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Kinectから取得した画像&深度と差し替え用の絵をシェーダに送信、ピクセル単位の深度で描写する絵を切り替え。シェーダのおかげで描写がなめらか＆高速化！
Send images and depth acquired from Kinect, replacement pictures to the shaders, switch pictures depicted in units of pixels
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#pragma once #include <Windows.h> #include <NuiApi.h> #include <opencv2/opencv.hpp> #include "ofMain.h" 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 ofImage frame_img; ofImage depth_img; ofFbo fbo; ofShader shader; ofTrueTypeFont font; }; |
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#include "ofApp.h" //-------------------------------------------------------------- void ofApp::setup() { ofSetFrameRate(30); ofSetWindowTitle("InstaKinect"); // 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_img.allocate(this->width, this->height, OF_IMAGE_COLOR); this->depth = cv::Mat(this->depth_img.getHeight(), this->depth_img.getWidth(), CV_MAKETYPE(CV_8UC3, this->depth_img.getPixels().getNumChannels()), this->depth_img.getPixels().getData(), 0); this->events[0] = this->color_event; this->events[1] = this->depth_event; // FBO & Shader this->fbo.allocate(ofGetWidth(), ofGetHeight()); this->shader.load("", "shader/shader.frag"); 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_8UC3); 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<cv::Vec3b>(color_point[index].y, color_point[index].x)[0] = depth_pixel[index].depth / 255; bufferMat.at<cv::Vec3b>(color_point[index].y, color_point[index].x)[1] = depth_pixel[index].depth - (int)(depth_pixel[index].depth / 255) * 255; } } bufferMat.copyTo(this->depth); // Release pColorFrameTexture->UnlockRect(0); pDepthFrameTexture->UnlockRect(0); this->sensor->NuiImageStreamReleaseFrame(this->color_handle, &colorImageFrame); this->sensor->NuiImageStreamReleaseFrame(this->depth_handle, &depthImageFrame); // ofImage Update this->frame_img.update(); this->depth_img.update(); // Make FBO ofSeedRandom(39); string moji = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"; this->fbo.begin(); ofClear(0); ofBackground(0); for (int x = 0; x < ofGetWidth(); x += 10) { for (int y = 0; y < ofGetHeight(); y += 10) { ofSetColor(ofColor(0, 255 * ofNoise(x, y * 0.025 - ofGetFrameNum() * 0.05), 0)); this->font.drawString(moji.substr((int)ofRandom(26), 1), x, y); } } this->fbo.end(); } //-------------------------------------------------------------- void ofApp::draw() { ofSetColor(255); this->shader.begin(); this->shader.setUniform1f("time", ofGetElapsedTimef()); this->shader.setUniform2f("resolution", ofGetWidth(), ofGetHeight()); this->shader.setUniformTexture("tex1", this->frame_img, 1); this->shader.setUniformTexture("tex2", this->fbo.getTexture(), 2); this->shader.setUniformTexture("depth", this->depth_img, 3); ofRect(0, 0, ofGetWidth(), ofGetHeight()); this->shader.end(); } //======================================================================== int main() { ofSetupOpenGL(640, 480, OF_WINDOW); ofRunApp(new ofApp()); } |
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#version 150 uniform float time; uniform vec2 resolution; uniform sampler2DRect tex1; uniform sampler2DRect tex2; uniform sampler2DRect depth; out vec4 outputColor; void main() { vec2 p = (gl_FragCoord.xy * 2.0 - resolution) / min(resolution.x, resolution.y); vec4 t1 = texture(tex1, vec2(gl_FragCoord.x, resolution.y - gl_FragCoord.y)); vec4 t2 = texture(tex2, vec2(gl_FragCoord.x, resolution.y - gl_FragCoord.y)); float r = texture(depth, vec2(gl_FragCoord.x, resolution.y - gl_FragCoord.y)).r; float g = texture(depth, vec2(gl_FragCoord.x, resolution.y - gl_FragCoord.y)).g; float d = r * 255.0 + g; d /= 65,536; vec4 color = d < 0.1 ? t2 : t1; gl_FragColor = color; } |