@Override
public void destroy() {
if (loaded) {
loaded = false;
if (interactionStream != null) {
interactionStream.Disable();
interactionStream.Release();
interactionStream = null;
}
if (interactionClient != null) {
interactionClient.Release();
interactionClient = null;
}
if (colorStream != null) {
Kernel32.INSTANCE.CloseHandle(colorStream);
colorStream = null;
}
if (depthStream != null) {
Kernel32.INSTANCE.CloseHandle(depthStream);
depthStream = null;
}
if (nextColorImageFrame != null) {
Kernel32.INSTANCE.CloseHandle(nextColorImageFrame);
nextColorImageFrame = null;
}
if (nextDepthImageFrame != null) {
Kernel32.INSTANCE.CloseHandle(nextDepthImageFrame);
nextDepthImageFrame = null;
}
if (nextSkeletonFrame != null) {
Kernel32.INSTANCE.CloseHandle(nextSkeletonFrame);
nextSkeletonFrame = null;
}
if (nextInteractionFrame != null) {
Kernel32.INSTANCE.CloseHandle(nextInteractionFrame);
nextInteractionFrame = null;
}
if (device != null) {
checkRC(device.NuiSkeletonTrackingDisable());
device.NuiShutdown();
device.Release();
device = null;
}
// Remove all receivers connected to this driver
EventManager.getInstance().removeReceivers(EventType.HAND_CREATED);
EventManager.getInstance().removeReceivers(EventType.HAND_UPDATED);
EventManager.getInstance().removeReceivers(EventType.HAND_DESTROYED);
}
}
private void processDepth() {
NUI_IMAGE_FRAME imageFrame = new NUI_IMAGE_FRAME();
checkRC(device.NuiImageStreamGetNextFrame(depthStream, new DWORD(0), imageFrame));
BOOLByReference isNearMode = new BOOLByReference();
INuiFrameTexture.ByReference newTexture = new INuiFrameTexture.ByReference();
checkRC(
device.NuiImageFrameGetDepthImagePixelFrameTexture(
depthStream, imageFrame, isNearMode, newTexture));
INuiFrameTexture frameTexture = newTexture.getTexture();
NUI_LOCKED_RECT lockedRect = new NUI_LOCKED_RECT();
checkRC(frameTexture.LockRect(new UINT(0), lockedRect, null, new DWORD(0)));
if (lockedRect.Pitch == 0) throw new RuntimeException("Kinect didn't give us data");
byte[] bytes = lockedRect.getBytes();
checkRC(frameTexture.UnlockRect(0));
checkRC(
interactionStream.ProcessDepth(
new UINT(bytes.length), bytes, imageFrame.liTimeStamp.getValue()));
frameTexture.Release();
checkRC(device.NuiImageStreamReleaseFrame(depthStream, imageFrame));
}
private void processInteraction() {
NUI_INTERACTION_FRAME interactionFrame = new NUI_INTERACTION_FRAME();
HRESULT hr = interactionStream.GetNextFrame(new DWORD(0), interactionFrame);
if (FAILED(hr)) {
// this happens when we did not process the data in the 1/30 of second required by the sdk
// because we are in java we can sometimes run slow enough to hit this boundary
// we can safely ignore this and as our code gets faster it will happen less
if (hr.intValue() == KinectLibrary.E_NUI_FRAME_NO_DATA) {
return;
}
checkRC(hr);
}
// get a list of all skeletons and hands with information
List<Integer> ids = new ArrayList<>();
List<NUI_HAND_TYPE> types = new ArrayList<>();
for (NUI_USER_INFO info : interactionFrame.UserInfos) {
if (info.HandPointerInfos[0].State.intValue() != 0) {
ids.add(info.SkeletonTrackingId.intValue());
types.add(info.HandPointerInfos[0].HandType.value);
gestureTracker.update(
device,
interactionFrame.TimeStamp.getValue(),
info.HandPointerInfos[0].RawX,
info.HandPointerInfos[0].RawY,
info.HandPointerInfos[0].RawZ,
info.SkeletonTrackingId.intValue(),
info.HandPointerInfos[0].HandType.value);
}
if (info.HandPointerInfos[1].State.intValue() != 0) {
ids.add(info.SkeletonTrackingId.intValue());
types.add(info.HandPointerInfos[1].HandType.value);
gestureTracker.update(
device,
interactionFrame.TimeStamp.getValue(),
info.HandPointerInfos[1].RawX,
info.HandPointerInfos[1].RawY,
info.HandPointerInfos[1].RawZ,
info.SkeletonTrackingId.intValue(),
info.HandPointerInfos[1].HandType.value);
}
}
gestureTracker.findDestroyed(ids, types);
}
private void processSkeleton() {
NUI_SKELETON_FRAME skeletonFrame = new NUI_SKELETON_FRAME();
checkRC(device.NuiSkeletonGetNextFrame(new DWORD(Kernel32.INFINITE), skeletonFrame));
checkRC(device.NuiTransformSmooth(skeletonFrame, new NUI_TRANSFORM_SMOOTH_PARAMETERS()));
Vector4 vect = new Vector4();
checkRC(device.NuiAccelerometerGetCurrentReading(vect));
checkRC(
interactionStream.ProcessSkeleton(
new UINT(6),
skeletonFrame.SkeletonData(),
vect,
skeletonFrame.liTimeStamp().getValue()));
}
@Override
public void load() throws InvalidConfigurationFileException, DriverException {
if (loaded) destroy(); // reset driver
loaded = true;
IntByReference pcount = new IntByReference(0);
checkRC(KinectLibrary.INSTANCE.NuiGetSensorCount(pcount));
if (pcount.getValue() == 0) {
throw new DriverException("No connected devices");
}
KinectDevice.ByReference newDevice = new KinectDevice.ByReference();
checkRC(KinectLibrary.INSTANCE.NuiCreateSensorByIndex(0, newDevice));
device = newDevice.getDevice();
checkRC(
device.NuiInitialize(
new DWORD(
KinectLibrary.NUI_INITIALIZE_FLAG_USES_COLOR
| KinectLibrary.NUI_INITIALIZE_FLAG_USES_SKELETON
| KinectLibrary.NUI_INITIALIZE_FLAG_USES_DEPTH)));
nextColorImageFrame = Kernel32.INSTANCE.CreateEvent(null, true, false, null);
nextDepthImageFrame = Kernel32.INSTANCE.CreateEvent(null, true, false, null);
nextSkeletonFrame = Kernel32.INSTANCE.CreateEvent(null, true, false, null);
nextInteractionFrame = Kernel32.INSTANCE.CreateEvent(null, true, false, null);
HANDLEByReference handle = new HANDLEByReference();
checkRC(
device.NuiImageStreamOpen(
new JnaEnumWrapper<>(NUI_IMAGE_TYPE.NUI_IMAGE_TYPE_COLOR),
new JnaEnumWrapper<>(NUI_IMAGE_RESOLUTION.NUI_IMAGE_RESOLUTION_640x480),
new DWORD(0),
new DWORD(2),
nextColorImageFrame,
handle));
colorStream = handle.getValue();
checkRC(
device.NuiImageStreamOpen(
new JnaEnumWrapper<>(NUI_IMAGE_TYPE.NUI_IMAGE_TYPE_DEPTH),
new JnaEnumWrapper<>(NUI_IMAGE_RESOLUTION.NUI_IMAGE_RESOLUTION_640x480),
new DWORD(0),
new DWORD(2),
nextDepthImageFrame,
handle));
depthStream = handle.getValue();
checkRC(device.NuiSkeletonTrackingEnable(nextSkeletonFrame, new DWORD(0)));
interactionClient = new INuiInteractionClient();
INuiInteractionStream.ByReference newStream = new INuiInteractionStream.ByReference();
checkRC(
KinectToolkitLibrary.INSTANCE.NuiCreateInteractionStream(
device, interactionClient, newStream));
interactionStream = newStream.getStream();
checkRC(interactionStream.Enable(nextInteractionFrame));
new Thread(new BackgroundThread()).start();
}
