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Kinectから取得した画像と深度を使って特定の深さの箇所だけフォントでマスク

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;
};

#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;

};

#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;

	string moji = "ABCDEFGHIJKLMNOPQRSTUVWXYZ";
	this->font.loadFont("fonts/Kazesawa-Bold.ttf", 13);

	this->fbo.allocate(ofGetWidth(), ofGetHeight());
	this->fbo.begin();
	ofClear(0);

	ofBackground(255);
	ofSetColor(0);

	for (int x = 0; x < ofGetWidth(); x += 10) {

		for (int y = 0; y < ofGetHeight(); y += 10) {

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

	this->fbo.end();
	this->shader.load("", "shader/shader.frag");
}

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

	HRESULT result = S_OK;

	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();
}

//--------------------------------------------------------------
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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#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;

string moji = "ABCDEFGHIJKLMNOPQRSTUVWXYZ";

this->font.loadFont("fonts/Kazesawa-Bold.ttf", 13);

this->fbo.allocate(ofGetWidth(), ofGetHeight());

this->fbo.begin();

ofClear(0);

ofBackground(255);

ofSetColor(0);

for (int x = 0; x < ofGetWidth(); x += 10) {

for (int y = 0; y < ofGetHeight(); y += 10) {

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

}

this->fbo.end();

this->shader.load("", "shader/shader.frag");

}

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

void ofApp::update() {

HRESULT result = S_OK;

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();

}

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

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());

}

#version 150

uniform mat4 modelViewProjectionMatrix;
in vec4 position;

void main(){
	gl_Position = modelViewProjectionMatrix * position;
}

#version 150

uniform mat4 modelViewProjectionMatrix;

in vec4 position;

void main(){

gl_Position = modelViewProjectionMatrix * position;

}

#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 : vec4(1.0);
  gl_FragColor = color;
}

#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 : vec4(1.0);

gl_FragColor = color;

}

[ Link ]
https://github.com/junkiyoshi/Insta20180922

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