void comboBox1_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (running == true)
{
running = false;
captureThread.Join();
if (camera != IntPtr.Zero)
{
CLNUIDevice.StopCamera(camera);
CLNUIDevice.DestroyCamera(camera);
}
camera = CLNUIDevice.CreateCamera(devSerial);
}
if (comboFEED.SelectedIndex == 0)
{
colorImage = new NUIImage(640, 480);
feed.Source = colorImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
CLNUIDevice.StartCamera(camera);
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 500);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
});
captureThread.IsBackground = true;
captureThread.Start();
}
else
{
colorImage = new NUIImage(640, 480);
feed.Source = colorImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
CLNUIDevice.StartCamera(camera);
while (running)
{
CLNUIDevice.GetCameraDepthFrameRGB32(camera, colorImage.ImageData, 500);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
});
captureThread.IsBackground = true;
captureThread.Start();
}
}
public MainWindow()
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(OnClosing);
if (CLNUIDevice.GetDeviceCount() < 1)
{
MessageBox.Show("Is the Kinect plugged in?");
Environment.Exit(0);
}
string serialString = CLNUIDevice.GetDeviceSerial(0);
camera = CLNUIDevice.CreateCamera(serialString);
colorImage = new NUIImage(640, 480);
depthImage = new NUIImage(640, 480);
rawImage = new NUIImage(640, 480);
color.Source = colorImage.BitmapSource;
depth.Source = depthImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
if (CLNUIDevice.StartCamera(camera))
{
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 0);
CLNUIDevice.GetCameraDepthFrameRGB32(camera, depthImage.ImageData, 0);
CLNUIDevice.GetCameraDepthFrameRAW(camera, rawImage.ImageData, 0);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
depthImage.Invalidate();
});
}
}
});
captureThread.IsBackground = true;
captureThread.Start();
}
public void Process(NUIImage colorImage)
{
int pinWidth = 48;
int pinHeight = 64;
int scaleFactor = 10;
int colorChannels = 4;
// these pull out the size of the bitmap (should be 640x480 on the Kinect)
int height = (int)colorImage.BitmapSource.Height;
int width = (int)colorImage.BitmapSource.Width;
int stride = width * 4;
// bytes is width * height * bytes per pixel and depthImageRaw is 16bit (4 bytes)
byte[] imageBytes = new byte[640 * 480 * 4];
byte[] imageProcessBytes = new byte[pinWidth * pinHeight * 4];
// Copy the RGB values into the array.
Marshal.Copy(colorImage.ImageData, imageBytes, 0, imageBytes.Length);
for (int pinx = 0; pinx < pinWidth; pinx++)
{
for (int piny = 0; piny < pinHeight; piny++)
{
// p is the current pixel
int sourcep = pinx * (width * colorChannels) * scaleFactor + (piny * colorChannels) * scaleFactor;
int destp = pinx * (pinWidth * colorChannels) + (piny * colorChannels);
imageProcessBytes[destp + 0] = imageBytes[sourcep + 0];
imageProcessBytes[destp + 1] = imageBytes[sourcep + 1];
imageProcessBytes[destp + 2] = imageBytes[sourcep + 2];
imageProcessBytes[destp + 3] = 255;// imageBytes[sourcep + 3];
byte[] bytes = new byte[4];
bytes[0] = imageBytes[sourcep + 0];
bytes[1] = imageBytes[sourcep + 1];
bytes[2] = imageBytes[sourcep + 2];
bytes[3] = imageBytes[sourcep + 3];
colorArray[piny, pinx] = BitConverter.ToInt32(bytes, 0);
}
}
PersistMap(colorArray, "colormap");
}
public MainWindow()
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(OnClosing);
if (CLNUIDevice.GetDeviceCount() < 1)
{
MessageBox.Show("Is the Kinect plugged in?");
Environment.Exit(0);
}
string serialString = CLNUIDevice.GetDeviceSerial(0);
camera = CLNUIDevice.CreateCamera(serialString);
colorImage = new NUIImage(640, 480);
depthImage = new NUIImage(640, 480);
rawImage = new NUIImage(640, 480);
color.Source = colorImage.BitmapSource;
depth.Source = depthImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
if (CLNUIDevice.StartCamera(camera))
{
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 0);
CLNUIDevice.GetCameraDepthFrameRGB32(camera, depthImage.ImageData, 0);
CLNUIDevice.GetCameraDepthFrameRAW(camera, rawImage.ImageData, 0);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action)delegate()
{
colorImage.Invalidate();
depthImage.Invalidate();
});
}
}
});
captureThread.IsBackground = true;
captureThread.Start();
}
public BitmapSource ProcessDepth(NUIImage depthImageRaw)
{
// bytes is width * height * bytes per pixel and depthImageRaw is 16bit (2 bytes)
byte[] imageBytes = new byte[640 * 480 * 2];
// Copy the RGB values into the array.
Marshal.Copy(depthImageRaw.ImageData, imageBytes, 0, imageBytes.Length);
ushort[] depthFlatArray = new ushort[640 * 480];
int depthi = 0;
// go forward two pixels at a time since the depthImage is 16bit
for (int i = 0; i < imageBytes.Length; i += 2)
{
// this is the real height
ushort h = (ushort)(imageBytes[i] + (imageBytes[i + 1] << 8));
depthFlatArray[depthi] = h;
depthi++;
}
for (int x = 0; x < 64; x++)
{
for (int y = 0; y < 48; y++)
{
depthArray[x, y] = RawDepthToMeters(depthFlatArray[y * 10 * 640 + x * 10]);
}
}
//Creates the new grayscale image
BitmapSource bmp = BitmapSource.Create(640, 480, 96, 96, System.Windows.Media.PixelFormats.Gray16, null, depthFlatArray, 640 * 2);
PersistMap(depthArray, "depthmap");
bmp.Freeze();
return(bmp);
}
public BitmapSource ProcessDepth(NUIImage depthImageRaw)
{
// bytes is width * height * bytes per pixel and depthImageRaw is 16bit (2 bytes)
byte[] imageBytes = new byte[640 * 480 * 2];
// Copy the RGB values into the array.
Marshal.Copy(depthImageRaw.ImageData, imageBytes, 0, imageBytes.Length);
ushort[] depthFlatArray = new ushort[640 * 480];
int depthi = 0;
// go forward two pixels at a time since the depthImage is 16bit
for (int i = 0; i < imageBytes.Length; i += 2)
{
// this is the real height
ushort h = (ushort)(imageBytes[i] + (imageBytes[i + 1] << 8));
depthFlatArray[depthi] = h;
depthi++;
}
for (int x = 0; x < 64; x++)
{
for (int y = 0; y < 48; y++)
{
depthArray[x, y] = RawDepthToMeters(depthFlatArray[y * 10 * 640 + x * 10]);
}
}
//Creates the new grayscale image
BitmapSource bmp = BitmapSource.Create(640, 480, 96, 96, System.Windows.Media.PixelFormats.Gray16, null, depthFlatArray, 640 * 2);
PersistMap(depthArray, "depthmap");
bmp.Freeze();
return bmp;
}
public void Process(NUIImage colorImage)
{
int pinWidth = 48;
int pinHeight = 64;
int scaleFactor = 10;
int colorChannels = 4;
// these pull out the size of the bitmap (should be 640x480 on the Kinect)
int height = (int)colorImage.BitmapSource.Height;
int width = (int)colorImage.BitmapSource.Width;
int stride = width * 4;
// bytes is width * height * bytes per pixel and depthImageRaw is 16bit (4 bytes)
byte[] imageBytes = new byte[640 * 480 * 4];
byte[] imageProcessBytes = new byte[pinWidth * pinHeight * 4];
// Copy the RGB values into the array.
Marshal.Copy(colorImage.ImageData, imageBytes, 0, imageBytes.Length);
for (int pinx = 0; pinx < pinWidth; pinx++)
{
for (int piny = 0; piny < pinHeight; piny++)
{
// p is the current pixel
int sourcep = pinx * (width * colorChannels) * scaleFactor + (piny * colorChannels) * scaleFactor;
int destp = pinx * (pinWidth * colorChannels) + (piny * colorChannels);
imageProcessBytes[destp + 0] = imageBytes[sourcep + 0];
imageProcessBytes[destp + 1] = imageBytes[sourcep + 1];
imageProcessBytes[destp + 2] = imageBytes[sourcep + 2];
imageProcessBytes[destp + 3] = 255;// imageBytes[sourcep + 3];
byte[] bytes = new byte[4];
bytes[0] = imageBytes[sourcep + 0];
bytes[1] = imageBytes[sourcep + 1];
bytes[2] = imageBytes[sourcep + 2];
bytes[3] = imageBytes[sourcep + 3];
colorArray[piny, pinx] = BitConverter.ToInt32(bytes, 0);
}
}
PersistMap(colorArray, "colormap");
}
public CameraWindow(string devSerial)
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(OnClosing);
xp.Minimum = -981;
xp.Maximum = 981;
yp.Minimum = -981;
yp.Maximum = 981;
zp.Minimum = -981;
zp.Maximum = 981;
try
{
motor = CLNUIDevice.CreateMotor(devSerial);
camera = CLNUIDevice.CreateCamera(devSerial);
}
catch (System.Exception ex)
{
MessageBox.Show(ex.Message);
Environment.Exit(0);
}
CLNUIDevice.SetMotorPosition(motor, 0);
serial.Content = string.Format("Serial Number: {0}", devSerial);
accelerometerTimer = new DispatcherTimer(TimeSpan.FromMilliseconds(100), DispatcherPriority.Normal, (EventHandler) delegate(object sender, EventArgs e)
{
short _x = 0, _y = 0, _z = 0;
CLNUIDevice.GetMotorAccelerometer(motor, ref _x, ref _y, ref _z);
x.Content = _x.ToString();
xp.Value = _x;
y.Content = _y.ToString();
yp.Value = _y;
z.Content = _z.ToString();
zp.Value = _z;
}, Dispatcher);
accelerometerTimer.Start();
led.SelectionChanged += new SelectionChangedEventHandler(led_SelectionChanged);
led.SelectedIndex = 0;
colorImage = new NUIImage(640, 480);
color.Source = colorImage.BitmapSource;
depthImage = new NUIImage(640, 480);
depth.Source = depthImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
// Trace.WriteLine(string.Format("Camera {0:X}", camera.ToInt32()));
if (CLNUIDevice.StartCamera(camera))
{
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 500);
CLNUIDevice.GetCameraDepthFrameRGB32(camera, depthImage.ImageData, 0);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action) delegate()
{
colorImage.Invalidate();
depthImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
}
});
captureThread.IsBackground = true;
captureThread.Start();
}
public CameraWindow(string devSerial)
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(OnClosing);
xp.Minimum = -981;
xp.Maximum = 981;
yp.Minimum = -981;
yp.Maximum = 981;
zp.Minimum = -981;
zp.Maximum = 981;
try
{
motor = CLNUIDevice.CreateMotor(devSerial);
camera = CLNUIDevice.CreateCamera(devSerial);
}
catch (System.Exception ex)
{
MessageBox.Show(ex.Message);
Environment.Exit(0);
}
CLNUIDevice.SetMotorPosition(motor, 0);
serial.Content = string.Format("Serial Number: {0}", devSerial);
accelerometerTimer = new DispatcherTimer(TimeSpan.FromMilliseconds(100), DispatcherPriority.Normal, (EventHandler)delegate(object sender, EventArgs e)
{
short _x = 0, _y = 0, _z = 0;
CLNUIDevice.GetMotorAccelerometer(motor, ref _x, ref _y, ref _z);
x.Content = _x.ToString();
xp.Value = _x;
y.Content = _y.ToString();
yp.Value = _y;
z.Content = _z.ToString();
zp.Value = _z;
}, Dispatcher);
accelerometerTimer.Start();
led.SelectionChanged += new SelectionChangedEventHandler(led_SelectionChanged);
led.SelectedIndex = 0;
colorImage = new NUIImage(640, 480);
color.Source = colorImage.BitmapSource;
depthImage = new NUIImage(640, 480);
depth.Source = depthImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
// Trace.WriteLine(string.Format("Camera {0:X}", camera.ToInt32()));
if (CLNUIDevice.StartCamera(camera))
{
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 500);
CLNUIDevice.GetCameraDepthFrameRGB32(camera, depthImage.ImageData, 0);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action)delegate()
{
colorImage.Invalidate();
depthImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
}
});
captureThread.IsBackground = true;
captureThread.Start();
}
public MainWindow()
{
InitializeComponent();
Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
DataContext = this;
TheCharacter = "█";
FromLeft = 0;
FromTop = 0;
TheFontSize = 9;
//xp.Minimum = 0; // set the progress bar min and max
//xp.Maximum = 640;
//yp.Minimum = 0;
//yp.Maximum = 480;
try {
motor = CLNUIDevice.CreateMotor();
camera = CLNUIDevice.CreateCamera();
CLNUIDevice.SetMotorLED(motor, 3);
}
catch (System.Exception ex) {
System.Windows.MessageBox.Show(ex.ToString());
this.Close(); // no point opening the program if it cant find kinect
}
ClickWait = new DispatcherTimer(TimeSpan.FromMilliseconds(200), DispatcherPriority.Normal, (EventHandler)delegate(object sender, EventArgs e) {
canclick = true;
ClickWait.Stop();
}, Dispatcher);
//create the images
colorImage = new NUIImage(640, 480);
color.Source = colorImage.BitmapSource;
depthImage = new NUIImage(640, 480);
realImage = new NUIImage(640, 480);
real.Source = realImage.BitmapSource;
//depth.Source = depthImage.BitmapSource;
processedImage = new WriteableBitmap(depthImage.BitmapSource);
depth.Source = processedImage;
// Create camera capture thread
running = true;
captureThread = new Thread(delegate() {
CLNUIDevice.StartCamera(camera);
int numLoops = 0;
int pixelStep = 3;
int loopStep = 1;
while (running) {
CLNUIDevice.GetCameraDepthFrameRGB32(camera, colorImage.ImageData, 500); //normal feed (top)
CLNUIDevice.GetCameraDepthFrameRGB32(camera, depthImage.ImageData, 0); //to be altered feed (bottom)
CLNUIDevice.GetCameraColorFrameRGB32(camera, realImage.ImageData, 0);
int red = 255;
int green = 255;
int blue = 255;
Dispatcher.BeginInvoke(DispatcherPriority.Background, (Action)delegate() {
if (numLoops == 0 || numLoops == loopStep) {
int height = (int)depthImage.BitmapSource.Height;
int width = (int)depthImage.BitmapSource.Width;
int stride = (depthImage.BitmapSource.PixelWidth * depthImage.BitmapSource.Format.BitsPerPixel + 7) / 8;
byte[] newPixels = new byte[height * width * processedImage.Format.BitsPerPixel / 8];
bool found = false;
// Loop through the all the pixels row by row
bool foundclick = false;
bool draw = false;
for (int row = 0; row < height; row = row + pixelStep) {//for each row of pixels
for (int col = 0; col < width; col = col + pixelStep) {//for each collumn of pixels
// Disregard top 10% and lower 10% to speed up the app
if ( row < height* 0.1 || row > height * 0.9) {
break;
}
// Get current pixel
//========================================
//Overview of below code:
//-----------------------
//basically it goes through each pixel.. if it is a certian colour (set via depth) it then changes is colour to white/red/green - i did warn you, its ugly
//================================-=======
byte[] currentPixel = new byte[4];
depthImage.BitmapSource.CopyPixels(new Int32Rect((int)col, (int)row, 1, 1), currentPixel, stride, 0);
/*
// Blue Green Red Alpha
//Console.WriteLine("Test: " + currentPixel[0] + "," + currentPixel[1] + "," + currentPixel[2] + "," + currentPixel[3]);
*/
int index = (row * stride) + (col * 4);
//IF STATEMENT BELOW:
// currentPixel[0] = Blue
// currentPixel[1] = Green
// currentPixel[2] = Red
// currentPixel[3] = Alpha - we dont actually need to use this
if (currentPixel[0] == 255
&& (currentPixel[1] <= 45 && currentPixel[1] >= 15)
&& (currentPixel[2] <= 45 && currentPixel[2] >= 15)) // set this to your bacground colour - This is the colour the paper in my demo shows up as
{
red = 255;
green = 255;
blue = 255;
// if it is found it changes the pixels to white with the above code
}
//else if (currentPixel[0] == 255
else if ((currentPixel[1] == 255)
&& (currentPixel[0] == 0 )
&& (currentPixel[2] >= 40 && currentPixel[2] <= 150))
//&& (currentPixel[1] <= 50 && currentPixel[1] >= 46)
//&& (currentPixel[2] <= 50 && currentPixel[2] >= 46)) // set this to your finger tip touching the background colour
{
if (col <= 80 && row <= 60) //this if statement checks if the pixel is found in the top right of the screen it will be used as the clicker (thats how i set it up)
{
red = 0;
green = 255; //sets it to come up green
blue = 0;
if (usemouse == true) // if i have clicked enable mouse
{
if (canclick == true) // this is the 200 ms gap between clicks i made, if it wasnt there it would click each frame my finger is detected
{
SendDoubleClick(); // sends single click command (although its named doubble)
canclick = false; // disables can click
ClickWait.Start(); //starts 200ms wait timer
}
}
}
else // if its not in the 'click corner' then it will be used to set the point
{
red = 255; //sets the fingertip to red
green = 0;
blue = 0;
if (!found) {
RawDat(col, row); //Update RawDat and to see the code executed when it finds the finger
found = true;
}
}
}
else if (currentPixel[0] == 255 // just to make it a bit more tidy, it makes the rest of the hand white instead of black
&& currentPixel[1] >= 47
&& currentPixel[2] >= 47)
{
red = 255;
green = 255;
blue = 255;
}
else // anything else is set to black
{
/*
red = currentPixel[2];
green = currentPixel[1];
blue = currentPixel[0];
*/
red = 0;
green = 0;
blue = 0;
}
// Set pixel with NEW colour
newPixels[index] = (byte)blue;
newPixels[index + 1] = (byte)green;
newPixels[index + 2] = (byte)red;
newPixels[index + 3] = 255;
// Draw more pixels
// Left pixel
if (col >= 4)
{
newPixels[index - 4] = (byte)blue;
newPixels[index - 4 + 1] = (byte)green;
newPixels[index - 4 + 2] = (byte)red;
newPixels[index - 4 + 3] = 255;
}
// Top pixel and left to pixel
if (row > 0)
{
newPixels[index - (stride)] = (byte)blue;
newPixels[index - (stride) + 1] = (byte)green;
newPixels[index - (stride) + 2] = (byte)red;
newPixels[index - (stride) + 3] = 255;
newPixels[index - (stride) - 4] = (byte)blue;
newPixels[index - (stride) - 4 + 1] = (byte)green;
newPixels[index - (stride) - 4 + 2] = (byte)red;
newPixels[index - (stride) - 4 + 3] = 255;
}
}
}
// Draw the entire image
stride = (width * processedImage.Format.BitsPerPixel + 7) / 8;
processedImage.WritePixels(new Int32Rect(0, 0, width, height), newPixels, stride, 0);
numLoops = 0;
}
colorImage.Invalidate();
realImage.Invalidate();
//depthImage.Invalidate();
numLoops++;
});
}
CLNUIDevice.StopCamera(camera);
});
captureThread.IsBackground = true;
captureThread.Start();
}
void comboBox1_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
if (running == true)
{
running = false;
captureThread.Join();
if (camera != IntPtr.Zero)
{
CLNUIDevice.StopCamera(camera);
CLNUIDevice.DestroyCamera(camera);
}
camera = CLNUIDevice.CreateCamera(devSerial);
}
if (comboFEED.SelectedIndex == 0)
{
colorImage = new NUIImage(640, 480);
feed.Source = colorImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
CLNUIDevice.StartCamera(camera);
while (running)
{
CLNUIDevice.GetCameraColorFrameRGB32(camera, colorImage.ImageData, 500);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action)delegate()
{
colorImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
});
captureThread.IsBackground = true;
captureThread.Start();
}
else
{
colorImage = new NUIImage(640, 480);
feed.Source = colorImage.BitmapSource;
running = true;
captureThread = new Thread(delegate()
{
CLNUIDevice.StartCamera(camera);
while (running)
{
CLNUIDevice.GetCameraDepthFrameRGB32(camera, colorImage.ImageData, 500);
Dispatcher.BeginInvoke(DispatcherPriority.Normal, (Action)delegate()
{
colorImage.Invalidate();
});
}
CLNUIDevice.StopCamera(camera);
});
captureThread.IsBackground = true;
captureThread.Start();
}
}
