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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
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#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; }; |
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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()); } |