Greetings,
I am developing an app in C++ using Kinect 360. I am having a problem in runtime with KinectGrabber which doesn't initialize the camera as I hoped for in runtime. When debugging it, I found that it gets an error in "MSFTKinectGrabber::Init" when testing the value of "hr". This test interrupts the program dutifully, but I don't know why.
My setup:
- I have installed Kinect v1.8 SDK's, then v1.8 Development Kit and finally v1.8 Runtime.
- The compiler is VStudio 2010;
- This app was developed by a colleague of mine and was running before in another computer (Laptop - windows 8);
- I am using a new desktop (Windows 10);
- Tried multiple USB entries (2.0 and 3.0) and Kinect is working in the demos of the "Developer Toolkit Browser v1.8.0 (kinect for Windows);
- Checked drivers of Kinect in Device Manager and updated them (either way, Kinect Runtime adds an extra driver feature and updates them too);
This is the place where all seems to go wrong, when the program enters the IF statement (@"MSFTKinectGrabber::Init"):
hr = m_NuiSensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480,
depthFlags, 2, m_NextDepthFrameEvent, &m_pDepthStreamHandle);
if( FAILED( hr ) )
{
std::cout << "Error: NuiImageStreamOpen " << hr << std::endl;
return false;
}
Below I have the whole codes regarding:
- My main, not the core of the problem I think, jsut to show how I start the program;
- My function "initializeKinect", where the statement if(!grabberMSFT.Init(&processor)) should be false if the "MSFTKinectGrabber::Init" returned true, which meant no problems;
- The function "MSFTKinectGrabber::Init", where the initialization and the tests for the Kinect are made.
Function: Main
int main(int argc, char** argv){
processor = new KinectDataProcessor();
MSFTKinectGrabber grabberMSFT;
int kinect_state = initializeKinect(*processor, grabberMSFT, argc, argv);
if(kinect_state==0){
cloudProcessor = new CloudProcessor();
int v=0;
while (run){
v++;
HandleKeyboardEvents();
processor->Update();
if (startClassify && !continueClassify){
continueClassify = true;
boost::thread classificationThread(&threadClassify);
}
}
grabberMSFT.DeInit();
processor->DeInit();
}else{
system("PAUSE");
return -1;
}
return 0;
}
Function: initializeKinect
int initializeKinect(KinectDataProcessor & processor, MSFTKinectGrabber & grabberMSFT, int argc,char** argv){
int nRetCode = 0;
if (hModule != NULL)
{
// initialize MFC and print and error on failure
if (!AfxWinInit(hModule, NULL, ::GetCommandLine(), 0))
{
// TODO: change error code to suit your needs
_tprintf(_T("Fatal Error: MFC initialization failed\n"));
nRetCode = 1;
}
else
{
std::cout << "Kinect Parameters: " << std::endl;
std::cout << "1 - MinDepth (float) - minimum allowed is '0.0f'" << std::endl;
std::cout << "2 - MaxDepth (float) - maximum allowed is '4.0f'" << std::endl;
std::cout << "3 - NearMode (int) - '0' for true, '1' for false" << std::endl;
float minDepth = MIN_DEPTH;//float (atof(argv[1]));
float maxDepth = MAX_DEPTH;//float (atof(argv[2]));
std::cout << "[MinDepth, MaxDepth] = [" << minDepth << ", " << maxDepth << "]" << std::endl;
bool nearModeActive = true;
std::cout << "Near mode selected\n";
//KinectDataProcessor processor;
if(!processor.Init(KinectProcessor::GrabberType::MSFT))
{
processor.DeInit();
run = false;
return -1;
}
processor.SetDepthParameters(minDepth, maxDepth, nearModeActive);
//MSFTKinectGrabber grabberMSFT;
if (!grabberMSFT.Init(&processor)){
grabberMSFT.DeInit();
processor.DeInit();
run = false;
return -1;
}
cout<<"Ready to run"<<endl;
}
}
else
{
// TODO: change error code to suit your needs
_tprintf(_T("Fatal Error: GetModuleHandle failed\n"));
nRetCode = 1;
}
return nRetCode;
}
Function: MSFTKinectGrabber::Init
bool MSFTKinectGrabber::Init(KinectProcessor * kinectProcessor)
{
m_KinectProcessor = kinectProcessor;
//get NuiSensor obj
HRESULT hr = NuiCreateSensorByIndex(0, &m_NuiSensor);
if ( FAILED(hr) )
{
std::cout << "Error: NuiCreateSensorByIndex " << hr << std::endl;
return false;
}
m_DeviceID = m_NuiSensor->NuiDeviceConnectionId();
hr = m_NuiSensor->NuiInitialize( NUI_INITIALIZE_FLAG_USES_COLOR | NUI_INITIALIZE_FLAG_USES_DEPTH );
if( FAILED(hr) )
{
std::cout << "Error: NuiInitialize " << hr << std::endl;
return false;
}
//Create color and depth events
m_NextColorFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
m_NextDepthFrameEvent = CreateEvent( NULL, TRUE, FALSE, NULL );
//open video streams
hr = m_NuiSensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_COLOR, NUI_IMAGE_RESOLUTION_640x480, 0, 2, m_NextColorFrameEvent, &m_pColorStreamHandle);
if( FAILED( hr ) )
{
std::cout << "Error: NuiImageStreamOpen " << hr << std::endl;
return false;
}
DWORD depthFlags = NULL;
if(kinectProcessor->IsMSFTNearMode())
depthFlags = NUI_IMAGE_STREAM_FLAG_ENABLE_NEAR_MODE;
hr = m_NuiSensor->NuiImageStreamOpen(NUI_IMAGE_TYPE_DEPTH, NUI_IMAGE_RESOLUTION_640x480, depthFlags, 2, m_NextDepthFrameEvent, &m_pDepthStreamHandle);
if( FAILED( hr ) )
{
std::cout << "Error: NuiImageStreamOpen " << hr << std::endl;
return false;
}
// Start the NUI processing thread
m_ProcessThreadStopEvent = CreateEvent( NULL, FALSE, FALSE, NULL );
m_ProcessThread = CreateThread( NULL, 0, ProcessThread, this, 0, NULL );
return true;
}
Thank you for your time!
