C++ IFrameDescription::Release方法代码示例

// コンストラクタ
KinectV2::KinectV2()
{
  // センサを取得する
  if (sensor == NULL && GetDefaultKinectSensor(&sensor) == S_OK)
  {
    HRESULT hr;

    // センサの使用を開始する
    hr = sensor->Open();
    assert(hr == S_OK);

    // デプスデータの読み込み設定
    IDepthFrameSource *depthSource;
    hr = sensor->get_DepthFrameSource(&depthSource);
    assert(hr == S_OK);
    hr = depthSource->OpenReader(&depthReader);
    assert(hr == S_OK);
    IFrameDescription *depthDescription;
    hr = depthSource->get_FrameDescription(&depthDescription);
    assert(hr == S_OK);
    depthSource->Release();

    // デプスデータのサイズを得る
    depthDescription->get_Width(&depthWidth);
    depthDescription->get_Height(&depthHeight);
    depthDescription->Release();

    // カラーデータの読み込み設定
    IColorFrameSource *colorSource;
    hr = sensor->get_ColorFrameSource(&colorSource);
    assert(hr == S_OK);
    hr = colorSource->OpenReader(&colorReader);
    assert(hr == S_OK);
    IFrameDescription *colorDescription;
    hr = colorSource->get_FrameDescription(&colorDescription);
    assert(hr == S_OK);
    colorSource->Release();

    // カラーデータのサイズを得る
    colorDescription->get_Width(&colorWidth);
    colorDescription->get_Height(&colorHeight);
    colorDescription->Release();

    // 座標のマッピング
    hr = sensor->get_CoordinateMapper(&coordinateMapper);
    assert(hr == S_OK);

    // depthCount と colorCount を計算してテクスチャとバッファオブジェクトを作成する
    makeTexture();

    // デプスデータからカメラ座標を求めるときに用いる一時メモリを確保する
    position = new GLfloat[depthCount][3];

    // カラーデータを変換する用いる一時メモリを確保する
    color = new GLubyte[colorCount * 4];
  }
}

IFrameDescription* Kinect2StreamImpl::getFrameDescription(OniSensorType sensorType)
{
  if (!m_pKinectSensor) {
    return NULL;
  }

  IFrameDescription* frameDescription = NULL;
  if (sensorType == ONI_SENSOR_COLOR) {
    IColorFrameSource* frameSource = NULL;
    HRESULT hr = m_pKinectSensor->get_ColorFrameSource(&frameSource);
    if (SUCCEEDED(hr)) {
      hr = frameSource->get_FrameDescription(&frameDescription);
      if (FAILED(hr) && frameDescription) {
        frameDescription->Release();
        frameDescription = NULL;
      }
    }
    if (frameSource) {
      frameSource->Release();
    }
  }
  else if (sensorType == ONI_SENSOR_DEPTH) {
    IDepthFrameSource* frameSource = NULL;
    HRESULT hr = m_pKinectSensor->get_DepthFrameSource(&frameSource);
    if (SUCCEEDED(hr)) {
      hr = frameSource->get_FrameDescription(&frameDescription);
      if (FAILED(hr) && frameDescription) {
        frameDescription->Release();
        frameDescription = NULL;
      }
    }
    if (frameSource) {
      frameSource->Release();
    }
  }
  else { // ONI_SENSOR_IR
    IInfraredFrameSource* frameSource = NULL;
    HRESULT hr = m_pKinectSensor->get_InfraredFrameSource(&frameSource);
    if (SUCCEEDED(hr)) {
      hr = frameSource->get_FrameDescription(&frameDescription);
      if (FAILED(hr) && frameDescription) {
        frameDescription->Release();
        frameDescription = NULL;
      }
    }
    if (frameSource) {
      frameSource->Release();
    }
  }

  return frameDescription;
}

XnDouble Kinect2StreamImpl::getVerticalFov()
{
  IFrameDescription* frameDescription = NULL;
  if (m_sensorType == ONI_SENSOR_DEPTH && m_imageRegistrationMode == ONI_IMAGE_REGISTRATION_DEPTH_TO_COLOR) {
    frameDescription = getFrameDescription(ONI_SENSOR_COLOR);
  }
  else {
    frameDescription = getFrameDescription(m_sensorType);
  }

  if (frameDescription == NULL) {
    return 0;
  }

  float fov;
  HRESULT hr = frameDescription->get_VerticalFieldOfView(&fov);
  frameDescription->Release();
  if (FAILED(hr)) {
    return 0;
  }
  return fov;
}

int main(int argc, char** argv)
{
	// 1a. Get default Sensor
	cout << "Try to get default sensor" << endl;
	IKinectSensor* pSensor = nullptr;
	if (GetDefaultKinectSensor(&pSensor) != S_OK)
	{
		cerr << "Get Sensor failed" << endl;
		return -1;
	}

	// 1b. Open sensor
	cout << "Try to open sensor" << endl;
	if (pSensor->Open() != S_OK)
	{
		cerr << "Can't open sensor" << endl;
		return -1;
	}

	// 2a. Get frame source
	cout << "Try to get body index source" << endl;
	IBodyIndexFrameSource* pFrameSource = nullptr;
	if (pSensor->get_BodyIndexFrameSource(&pFrameSource) != S_OK)
	{
		cerr << "Can't get body index frame source" << endl;
		return -1;
	}

	// 2b. Get frame description
	cout << "get body index frame description" << endl;
	int		iWidth = 0;
	int		iHeight = 0;
	IFrameDescription* pFrameDescription = nullptr;
	if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
	{
		pFrameDescription->get_Width(&iWidth);
		pFrameDescription->get_Height(&iHeight);
	}
	pFrameDescription->Release();
	pFrameDescription = nullptr;

	// 3a. get frame reader
	cout << "Try to get body index frame reader" << endl;
	IBodyIndexFrameReader* pFrameReader = nullptr;
	if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
	{
		cerr << "Can't get body index frame reader" << endl;
		return -1;
	}

	// 2c. release Frame source
	cout << "Release frame source" << endl;
	pFrameSource->Release();
	pFrameSource = nullptr;

	// Prepare OpenCV data
	cv::Mat	mImg(iHeight, iWidth, CV_8UC3);
	cv::namedWindow("Body Index Image");

	// color array
	cv::Vec3b aColorTable[7] = {
		cv::Vec3b(255,0,0),
		cv::Vec3b(0,255,0),
		cv::Vec3b(0,0,255),
		cv::Vec3b(255,255,0),
		cv::Vec3b(255,0,255),
		cv::Vec3b(0,255,255),
		cv::Vec3b(0,0,0),
	};

	// Enter main loop
	while (true)
	{
		// 4a. Get last frame
		IBodyIndexFrame* pFrame = nullptr;
		if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
		{
			// 4c. Fill OpenCV image
			UINT uSize = 0;
			BYTE* pBuffer = nullptr;
			if (pFrame->AccessUnderlyingBuffer(&uSize,&pBuffer) == S_OK)
			{
				for (int y = 0; y < iHeight; ++y)
				{
					for (int x = 0; x < iWidth; ++x)
					{
						int uBodyIdx = pBuffer[x + y * iWidth];
						if (uBodyIdx < 6)
							mImg.at<cv::Vec3b>(y, x) = aColorTable[uBodyIdx];
						else
							mImg.at<cv::Vec3b>(y, x) = aColorTable[6];
					}
				}
				cv::imshow("Body Index Image", mImg);
			}
			else
			{
				cerr << "Data access error" << endl;
			}

//.........这里部分代码省略.........

int main(int argc, char** argv)
{
	// 1a. Get default Sensor
	cout << "Try to get default sensor" << endl;
	IKinectSensor* pSensor = nullptr;
	if (GetDefaultKinectSensor(&pSensor) != S_OK)
	{
		cerr << "Get Sensor failed" << endl;
	}
	else
	{
		// 1b. Open sensor
		cout << "Try to open sensor" << endl;
		if (pSensor->Open() != S_OK)
		{
			cerr << "Can't open sensor" << endl;
		}
		else
		{
			// 2a. Get frame source
			cout << "Try to get source" << endl;
			IDepthFrameSource* pFrameSource = nullptr;
			if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK)
			{
				cerr << "Can't get frame source" << endl;
			}
			else
			{
				// 2b. Get frame description
				int		iWidth = 0;
				int		iHeight = 0;
				IFrameDescription* pFrameDescription = nullptr;
				if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
				{
					pFrameDescription->get_Width(&iWidth);
					pFrameDescription->get_Height(&iHeight);
					pFrameDescription->Release();
					pFrameDescription = nullptr;
				}

				// 2c. get some dpeth only meta
				UINT16 uDepthMin = 0, uDepthMax = 0;
				pFrameSource->get_DepthMinReliableDistance(&uDepthMin);
				pFrameSource->get_DepthMaxReliableDistance(&uDepthMax);
				cout << "Reliable Distance: " << uDepthMin << " - " << uDepthMax << endl;

				// perpare OpenCV
				cv::Mat mDepthImg(iHeight, iWidth, CV_16UC1);
				cv::Mat mImg8bit(iHeight, iWidth, CV_8UC1);
				cv::namedWindow( "Depth Map" );

				// 3a. get frame reader
				cout << "Try to get frame reader" << endl;
				IDepthFrameReader* pFrameReader = nullptr;
				if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
				{
					cerr << "Can't get frame reader" << endl;
				}
				else
				{
					// Enter main loop
					cout << "Enter main loop" << endl;
					while (true)
					{
						// 4a. Get last frame
						IDepthFrame* pFrame = nullptr;
						if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
						{
							// 4c. copy the depth map to image
							if (pFrame->CopyFrameDataToArray(iWidth * iHeight, reinterpret_cast<UINT16*>(mDepthImg.data)) == S_OK)
							{
								// 4d. convert from 16bit to 8bit
								mDepthImg.convertTo(mImg8bit, CV_8U, 255.0f / uDepthMax);
								cv::imshow("Depth Map", mImg8bit);
							}
							else
							{
								cerr << "Data copy error" << endl;
							}

							// 4e. release frame
							pFrame->Release();
						}

						// 4f. check keyboard input
						if (cv::waitKey(30) == VK_ESCAPE){
							break;
						}
					}

					// 3b. release frame reader
					cout << "Release frame reader" << endl;
					pFrameReader->Release();
					pFrameReader = nullptr;
				}

				// 2d. release Frame source
				cout << "Release frame source" << endl;
				pFrameSource->Release();
				pFrameSource = nullptr;
//.........这里部分代码省略.........

int main()
{
	// 1. Sensor related code
	cout << "Try to get default sensor" << endl;
	{
		if (GetDefaultKinectSensor(&pSensor) != S_OK) {
			cerr << "Get Sensor failed" << endl;
			return -1;
		}

		cout << "Try to open sensor" << endl;
		if (pSensor->Open() != S_OK)	 {
			cerr << "Can't open sensor" << endl;
			return -1;
		}
	}

	// 2. Color related code
	cout << "Try to get color source" << endl;
	{
		// Get frame source
		IColorFrameSource* pFrameSource = nullptr;
		if (pSensor->get_ColorFrameSource(&pFrameSource) != S_OK) {
			cerr << "Can't get color frame source" << endl;
			return -1;
		}

		// Get frame description
		cout << "get color frame description" << endl;
		IFrameDescription* pFrameDescription = nullptr;
		if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)	{
			pFrameDescription->get_Width(&iColorWidth);
			pFrameDescription->get_Height(&iColorHeight);

			uColorPointNum = iColorWidth * iColorHeight;
			uColorBufferSize = uColorPointNum * 4 * sizeof(BYTE);

			pCSPoints = new CameraSpacePoint[uColorPointNum];
			pColorBuffer = new BYTE[4 * uColorPointNum];
		}
		pFrameDescription->Release();
		pFrameDescription = nullptr;

		// get frame reader
		cout << "Try to get color frame reader" << endl;
		if (pFrameSource->OpenReader(&pColorFrameReader) != S_OK) {
			cerr << "Can't get color frame reader" << endl;
			return -1;
		}

		// release Frame source
		cout << "Release frame source" << endl;
		pFrameSource->Release();
		pFrameSource = nullptr;
	}

	// 3. Depth related code
	cout << "Try to get depth source" << endl;
	{
		// Get frame source
		IDepthFrameSource* pFrameSource = nullptr;
		if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK) {
			cerr << "Can't get depth frame source" << endl;
			return -1;
		}

		// Get frame description
		cout << "get depth frame description" << endl;
		IFrameDescription* pFrameDescription = nullptr;
		if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK) {
			int	iDepthWidth = 0,
				iDepthHeight = 0;
			pFrameDescription->get_Width(&iDepthWidth);
			pFrameDescription->get_Height(&iDepthHeight);
			uDepthPointNum = iDepthWidth * iDepthHeight;
			pDepthBuffer = new UINT16[uDepthPointNum];
		}
		pFrameDescription->Release();
		pFrameDescription = nullptr;

		// get frame reader
		cout << "Try to get depth frame reader" << endl;
		if (pFrameSource->OpenReader(&pDepthFrameReader) != S_OK) {
			cerr << "Can't get depth frame reader" << endl;
			return -1;
		}

		// release Frame source
		cout << "Release frame source" << endl;
		pFrameSource->Release();
		pFrameSource = nullptr;
	}

	// 4. Coordinate Mapper
	if (pSensor->get_CoordinateMapper(&pCoordinateMapper) != S_OK) {
		cerr << "get_CoordinateMapper failed" << endl;
		return -1;
	}

	while (1) {
//.........这里部分代码省略.........

int main(int argc, char** argv) {
	// 1a. Get default Sensor
	std::cout << "Try to get default sensor" << std::endl;
	IKinectSensor* pSensor = nullptr;
	if (GetDefaultKinectSensor(&pSensor) != S_OK) {
		cerr << "Get Sensor failed" << std::endl;
		return -1;
	}

	// 1b. Open sensor
	std::cout << "Try to open sensor" << std::endl;
	if (pSensor->Open() != S_OK) {
		cerr << "Can't open sensor" << std::endl;
		return -1;
	}

	// 2. Color Related code
	IColorFrameReader* pColorFrameReader = nullptr;
	cv::Mat	mColorImg;
	UINT uBufferSize = 0;
	{
		// 2a. Get color frame source
		std::cout << "Try to get color source" << std::endl;
		IColorFrameSource* pFrameSource = nullptr;
		if (pSensor->get_ColorFrameSource(&pFrameSource) != S_OK) {
			cerr << "Can't get color frame source" << std::endl;
			return -1;
		}

		// 2b. Get frame description
		std::cout << "get color frame description" << std::endl;
		int		iWidth = 0;
		int		iHeight = 0;
		IFrameDescription* pFrameDescription = nullptr;
		if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)	{
			pFrameDescription->get_Width(&iWidth);
			pFrameDescription->get_Height(&iHeight);
		}
		pFrameDescription->Release();
		pFrameDescription = nullptr;

		// 2c. get frame reader
		std::cout << "Try to get color frame reader" << std::endl;
		if (pFrameSource->OpenReader(&pColorFrameReader) != S_OK) {
			cerr << "Can't get color frame reader" << std::endl;
			return -1;
		}

		// 2d. release Frame source
		std::cout << "Release frame source" << std::endl;
		pFrameSource->Release();
		pFrameSource = nullptr;

		// Prepare OpenCV data
		mColorImg = cv::Mat(iHeight, iWidth, CV_8UC4);
		uBufferSize = iHeight * iWidth * 4 * sizeof(BYTE);
	}

	// 3. Body related code
	IBodyFrameReader* pBodyFrameReader = nullptr;
	IBody** aBodyData = nullptr;
	INT32 iBodyCount = 0;
	{
		// 3a. Get frame source
		std::cout << "Try to get body source" << std::endl;
		IBodyFrameSource* pFrameSource = nullptr;
		if (pSensor->get_BodyFrameSource(&pFrameSource) != S_OK) {
			cerr << "Can't get body frame source" << std::endl;
			return -1;
		}

		// 3b. Get the number of body
		if (pFrameSource->get_BodyCount(&iBodyCount) != S_OK) {
			cerr << "Can't get body count" << std::endl;
			return -1;
		}
		std::cout << " > Can trace " << iBodyCount << " bodies" << std::endl;
		aBodyData = new IBody*[iBodyCount];
		for (int i = 0; i < iBodyCount; ++i)
			aBodyData[i] = nullptr;

		// 3c. get frame reader
		std::cout << "Try to get body frame reader" << std::endl;
		if (pFrameSource->OpenReader(&pBodyFrameReader) != S_OK) {
			cerr << "Can't get body frame reader" << std::endl;
			return -1;
		}

		// 3d. release Frame source
		std::cout << "Release frame source" << std::endl;
		pFrameSource->Release();
		pFrameSource = nullptr;
	}

	// 4. get CoordinateMapper
	ICoordinateMapper* pCoordinateMapper = nullptr;
	if (pSensor->get_CoordinateMapper(&pCoordinateMapper) != S_OK) {
		std::cout << "Can't get coordinate mapper" << std::endl;
		return -1;
	}
//.........这里部分代码省略.........

void Device::update()
{
	if ( mSensor != 0 ) {
		mSensor->get_Status( &mStatus );
	}

	if ( mFrameReader == 0 ) {
		return;
	}

	IAudioBeamFrame* audioFrame								= 0;
	IBodyFrame* bodyFrame									= 0;
	IBodyIndexFrame* bodyIndexFrame							= 0;
	IColorFrame* colorFrame									= 0;
	IDepthFrame* depthFrame									= 0;
	IMultiSourceFrame* frame								= 0;
	IInfraredFrame* infraredFrame							= 0;
	ILongExposureInfraredFrame* infraredLongExposureFrame	= 0;
	
	HRESULT hr = mFrameReader->AcquireLatestFrame( &frame );

	// TODO audio
	if ( SUCCEEDED( hr ) ) {
		console() << "SUCCEEDED " << getElapsedFrames() << endl;
	}

	if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyEnabled() ) {
		IBodyFrameReference* frameRef = 0;
		hr = frame->get_BodyFrameReference( &frameRef );
		if ( SUCCEEDED( hr ) ) {
			hr = frameRef->AcquireFrame( &bodyFrame );
		}
		if ( frameRef != 0 ) {
			frameRef->Release();
			frameRef = 0;
		}
	}

	if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyIndexEnabled() ) {
		IBodyIndexFrameReference* frameRef = 0;
		hr = frame->get_BodyIndexFrameReference( &frameRef );
		if ( SUCCEEDED( hr ) ) {
			hr = frameRef->AcquireFrame( &bodyIndexFrame );
		}
		if ( frameRef != 0 ) {
			frameRef->Release();
			frameRef = 0;
		}
	}

	if ( SUCCEEDED( hr ) && mDeviceOptions.isColorEnabled() ) {
		IColorFrameReference* frameRef = 0;
		hr = frame->get_ColorFrameReference( &frameRef );
		if ( SUCCEEDED( hr ) ) {
			hr = frameRef->AcquireFrame( &colorFrame );
		}
		if ( frameRef != 0 ) {
			frameRef->Release();
			frameRef = 0;
		}
	}

	if ( SUCCEEDED( hr ) && mDeviceOptions.isDepthEnabled() ) {
		IDepthFrameReference* frameRef = 0;
		hr = frame->get_DepthFrameReference( &frameRef );
		if ( SUCCEEDED( hr ) ) {
			hr = frameRef->AcquireFrame( &depthFrame );
		}
		if ( frameRef != 0 ) {
			frameRef->Release();
			frameRef = 0;
		}
	}

	if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredEnabled() ) {
		IInfraredFrameReference* frameRef = 0;
		hr = frame->get_InfraredFrameReference( &frameRef );
		if ( SUCCEEDED( hr ) ) {
			hr = frameRef->AcquireFrame( &infraredFrame );
		}
		if ( frameRef != 0 ) {
			frameRef->Release();
			frameRef = 0;
		}
	}

	if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredLongExposureEnabled() ) {
		ILongExposureInfraredFrameReference* frameRef = 0;
		hr = frame->get_LongExposureInfraredFrameReference( &frameRef );
		if ( SUCCEEDED( hr ) ) {
			hr = frameRef->AcquireFrame( &infraredLongExposureFrame );
		}
		if ( frameRef != 0 ) {
			frameRef->Release();
			frameRef = 0;
		}
	}

	if ( SUCCEEDED( hr ) ) {
		long long time											= 0L;
//.........这里部分代码省略.........

int TextureManager::CreateSensorTexture(char *errorString, const char *name) {
	if (!depth_frame_reader_) {
		sprintf_s(errorString, MAX_ERROR_LENGTH,
			"No depth sensor exists for texture creation");
		return -1;
	}

	glGenTextures(1, textureID + numTextures);
	strcpy_s(textureName[numTextures], TM_MAX_FILENAME_LENGTH, name);
	glBindTexture(GL_TEXTURE_2D, textureID[numTextures]);
	glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
	glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
	//gluBuild2DMipmaps(GL_TEXTURE_2D, GL_RGBA,
	//	TM_NOISE_TEXTURE_SIZE, TM_NOISE_TEXTURE_SIZE,
	//	GL_BGRA, GL_UNSIGNED_BYTE, noiseIntData);

	IDepthFrame* pDepthFrame = NULL;
	HRESULT hr;

	bool hasSucceeded = false;
	for (int tries = 0; tries < 20 && !hasSucceeded; tries++) {
		Sleep(100);
		hr = depth_frame_reader_->AcquireLatestFrame(&pDepthFrame);
		if (SUCCEEDED(hr)) hasSucceeded = true;
	}
	if (!hasSucceeded) {
		sprintf_s(errorString, MAX_ERROR_LENGTH,
			"Could not acquire last depth sensor frame");
		return -1;
	}

	pDepthFrame->get_RelativeTime(&last_frame_time_);

	IFrameDescription* pFrameDescription = NULL;
	int nWidth = 0;
	int nHeight = 0;

	hr = pDepthFrame->get_FrameDescription(&pFrameDescription);
	if (FAILED(hr)) {
		pDepthFrame->Release();
		sprintf_s(errorString, MAX_ERROR_LENGTH,
			"Could not get Depth Frame description");
		return -1;
	}

	pFrameDescription->get_Width(&nWidth);
	pFrameDescription->get_Height(&nHeight);
    depth_sensor_width_ = nWidth;
    depth_sensor_height_ = nHeight;

	if (cpu_depth_sensor_buffer_) delete[] cpu_depth_sensor_buffer_;
	cpu_depth_sensor_buffer_ = new float[nWidth * nHeight];
	memset(cpu_depth_sensor_buffer_, 0, nWidth * nHeight);
	if (smoothed_depth_sensor_buffer_[0]) {
		delete[] smoothed_depth_sensor_buffer_[0];
		delete[] smoothed_depth_sensor_buffer_[1];
	}
	smoothed_depth_sensor_buffer_[0] = new float[nWidth * nHeight];
	smoothed_depth_sensor_buffer_[1] = new float[nWidth * nHeight];
	memset(smoothed_depth_sensor_buffer_[0], 0,
		   nWidth*nHeight*sizeof(smoothed_depth_sensor_buffer_[0][0]));
	memset(smoothed_depth_sensor_buffer_[1], 0,
		   nWidth*nHeight*sizeof(smoothed_depth_sensor_buffer_[1][0]));

	glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F,
		nWidth, nHeight,
		0, GL_RED, GL_FLOAT, smoothed_depth_sensor_buffer_[0]);

	textureWidth[numTextures] = nWidth;
	textureHeight[numTextures] = nHeight;
	numTextures++;

	pFrameDescription->Release();
	pDepthFrame->Release();

	return 0;
}

int main(int argc, char** argv)
{
   int first_time = 0;
   Size screen_size(1440, 900);//the dst image size,e.g.100x100
   Scalar text_color = Scalar(0, 255, 0);
   Scalar text_color2 = Scalar(0, 255, 255);
   Scalar text_color3 = Scalar(0, 0, 255);

   inhaler_coach coach;
   coach.control = 0;
   thread mThread(test_func, &coach);

   // 1a. Get Kinect Sensor
   cout << "Try to get default sensor" << endl;
   IKinectSensor* pSensor = nullptr;
   if (GetDefaultKinectSensor(&pSensor) != S_OK)
   {
      cerr << "Get Sensor failed" << endl;
      return -1;
   }

   // 1b. Open sensor
   cout << "Try to open sensor" << endl;
   if (pSensor->Open() != S_OK)
   {
      cerr << "Can't open sensor" << endl;
      return -1;
   }

   // 2. Color Related code
   IColorFrameReader* pColorFrameReader = nullptr;
   cv::Mat	mColorImg;
   UINT uBufferSize = 0;
   UINT uColorPointNum = 0;
   int iWidth = 0;
   int iHeight = 0;
   {
      // 2a. Get color frame source
      cout << "Try to get color source" << endl;
      IColorFrameSource* pFrameSource = nullptr;
      if (pSensor->get_ColorFrameSource(&pFrameSource) != S_OK)
      {
         cerr << "Can't get color frame source" << endl;
         return -1;
      }

      // 2b. Get frame description
      cout << "get color frame description" << endl;
      IFrameDescription* pFrameDescription = nullptr;
      if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
      {
         pFrameDescription->get_Width(&iWidth);
         pFrameDescription->get_Height(&iHeight);
      }
      pFrameDescription->Release();
      pFrameDescription = nullptr;

      // 2c. get frame reader
      cout << "Try to get color frame reader" << endl;
      if (pFrameSource->OpenReader(&pColorFrameReader) != S_OK)
      {
         cerr << "Can't get color frame reader" << endl;
         return -1;
      }

      // 2d. release Frame source
      cout << "Release frame source" << endl;
      pFrameSource->Release();
      pFrameSource = nullptr;

      // Prepare OpenCV data
      mColorImg = cv::Mat(iHeight, iWidth, CV_8UC4);
      uBufferSize = iHeight * iWidth * 4 * sizeof(BYTE);
      uColorPointNum = iHeight * iWidth;
   }
   

   // 3. Depth related code
   IDepthFrameReader* pDepthFrameReader = nullptr;
   UINT uDepthPointNum = 0;
   int iDepthWidth = 0, iDepthHeight = 0;
   cout << "Try to get depth source" << endl;
   {
      // Get frame source
      IDepthFrameSource* pFrameSource = nullptr;
      if (pSensor->get_DepthFrameSource(&pFrameSource) != S_OK)
      {
         cerr << "Can't get depth frame source" << endl;
         return -1;
      }

      // Get frame description
      cout << "get depth frame description" << endl;
      IFrameDescription* pFrameDescription = nullptr;
      if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
      {
         pFrameDescription->get_Width(&iDepthWidth);
         pFrameDescription->get_Height(&iDepthHeight);
         uDepthPointNum = iDepthWidth * iDepthHeight;
      }
//.........这里部分代码省略.........

void Device::update()
{
    if ( mFrameReader == 0 ) {
        return;
    }

    IAudioBeamFrame* audioFrame								= 0;
    IBodyFrame* bodyFrame									= 0;
    IBodyIndexFrame* bodyIndexFrame							= 0;
    IColorFrame* colorFrame									= 0;
    IDepthFrame* depthFrame									= 0;
    IMultiSourceFrame* frame								= 0;
    IInfraredFrame* infraredFrame							= 0;
    ILongExposureInfraredFrame* infraredLongExposureFrame	= 0;

    HRESULT hr = mFrameReader->AcquireLatestFrame( &frame );

    if ( SUCCEEDED( hr ) && mDeviceOptions.isAudioEnabled() ) {
        // TODO audio
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyEnabled() ) {
        IBodyFrameReference* frameRef = 0;
        hr = frame->get_BodyFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &bodyFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyIndexEnabled() ) {
        IBodyIndexFrameReference* frameRef = 0;
        hr = frame->get_BodyIndexFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &bodyIndexFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isColorEnabled() ) {
        IColorFrameReference* frameRef = 0;
        hr = frame->get_ColorFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &colorFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isDepthEnabled() ) {
        IDepthFrameReference* frameRef = 0;
        hr = frame->get_DepthFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &depthFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredEnabled() ) {
        IInfraredFrameReference* frameRef = 0;
        hr = frame->get_InfraredFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &infraredFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredLongExposureEnabled() ) {
        ILongExposureInfraredFrameReference* frameRef = 0;
        hr = frame->get_LongExposureInfraredFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &infraredLongExposureFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) ) {
        long long timeStamp										= 0L;

        // TODO audio

        std::vector<Body> bodies;
        int64_t bodyTime										= 0L;
//.........这里部分代码省略.........

int main(int argc, char** argv)
{
	// 1a. Get default Sensor
	cout << "Try to get default sensor" << endl;
	IKinectSensor* pSensor = nullptr;
	if (GetDefaultKinectSensor(&pSensor) != S_OK)
	{
		cerr << "Get Sensor failed" << endl;
		return -1;
	}

	// 1b. Open sensor
	cout << "Try to open sensor" << endl;
	if (pSensor->Open() != S_OK)
	{
		cerr << "Can't open sensor" << endl;
		return -1;
	}

	// 2a. Get frame source
	cout << "Try to get Infrared source" << endl;
	IInfraredFrameSource* pFrameSource = nullptr;
	if (pSensor->get_InfraredFrameSource(&pFrameSource) != S_OK)
	{
		cerr << "Can't get Infrared frame source" << endl;
		return -1;
	}

	// 2b. Get frame description
	cout << "get Infrared frame description" << endl;
	int		iWidth = 0;
	int		iHeight = 0;
	IFrameDescription* pFrameDescription = nullptr;
	if (pFrameSource->get_FrameDescription(&pFrameDescription) == S_OK)
	{
		pFrameDescription->get_Width(&iWidth);
		pFrameDescription->get_Height(&iHeight);
	}
	pFrameDescription->Release();
	pFrameDescription = nullptr;

	// 3a. get frame reader
	cout << "Try to get Infrared frame reader" << endl;
	IInfraredFrameReader* pFrameReader = nullptr;
	if (pFrameSource->OpenReader(&pFrameReader) != S_OK)
	{
		cerr << "Can't get Infrared frame reader" << endl;
		return -1;
	}

	// 2c. release Frame source
	cout << "Release frame source" << endl;
	pFrameSource->Release();
	pFrameSource = nullptr;

	// create OpenCV window
	cv::namedWindow( "Infrared Image" );

	// Enter main loop
	while (true)
	{
		// 4a. Get last frame
		IInfraredFrame* pFrame = nullptr;
		if (pFrameReader->AcquireLatestFrame(&pFrame) == S_OK)
		{
			// 4c. Copy to OpenCV image
			UINT	uSize = 0;
			UINT16*	pBuffer = nullptr;
			if (pFrame->AccessUnderlyingBuffer(&uSize, &pBuffer) == S_OK)
			{
				cv::Mat mIRImg(iHeight, iWidth, CV_16UC1, pBuffer);
				cv::imshow("Infrared Image", mIRImg);
			}
			else
			{
				cerr << "Data access error" << endl;
			}

			// 4e. release frame
			pFrame->Release();
		}

		// 4f. check keyboard input
		if (cv::waitKey(30) == VK_ESCAPE){
			break;
		}
	}

	// 3b. release frame reader
	cout << "Release frame reader" << endl;
	pFrameReader->Release();
	pFrameReader = nullptr;

	// 1c. Close Sensor
	cout << "close sensor" << endl;
	pSensor->Close();

	// 1d. Release Sensor
	cout << "Release sensor" << endl;
	pSensor->Release();
//.........这里部分代码省略.........