/// <summary>
/// 指定された点により近いユーザーをアクティブにする
/// </summary>
/// <param name="skeletons"></param>
public static void SetActivePlayerAtCenter(SkeletonStream stream, SkeletonFrame frame, SkeletonPoint centerPosition)
{
Skeleton player = null;
double distance = 100;
var skeletons = frame.ToSkeletonData();
foreach (var skeleton in skeletons)
{
if (skeleton.TrackingState != SkeletonTrackingState.NotTracked)
{
double new_ = Distance_XY(centerPosition, skeleton.Position);
if ((new_ < distance))
{
player = skeleton;
distance = new_;
}
}
}
if (player != null)
{
stream.ChooseSkeletons(player.TrackingId);
}
else
{
stream.ChooseSkeletons();
}
}
/// <summary>
/// Read skeletal frame if needed
/// </summary>
/// <param name="rawFrames">Raw frames</param>
/// <param name="skeletonStream">Skeleton stream</param>
private void DoReadSkeletalFrame(RawKinectFrames rawFrames, SkeletonStream skeletonStream)
{
SkeletonFrame skeletonFrame = skeletonStream.OpenNextFrame(AVeryLargeNumberOfMilliseconds);
if (skeletonFrame != null)
{
rawFrames.RawSkeletonFrameData = new SkeletonDataFrame(skeletonFrame);
}
}
// kinect センサーの初期化
private void InitKinectSensor(KinectSensor kinect)
{
//カラーストリームの有効化
ColorImageStream clrStream = kinect.ColorStream;
clrStream.Enable(rgbFormat);
// 深度ストリームの有効化
DepthImageStream depStream = kinect.DepthStream;
// depStream.Enable(depthFormat); // /*TEST_DEPTHFRAME*/
//骨格ストリームの有効化
SkeletonStream skelStream = kinect.SkeletonStream;
skelStream.Enable();
// バッファの初期化
pixelBuffer = new byte[clrStream.FramePixelDataLength];
if (TEST_DEPTHFLAG)
{
depthBuffer = new short[depStream.FramePixelDataLength];
clrPntBuffer = new ColorImagePoint[depStream.FramePixelDataLength];
depMaskBuffer = new byte[clrStream.FramePixelDataLength];
}
skeletonBuffer = new Skeleton[skelStream.FrameSkeletonArrayLength];
bmpBuffer = new RenderTargetBitmap(clrStream.FrameWidth, clrStream.FrameHeight, 96, 96, PixelFormats.Default);
rgbimage.Source = bmpBuffer;
// 音声認識エンジンの初期化
speechEngine = InitSpeechEngine();
// イベントハンドラの登録
kinect.AllFramesReady += AllFramesReady;
kinect.AudioSource.SoundSourceAngleChanged += SoundSourceChanged;
speechEngine.SpeechRecognized += SpeechRecognized;
// 近接モードに変更
kinect.DepthStream.Range = DepthRange.Near;
// 着席モードに変更
kinect.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
// Kinect センサーからのストリーム取得を開始
System.IO.Stream stream = kinect.AudioSource.Start();
var speechAudioFormat = new SpeechAudioFormatInfo(EncodingFormat.Pcm, 16000, 16, 1, 32000, 2, null);
speechEngine.SetInputToAudioStream(stream, speechAudioFormat);
speechEngine.RecognizeAsync(RecognizeMode.Multiple);
}
private void SkeletonInitialization()
{
// set up skeleton and depth stream
this.sensor.DepthStream.Enable();
this.sensor.DepthFrameReady += sensor_DepthFrameReady;
//sensor.ColorStream.Enable();
this.sensor.SkeletonStream.Enable();
this.ss = sensor.SkeletonStream;
ss.EnableTrackingInNearRange = true;
this.sensor.SkeletonFrameReady += sensor_SkeletonFrameReady;
// set up interaciton stream
this.intAdapter = new interactionAdapter();
inStream = new InteractionStream(sensor, this.intAdapter);
inStream.InteractionFrameReady += inStream_InteractionFrameReady;
}
public static void EnableWithDefaultSmoothing(this SkeletonStream stream)
{
if (stream == null)
{
throw new ArgumentNullException("stream");
}
stream.Enable(new TransformSmoothParameters
{
Correction = 0.5f,
JitterRadius = 0.05f,
MaxDeviationRadius = 0.04f,
Prediction = 0.0f,
Smoothing = 0.5f,
});
}
//private byte[] depthImagePixelData;
private void InitializeKinectSensor(KinectSensor kinectSensor)
{
if (kinectSensor != null)
{
DepthImageStream depthStream = kinectSensor.DepthStream;
depthStream.Enable();
this.depthImageBitMap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
this._depthImageBitMap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
this.depthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight);
this.depthImageStride = depthStream.FrameWidth * depthStream.FrameBytesPerPixel;
SkeletonStream skeletonStream = kinectSensor.SkeletonStream;
skeletonStream.Enable();
RawDepthImage.Source = this.depthImageBitMap;
EnhDepthImage.Source = this._depthImageBitMap;
kinectSensor.DepthFrameReady += kinectSensor_DepthFrameReady;
//kinectSensor.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(kinectSensor_DepthFrameReady);
kinectSensor.Start();
}
}
private void InitializeKinectSensor(KinectSensor sensor)
{
if (kinect != null)
{
DepthImageStream depthStream = kinect.DepthStream;
depthStream.Enable();
this.depthImageBitmap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight,
96, 96, PixelFormats.Bgr32, null);
this.depthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight);
this.depthImageStride = depthStream.FrameWidth * 4;
DepthLevelsImage.Source = this.depthImageBitmap;
SkeletonStream skeletonStream = kinect.SkeletonStream;
skeletonStream.Enable();
sensor.DepthFrameReady += kinect_DepthFrameReady;
sensor.Start();
}
}
/// <summary>
/// 指定された点により近いユーザーをアクティブにする
/// </summary>
/// <param name="skeletons"></param>
public static void SetActivePlayerAtCenter( SkeletonStream stream, SkeletonFrame frame, SkeletonPoint centerPosition )
{
Skeleton player = null;
double distance = 100;
var skeletons = frame.ToSkeletonData();
foreach ( var skeleton in skeletons ) {
if ( skeleton.TrackingState != SkeletonTrackingState.NotTracked ) {
double new_ = Distance_XY( centerPosition, skeleton.Position );
if ( (new_ < distance) ) {
player = skeleton;
distance = new_;
}
}
}
if ( player != null ) {
stream.ChooseSkeletons( player.TrackingId );
}
else {
stream.ChooseSkeletons();
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
try
{
//Kinectセンサーの取得(エラー処理など省略版)
kinect = KinectSensor.KinectSensors[0];
//カラー・骨格ストリームの有効化
ColorImageStream clrStream = kinect.ColorStream;
clrStream.Enable(rgbFormat);
SkeletonStream skelStream = kinect.SkeletonStream;
skelStream.Enable();
DepthImageStream depStream = kinect.DepthStream;
depStream.Enable(depthFormat);
//バッファの初期化
pixelBuffer = new byte[kinect.ColorStream.FramePixelDataLength];
skeletonBuffer = new Skeleton[skelStream.FrameSkeletonArrayLength];
bmpBuffer = new WriteableBitmap(kinect.ColorStream.FrameWidth,
kinect.ColorStream.FrameHeight,
96, 96, PixelFormats.Bgr32, null);
depthBuffer = new short[depStream.FramePixelDataLength];
clrPntBuffer = new ColorImagePoint[depStream.FramePixelDataLength];
rgbImage.Source = bmpBuffer;
//イベントハンドラの登録
kinect.ColorFrameReady += ColorImageReady;
kinect.AllFramesReady += AllFramesReady;
//Kinectセンサーからのストリーム取得を開始
kinect.Start();
}
catch
{
Console.WriteLine("kinectがありません。");
}
}
private void InitializeKinectSensor(KinectSensor kinectSensor)
{
if (kinectSensor != null)
{
ColorImageStream colorStream = kinectSensor.ColorStream;
kinectSensor.ColorStream.Enable(ColorImageFormat.RgbResolution1280x960Fps12);
this.colorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
this.colorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
this.colorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorImageElement.Source = this.colorImageBitmap;
kinectSensor.ColorFrameReady += kinectSensor_ColorFrameReady;
//kinectSensor.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(kinectSensor_ColorFrameReady);
this.kinectDevice.SkeletonStream.Enable();
this.frameSkeletons = new Skeleton[this.kinectDevice.SkeletonStream.FrameSkeletonArrayLength];
this.kinectDevice.SkeletonFrameReady += KinectDevice_SkeletonFrameReady;
DepthImageStream depthStream = this.kinectDevice.DepthStream;
depthStream.Enable();
this.depthImageBitMap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
this._depthImageBitMap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
this.depthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight);
this.depthImageStride = depthStream.FrameWidth * depthStream.FrameBytesPerPixel;
SkeletonStream skeletonStream = this.kinectDevice.SkeletonStream;
skeletonStream.Enable();
//suggest choice the last
//DepthImage.Source = this.depthImageBitMap;
//DepthImage.Source = this._depthImageBitMap;
this.kinectDevice.DepthFrameReady += kinectSensor_DepthFrameReady;
//kinectSensor.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(kinectSensor_DepthFrameReady);
this.kinectDevice.Start();
}
}
public SkeletonStreamAdapter(SkeletonStream skeletonStream)
{
_skeletonStream = skeletonStream;
}
static void SendSkeleton(UdpClient client, SkeletonStream stream, Commands command, IPEndPoint destination)
{
using (var frame = stream.OpenNextFrame(50))
{
if (frame == null)
return;
var sc = GetSkeletonCommand(command);
if (!sc.HasValue)
return;
client.Send(ToBytes(sc.Value), sizeof(int), destination);
Skeleton[] data = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(data);
using (MemoryStream ms = new MemoryStream())
{
BinaryFormatter formatter = new BinaryFormatter();
formatter.Serialize(ms, data);
var toSend = ms.ToArray();
Send(client, toSend, destination);
var empty = new byte[Math.Max(SKELETON_BUFFER_LENGTH - toSend.Length, 0)];
if (empty.Length > 0)
Send(client, empty, destination);
}
}
}
public SkeletonStreamAdapter(SkeletonStream skeletonStream)
{
_skeletonStream = skeletonStream;
}
public BodyFrameStream360(Kinect360 kinect360)
{
_kinect360 = kinect360;
_skeletonStream = _kinect360.KinectSensor.SkeletonStream;
}
private void WindowLoaded(object sender, RoutedEventArgs e)
{
//キネクトを初期化
KinectSensor kinect = KinectSensor.KinectSensors[0];
//骨格ストリームの有効化
SkeletonStream skelStream = kinect.SkeletonStream;
skelStream.Enable();
//バッファの初期化
skeletonbuffer = new Skeleton[skelStream.FrameSkeletonArrayLength];
right_wrist = new Joint[skelStream.FrameSkeletonArrayLength];
left_wrist = new Joint[skelStream.FrameSkeletonArrayLength];
right_wrist_x_pos = new double[skelStream.FrameSkeletonArrayLength][];
for (int i = 0; i < skelStream.FrameSkeletonArrayLength; ++i)
{
right_wrist_x_pos[i] = new double[frame_num];
}
left_wrist_x_pos = new double[skelStream.FrameSkeletonArrayLength][];
for (int i = 0; i < skelStream.FrameSkeletonArrayLength; ++i)
{
left_wrist_x_pos[i] = new double[frame_num];
}
right_shoulder = new Joint[skelStream.FrameSkeletonArrayLength];
left_shoulder = new Joint[skelStream.FrameSkeletonArrayLength];
right_shoulder_x_pos = new double[skelStream.FrameSkeletonArrayLength][];
for (int i = 0; i < skelStream.FrameSkeletonArrayLength; ++i)
{
right_shoulder_x_pos[i] = new double[frame_num];
}
left_shoulder_x_pos = new double[skelStream.FrameSkeletonArrayLength][];
for (int i = 0; i < skelStream.FrameSkeletonArrayLength; ++i)
{
left_shoulder_x_pos[i] = new double[frame_num];
}
relative_right = new double[skelStream.FrameSkeletonArrayLength][];
for (int i = 0; i < skelStream.FrameSkeletonArrayLength; ++i)
{
relative_right[i] = new double[frame_num];
}
relative_left = new double[skelStream.FrameSkeletonArrayLength][];
for (int i = 0; i < skelStream.FrameSkeletonArrayLength; ++i)
{
relative_left[i] = new double[frame_num];
}
//イベントハンドラを設定
kinect.SkeletonFrameReady += handsign_check;
//キネクトを起動
kinect.Start();
}
