OFでKinectSDK1.0を使用する方法_01

今回はopenCV2.3.1を用いて表示させている

【インクルード関連】
// 追加のインクルードディレクトリ
C:\Program Files\Microsoft SDKs\Kinect\v1.0\inc
C:\opencv\include

// 追加のライブラリディレクトリ
C:\Program Files\Microsoft SDKs\Kinect\v1.0\lib\x86
C:\opencv\lib

// 追加の依存ファイル
Kinect10.lib
opencv_core231.lib
opencv_imgproc231.lib
opencv_highgui231.lib
opencv_objdetect231.lib


【testApp.h】

#pragma once
// Windows Header Files
#include <ole2.h>// ←COM 開発の基本となるヘッダー

// Kinect Header
#include <NuiApi.h> // ←Kinectの機能を使う際に読み込むヘッダー

// OpenCV Header Files
#include <opencv2\opencv.hpp>
// openFrameworks Header Files
#include "ofMain.h"

#define CAMERA_WIDTH 640
#define CAMERA_HEIGHT 480

class testApp : 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 windowResized(int w, int h);
void dragEvent(ofDragInfo dragInfo);
void gotMessage(ofMessage msg);
void exit();

INuiSensor *kinect;
};

【testApp.cpp】

bool capFlag = false;

HANDLE cameraEvent;

HANDLE cameraHandle;

std::string windowName;

IplImage *img_camera = 0;

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

void testApp::setup()

{

int nCount = 0;

HRESULT hr = S_OK;

hr = NuiGetSensorCount(&nCount);

hr = NuiCreateSensorByIndex(0, &kinect);

//kinectの初期化

hr = kinect->NuiInitialize(NUI_INITIALIZE_FLAG_USES_COLOR);

hr = S_OK;

if(hr!=S_OK){

std::cout << "failed NuiInitialize\n";

while(1){};

exit();

}

cameraEvent = CreateEventW(0, TRUE, FALSE, 0);　// ←CreateEvent()のままだと通らないので、直接CreateEventW()を呼び出す必要がある（名前空間の関係か）

hr = kinect->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480,

0, 2, cameraEvent, &cameraHandle);

if(hr!=S_OK){

std::cout << "failed NuiImageStreamOpe\n";

exit();

}

//OpenCVの初期設定

img_camera = cvCreateImage(cvSize(CAMERA_WIDTH, CAMERA_HEIGHT), IPL_DEPTH_8U, 4);

cvNamedWindow("Camera View", CV_WINDOW_AUTOSIZE);

long angle = 0;

kinect->NuiCameraElevationSetAngle(angle);

}

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

void testApp::update(){

}

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

void testApp::draw(){

HRESULT hr = S_OK;

capFlag = true;

while(capFlag == true){

WaitForSingleObject(cameraEvent, INFINITE);

NUI_IMAGE_FRAME pImageFrame;

hr = kinect->NuiImageStreamGetNextFrame(cameraHandle, 0, &pImageFrame);

if(hr!=S_OK){

std::cout << "failed NuiImageStreamGetNextFrame\n";

exit();

}

INuiFrameTexture *pTexture = pImageFrame.pFrameTexture;

NUI_LOCKED_RECT LockedRect;

pTexture->LockRect(0, &LockedRect, NULL, 0);

BYTE* pBuffer = (BYTE*)LockedRect.pBits;

memcpy(img_camera->imageData, pBuffer, img_camera->imageSize);

cvShowImage("Camera View", img_camera);

kinect->NuiImageStreamReleaseFrame(cameraHandle, &pImageFrame);

int key = cvWaitKey( 10 );

        if ( key == 'q' ) {

            capFlag = false;

}

}

exit();

}

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

void testApp::exit()

{

capFlag = false;

kinect->NuiShutdown();

CloseHandle(cameraEvent);

cvReleaseImage(&img_camera);

cvDestroyAllWindows();

}