib")

#pragma comment(lib,"opencv_core310d.lib")

#pragma comment(lib,"opencv_features2d310d.lib")

#pragma comment(lib,"opencv_flann310d.lib")

#pragma comment(lib,"opencv_highgui310d.lib")

#pragma comment(lib,"opencv_imgcodecs310d.lib")

#pragma comment(lib,"opencv_imgproc310d.lib")

#pragma comment(lib,"opencv_ml310d.lib")

#pragma comment(lib,"opencv_objdetect310d.lib")

#pragma comment(lib,"opencv_photo310d.lib")

#pragma comment(lib,"opencv_shape310d.lib")

#pragma comment(lib,"opencv_stitching310d.lib")

#pragma comment(lib,"opencv_superres310d.lib")

#pragma comment(lib,"opencv_video310d.lib")

#pragma comment(lib,"opencv_videoio310d.lib")

#pragma comment(lib,"opencv_videostab310d.lib")

#else

#pragma comment(lib,"opencv_calib3d310.lib")

#pragma comment(lib,"opencv_core310.lib")

#pragma comment(lib,"opencv_features2d310.lib")

#pragma comment(lib,"opencv_flann310.lib")

#pragma comment(lib,"opencv_highgui310.lib")

#pragma comment(lib,"opencv_imgcodecs310.lib")

#pragma comment(lib,"opencv_imgproc310.lib")

#pragma comment(lib,"opencv_ml310.lib")

#pragma comment(lib,"opencv_objdetect310.lib")

#pragma comment(lib,"opencv_photo310.lib")

#pragma comment(lib,"opencv_shape310.lib")

#pragma comment(lib,"opencv_stitching310.lib")

#pragma comment(lib,"opencv_superres310.lib")

#pragma comment(lib,"opencv_video310.lib")

#pragma comment(lib,"opencv_videoio310.lib")

#pragma comment(lib,"opencv_videostab310.lib")

#endif

class ofApp : public ofBaseApp {

public:

void setup();

void update();

void draw();

void keyPressed(int key) {}

void keyReleased(int key) {}

void mouseMoved(int x, int y) {}

void mouseDragged(int x, int y, int button) {}

void mousePressed(int x, int y, int button) {}

void mouseReleased(int x, int y, int button) {}

void mouseEntered(int x, int y) {}

void mouseExited(int x, int y) {}

void windowResized(int w, int h) {}

void dragEvent(ofDragInfo dragInfo) {}

void gotMessage(ofMessage msg) {}

// Kinect

INuiSensor* sensor;

INuiCoordinateMapper* cordinate_mapper;

HANDLE color_event;

HANDLE color_handle;

HANDLE depth_event;

HANDLE depth_handle;

HANDLE events[2];

int width, height;

// OpenCV

cv::Mat frame;

cv::Mat depth;

// Box2d

ofxBox2d box2d;

vector<shared_ptr<ofxBox2dRect>> rects;

vector<ofColor> rects_color;

vector<float> rects_life;

// openFrameworks

ofImage frame_img;

vector<ofVec3f> locations;

vector<ofColor> colors;

};

#include "ofApp.h"

//--------------------------------------------------------------
void ofApp::setup(){
	ofSetFrameRate(30);
	ofBackground(255);
	ofSetWindowTitle("InstaKinect");
	ofEnableDepthTest();

	// Create Instance
	this->sensor = nullptr;
	HRESULT result = S_OK;
	result = NuiCreateSensorByIndex(0, &sensor);
	if (FAILED(result)) {
		cout << "Error : Create Sensor" << endl;
		return;
	}

	// Initialize
	result = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);
	if (FAILED(result)) {
		cout << "Error : Initialise COLOR" << endl;
		return;
	}

	// Color
	this->color_event = INVALID_HANDLE_VALUE;
	this->color_handle = INVALID_HANDLE_VALUE;
	color_event = CreateEventW(nullptr, true, false, nullptr);
	result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, color_event, &color_handle);
	if (FAILED(result)) {
		cout << "Error : Color Stream Open" << endl;
		return;
	}

	// Depth
	this->depth_event = INVALID_HANDLE_VALUE;
	this->depth_handle = INVALID_HANDLE_VALUE;
	depth_event = CreateEventW(nullptr, true, false, nullptr);
	result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depth_event, &depth_handle);
	if (FAILED(result)) {
		cout << "Error : Depth Stream Open" << endl;
		return;
	}

	// Size
	unsigned long refWidth = 0;
	unsigned long refHeight = 0;
	NuiImageResolutionToSize(NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight);
	this->width = static_cast<int>(refWidth);
	this->height = static_cast<int>(refHeight);

	// Mapp
	this->cordinate_mapper = nullptr;
	result = sensor->NuiGetCoordinateMapper(&this->cordinate_mapper);
	if (FAILED(result)) {
		cout << "Error : Cordinate Mapper " << endl;
		return;
	}

	// OpenCV
	this->frame_img.allocate(this->width, this->height, OF_IMAGE_COLOR);
	this->frame = cv::Mat(this->frame_img.getHeight(), this->frame_img.getWidth(), CV_MAKETYPE(CV_8UC3, this->frame_img.getPixels().getNumChannels()), this->frame_img.getPixels().getData(), 0);
	this->depth = cv::Mat(height, width, CV_16UC1);

	this->events[0] = this->color_event;
	this->events[1] = this->depth_event;

	// Box2d
	this->box2d.init();
	this->box2d.setGravity(0, 10);
	this->box2d.createBounds();
	this->box2d.setFPS(30);
	this->box2d.enableGrabbing();

}

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

	HRESULT result = S_OK;

	// Color Table
	cv::Vec3b color[7];
	color[0] = cv::Vec3b(0, 0, 0);
	color[1] = cv::Vec3b(255, 0, 0);
	color[2] = cv::Vec3b(0, 255, 0);
	color[3] = cv::Vec3b(0, 0, 255);
	color[4] = cv::Vec3b(255, 255, 0);
	color[5] = cv::Vec3b(255, 0, 255);
	color[6] = cv::Vec3b(0, 255, 255);

	std::vector<NUI_COLOR_IMAGE_POINT> color_point(width * height);

	// Wait frame update.
	ResetEvent(this->color_event);
	ResetEvent(this->depth_event);
	WaitForMultipleObjects(ARRAYSIZE(this->events), this->events, true, INFINITE);

	// Get frame from color camera.
	NUI_IMAGE_FRAME colorImageFrame = { 0 };
	result = sensor->NuiImageStreamGetNextFrame(this->color_handle, 0, &colorImageFrame);
	if (FAILED(result)) {
		std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
		return;
	}

	// Get image data.
	INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;
	NUI_LOCKED_RECT colorLockedRect;
	pColorFrameTexture->LockRect(0, &colorLockedRect, nullptr, 0);

	//// Get frame from depth camera.
	NUI_IMAGE_FRAME depthImageFrame = { 0 };
	result = this->sensor->NuiImageStreamGetNextFrame(this->depth_handle, 0, &depthImageFrame);
	if (FAILED(result)) {
		std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH )" << std::endl;
		return ;
	}

	// Get depth data.
	BOOL nearMode = false;
	INuiFrameTexture* pDepthFrameTexture = nullptr;
	this->sensor->NuiImageFrameGetDepthImagePixelFrameTexture(this->depth_handle, &depthImageFrame, &nearMode, &pDepthFrameTexture);
	NUI_LOCKED_RECT depthLockedRect;
	pDepthFrameTexture->LockRect(0, &depthLockedRect, nullptr, 0);

	// OpenCV(image)
	cv::Mat src = cv::Mat(this->height, this->width, CV_8UC4, reinterpret_cast<unsigned char*>(colorLockedRect.pBits));
	cv::cvtColor(src, this->frame, CV_BGRA2RGB);

	// OpenCV(depth)
	cv::Mat bufferMat = cv::Mat::zeros(height, width, CV_16UC1);
	NUI_DEPTH_IMAGE_PIXEL* depth_pixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>(depthLockedRect.pBits);
	this->cordinate_mapper->MapDepthFrameToColorFrame(NUI_IMAGE_RESOLUTION_640x480, width * height, depth_pixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &color_point[0]);
	for (int y = 0; y < height; y++) {
		for (int x = 0; x < width; x++) {
			unsigned int index = y * width + x;
			bufferMat.at<unsigned short>(color_point[index].y, color_point[index].x) = depth_pixel[index].depth;
		}
	}
	bufferMat.copyTo(this->depth);
	//cv::imshow("depth", this->depth);

	// Release
	pColorFrameTexture->UnlockRect(0);
	pDepthFrameTexture->UnlockRect(0);
	this->sensor->NuiImageStreamReleaseFrame(this->color_handle, &colorImageFrame);
	this->sensor->NuiImageStreamReleaseFrame(this->depth_handle, &depthImageFrame);

	for (int i = this->rects.size() - 1; i > -1; i--) {
		this->rects_life[i] -= 2;

		if (this->rects_life[i] <= 0) {
			this->rects[i].get()->destroy();
			this->rects.erase(this->rects.begin() + i);
			this->rects_color.erase(this->rects_color.begin() + i);
			this->rects_life.erase(this->rects_life.begin() + i);
		}
	}

	this->box2d.update();
}

//--------------------------------------------------------------
void ofApp::draw(){
	this->locations.clear();
	this->colors.clear();

	for (int y = 0; y < this->depth.rows; y += 1) {
		for (int x = 0; x < this->depth.cols; x += 1) {
			int z = depth.at<unsigned short>(y, x);
			if (z != 0 && z < 1024) {
				if (y % 15 == 0 && x % 15 == 0) {
					if (z < 550) {
						this->rects.push_back(shared_ptr<ofxBox2dRect>(new ofxBox2dRect));
						this->rects.back().get()->setPhysics(3.0, 0.6, 0.1);
						this->rects.back().get()->setup(this->box2d.world, x, y, 15, 15);

						this->rects_color.push_back(ofColor(this->frame.at<cv::Vec3b>(y, x)[0], this->frame.at<cv::Vec3b>(y, x)[1], this->frame.at<cv::Vec3b>(y, x)[2]));
						this->rects_life.push_back(255);
					}
				}

				if (z > 550) {
					ofSetColor(ofColor(this->frame.at<cv::Vec3b>(y, x)[0], this->frame.at<cv::Vec3b>(y, x)[1], this->frame.at<cv::Vec3b>(y, x)[2]));
					ofDrawRectangle(x, y, 1, 1);
				}
			}
		}
	}

	for (int i = 0; i < this->rects.size(); i++) {
		ofSetColor(this->rects_color[i], this->rects_life[i]);
		this->rects[i].get()->draw();
	}

	this->box2d.drawGround();
}

//========================================================================
int main() {
	ofSetupOpenGL(720, 720, OF_WINDOW);
	ofRunApp(new ofApp());
}

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#include "ofApp.h"

//--------------------------------------------------------------

void ofApp::setup(){

ofSetFrameRate(30);

ofBackground(255);

ofSetWindowTitle("InstaKinect");

ofEnableDepthTest();

// Create Instance

this->sensor = nullptr;

HRESULT result = S_OK;

result = NuiCreateSensorByIndex(0, &sensor);

if (FAILED(result)) {

cout << "Error : Create Sensor" << endl;

return;

}

// Initialize

result = sensor->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH);

if (FAILED(result)) {

cout << "Error : Initialise COLOR" << endl;

return;

}

// Color

this->color_event = INVALID_HANDLE_VALUE;

this->color_handle = INVALID_HANDLE_VALUE;

color_event = CreateEventW(nullptr, true, false, nullptr);

result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, color_event, &color_handle);

if (FAILED(result)) {

cout << "Error : Color Stream Open" << endl;

return;

}

// Depth

this->depth_event = INVALID_HANDLE_VALUE;

this->depth_handle = INVALID_HANDLE_VALUE;

depth_event = CreateEventW(nullptr, true, false, nullptr);

result = sensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, 0, 2, depth_event, &depth_handle);

if (FAILED(result)) {

cout << "Error : Depth Stream Open" << endl;

return;

}

// Size

unsigned long refWidth = 0;

unsigned long refHeight = 0;

NuiImageResolutionToSize(NUI_IMAGE_RESOLUTION_640x480, refWidth, refHeight);

this->width = static_cast<int>(refWidth);

this->height = static_cast<int>(refHeight);

// Mapp

this->cordinate_mapper = nullptr;

result = sensor->NuiGetCoordinateMapper(&this->cordinate_mapper);

if (FAILED(result)) {

cout << "Error : Cordinate Mapper " << endl;

return;

}

// OpenCV

this->frame_img.allocate(this->width, this->height, OF_IMAGE_COLOR);

this->frame = cv::Mat(this->frame_img.getHeight(), this->frame_img.getWidth(), CV_MAKETYPE(CV_8UC3, this->frame_img.getPixels().getNumChannels()), this->frame_img.getPixels().getData(), 0);

this->depth = cv::Mat(height, width, CV_16UC1);

this->events[0] = this->color_event;

this->events[1] = this->depth_event;

// Box2d

this->box2d.init();

this->box2d.setGravity(0, 10);

this->box2d.createBounds();

this->box2d.setFPS(30);

this->box2d.enableGrabbing();

}

//--------------------------------------------------------------

void ofApp::update(){

HRESULT result = S_OK;

// Color Table

cv::Vec3b color[7];

color[0] = cv::Vec3b(0, 0, 0);

color[1] = cv::Vec3b(255, 0, 0);

color[2] = cv::Vec3b(0, 255, 0);

color[3] = cv::Vec3b(0, 0, 255);

color[4] = cv::Vec3b(255, 255, 0);

color[5] = cv::Vec3b(255, 0, 255);

color[6] = cv::Vec3b(0, 255, 255);

std::vector<NUI_COLOR_IMAGE_POINT> color_point(width * height);

// Wait frame update.

ResetEvent(this->color_event);

ResetEvent(this->depth_event);

WaitForMultipleObjects(ARRAYSIZE(this->events), this->events, true, INFINITE);

// Get frame from color camera.

NUI_IMAGE_FRAME colorImageFrame = { 0 };

result = sensor->NuiImageStreamGetNextFrame(this->color_handle, 0, &colorImageFrame);

if (FAILED(result)) {

std::cerr << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;

return;

}

// Get image data.

INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;

NUI_LOCKED_RECT colorLockedRect;

pColorFrameTexture->LockRect(0, &colorLockedRect, nullptr, 0);

//// Get frame from depth camera.

NUI_IMAGE_FRAME depthImageFrame = { 0 };

result = this->sensor->NuiImageStreamGetNextFrame(this->depth_handle, 0, &depthImageFrame);

if (FAILED(result)) {

std::cerr << "Error : NuiImageStreamGetNextFrame( DEPTH )" << std::endl;

return ;

}

// Get depth data.

BOOL nearMode = false;

INuiFrameTexture* pDepthFrameTexture = nullptr;

this->sensor->NuiImageFrameGetDepthImagePixelFrameTexture(this->depth_handle, &depthImageFrame, &nearMode, &pDepthFrameTexture);

NUI_LOCKED_RECT depthLockedRect;

pDepthFrameTexture->LockRect(0, &depthLockedRect, nullptr, 0);

// OpenCV(image)

cv::Mat src = cv::Mat(this->height, this->width, CV_8UC4, reinterpret_cast<unsigned char*>(colorLockedRect.pBits));

cv::cvtColor(src, this->frame, CV_BGRA2RGB);

// OpenCV(depth)

cv::Mat bufferMat = cv::Mat::zeros(height, width, CV_16UC1);

NUI_DEPTH_IMAGE_PIXEL* depth_pixel = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>(depthLockedRect.pBits);

this->cordinate_mapper->MapDepthFrameToColorFrame(NUI_IMAGE_RESOLUTION_640x480, width * height, depth_pixel, NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, width * height, &color_point[0]);

for (int y = 0; y < height; y++) {

for (int x = 0; x < width; x++) {

unsigned int index = y * width + x;

bufferMat.at<unsigned short>(color_point[index].y, color_point[index].x) = depth_pixel[index].depth;

}

bufferMat.copyTo(this->depth);

//cv::imshow("depth", this->depth);

// Release

pColorFrameTexture->UnlockRect(0);

pDepthFrameTexture->UnlockRect(0);

this->sensor->NuiImageStreamReleaseFrame(this->color_handle, &colorImageFrame);

this->sensor->NuiImageStreamReleaseFrame(this->depth_handle, &depthImageFrame);

for (int i = this->rects.size() - 1; i > -1; i--) {

this->rects_life[i] -= 2;

if (this->rects_life[i] <= 0) {

this->rects[i].get()->destroy();

this->rects.erase(this->rects.begin() + i);

this->rects_color.erase(this->rects_color.begin() + i);

this->rects_life.erase(this->rects_life.begin() + i);

}

this->box2d.update();

}

//--------------------------------------------------------------

void ofApp::draw(){

this->locations.clear();

this->colors.clear();

for (int y = 0; y < this->depth.rows; y += 1) {

for (int x = 0; x < this->depth.cols; x += 1) {

int z = depth.at<unsigned short>(y, x);

if (z != 0 && z < 1024) {

if (y % 15 == 0 && x % 15 == 0) {

if (z < 550) {

this->rects.push_back(shared_ptr<ofxBox2dRect>(new ofxBox2dRect));

this->rects.back().get()->setPhysics(3.0, 0.6, 0.1);

this->rects.back().get()->setup(this->box2d.world, x, y, 15, 15);

this->rects_color.push_back(ofColor(this->frame.at<cv::Vec3b>(y, x)[0], this->frame.at<cv::Vec3b>(y, x)[1], this->frame.at<cv::Vec3b>(y, x)[2]));

this->rects_life.push_back(255);

}

if (z > 550) {

ofSetColor(ofColor(this->frame.at<cv::Vec3b>(y, x)[0], this->frame.at<cv::Vec3b>(y, x)[1], this->frame.at<cv::Vec3b>(y, x)[2]));

ofDrawRectangle(x, y, 1, 1);

}

for (int i = 0; i < this->rects.size(); i++) {

ofSetColor(this->rects_color[i], this->rects_life[i]);

this->rects[i].get()->draw();

}

this->box2d.drawGround();

}

//========================================================================

int main() {

ofSetupOpenGL(720, 720, OF_WINDOW);

ofRunApp(new ofApp());

}

[ Link ]
https://github.com/junkiyoshi/Insta20171020

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