Goals: Learn how to initialize a Kinect and get RGB data from it. Source: View Source Download: 1_Basics.zip Overview We have two real pieces of Kinect-specific code. I will go over these in some detail, and give a fairly high level overview of the display code. Contents Includes, Constants, and Globals
Kinect Code
Windowing, Event Handling, and Main Loop
Display via OpenGL
Includes, Constants, and Globals Includes Mostly self explanatory: Kinect.h is the main Kinect header. You need to include Ole2.h and Windows.h for the Kinect includes to work correctly. Don't forget to include the relevant code for your windowing system and OpenGL. GLUTSDL #include #include #include #include #include #include #include #include #include #include #include Constants and Global Variables We define the width and height as 1920*1080, since these are the Kinect color camera input dimensions. Note that the data array will hold a copy of the image we get from the Kinect, so that we can use it as a texture. Experienced OpenGL users may want to use a Frame Buffer Object instead. #define width 1920#define height 1080// OpenGL VariablesGLuint textureId; // ID of the texture to contain Kinect RGB DataGLubyte data[width*height*4]; // BGRA array containing the texture data// Kinect variablesIKinectSensor* sensor; // Kinect sensorIColorFrameReader* reader; // Kinect color data source Kinect Code Kinect Initialization This is our first real Kinect-specific code. The initKinect() function initializes a Kinect sensor for use. This consists of two parts: First we find an attached Kinect sensor, then we initialize it and prepare to read data from it. bool initKinect() if (FAILED(GetDefaultKinectSensor(&sensor))) return false; if (sensor) sensor->Open(); IColorFrameSource* framesource = NULL; sensor->get_ColorFrameSource(&framesource); framesource->OpenReader(&reader); if (framesource) framesource->Release(); framesource = NULL; return true; else return false; Things to note: Normally, we'd be a bit more careful about return values for all of these functions; however, for brevity we will omit some of them.
Note the general pattern of data stream requesting: Make a framesource of the appropriate type (Color, Depth, Body, etc.)
Request the framesource from the sensor interface
Open the reader from the framesource
The framesource can safely be released
Request data frames from the reader
Getting an RGB frame from the Kinect void getKinectData(GLubyte* dest) IColorFrame* frame = NULL; if (SUCCEEDED(reader->AcquireLatestFrame(&frame))) frame->CopyConvertedFrameDataToArray(width*height*4, data, ColorImageFormat_Bgra); if (frame) frame->Release(); This function is very simple. We poll for a frame from the data source, and if one is available, we can copy it into our texture array in the appropriate format. Don't forget to release the frame afterward! Note that the raw color frame is probably in a YUV format or similar, so the conversion to a usable RGB/BGR format does involve a bit of processing. You can also access the raw data using frame->AccessUnderlyingBuffer, which we will use in the depth tutorial. Metadata about the frame can be accessed as well. Here's a list of some things you might be interested in: Camera settings, such as exposure and gain, can be accessed from an IColorCameraSettings IColorCameraSettings* camerasettings; frame->get_ColorCameraSettings(&camerasettings); float gain; TIMESPAN exposure; camerasettings->get_Gain(&gain); camerasettings->get_ExposureTime(&exposure); // ...etc.
Dimensions and field of view can be accessed from an IFrameDescription: IFrameDescription* description; frame->get_FrameDescription(&description); int height, width; float xfov, yfov; description->get_Height(&height); description->get_Width(&width); description->get_HorizontalFieldOfView(&xfov); description->get_VerticalFieldOfView(&yfov); // ...etc. This also applies to Depth and IR frames.
See -us/library/microsoft.kinect.kinect.icolorframe.aspx for details. That's all the Kinect code! The rest is just how to get it onscreen. Windowing, Event Handling, and Main Loop This section explains the GLUT- or SDL-specific code, consisting of window initialization, event handling, and the main update loop. The initialization code is specific to which implementation (SDL or GLUT) is used. It simply initializes a window using the appropriate API, returning false on failure. The GLUT version also sets up a main loop by specifying that the draw() function be called every loop iteration. The main loop is started in the execute() function. In GLUT, the loop is handled behind the scenes, so all we need to do is call the glutMainLoop() function. In SDL we write our own loop. Within each loop, we draw any new frames to the screen; this processing is done in the drawKinect() function. There are many references online for both GLUT and SDL if you want to do more complex window and loop management or learn more about these functions.GLUT void draw() drawKinectData(); glutSwapBuffers();void execute() glutMainLoop();bool init(int argc, char* argv[]) GLUT_DOUBLE SDL void execute() SDL_Event ev; bool running = true; while (running) while (SDL_PollEvent(&ev)) if (ev.type == SDL_QUIT) running = false; drawKinectData(); SDL_GL_SwapBuffers(); bool init(int argc, char* argv[]) SDL_OPENGL); return screen; Display via OpenGL Initialization Three steps, as described in the code - Setting up the texture to contain our image frame, preparing OpenGL for drawing our texture, and setting up a camera viewpoint (using an orthographic projection for 2D images). // Initialize textures glGenTextures(1, &textureId); glBindTexture(GL_TEXTURE_2D, textureId); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, width, height, 0, GL_BGRA, GL_UNSIGNED_BYTE, (GLvoid*) data); glBindTexture(GL_TEXTURE_2D, 0); // OpenGL setup glClearColor(0,0,0,0); glClearDepth(1.0f); glEnable(GL_TEXTURE_2D); // Camera setup glViewport(0, 0, width, height); glMatrixMode(GL_PROJECTION); glLoadIdentity(); glOrtho(0, width, height, 0, 1, -1); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); Obviously, we should wrap this up in a function. I just put it into main() for brevity. int main(int argc, char* argv[]) if (!init(argc, argv)) return 1; if (!initKinect()) return 1; /* ...OpenGL texture and camera initialization... */ // Main loop execute(); return 0; Drawing a frame to screen This is very standard code. We first copy the kinect data into our own buffer, then specify that our texture will use that buffer. void drawKinectData() glBindTexture(GL_TEXTURE_2D, textureId); getKinectData(data); glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, width, height, GL_BGRA, GL_UNSIGNED_BYTE, (GLvoid*)data); Then, we draw a rectangle that is textured with our frame. glClear(GL_COLOR_BUFFER_BIT The End! Build and run, making sure that your Kinect is plugged in. You should see a window containing a video stream of what your Kinect sees. Previous: Setup Next: Kinect Depth Data
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