public static void Run(string[] args)
{
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new LightStudioProgram(0.08f);
window.SetProgram(program);
var overviewWindow = new ProgramWindow(750, 50, 1280, 960);
overviewWindow.Load();
overviewWindow.ResizeGraphics();
OverviewProgram overview = new OverviewProgram(program);
overviewWindow.SetProgram(overview);
var format = DepthImageFormat.Resolution80x60Fps30;
var inputs = KinectSensor.KinectSensors.Where(k => k.Status == KinectStatus.Connected).Select(k =>
{
k.Start();
return new
{
sensor = k,
depth = new DepthCamera(k, format),
skeleton = new SkeletonCamera(k),
calibrator = new KinectCalibrator(Utils.DeSerializeObject<CalibrationResult>(k.UniqueKinectId.Substring(k.UniqueKinectId.Length - 16) + ".xml"))
};
});
float[] data = Utils.DeSerializeObject<float[]>(LightningFastApp.IR2RGBFILE) ?? MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.Identity(4).ToColumnWiseArray();
MathNet.Numerics.LinearAlgebra.Generic.Matrix<float> D2C = MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4, data);
var keyl = new KeyboardListener(window.Keyboard);
SkeletonPoint[] skeletons = null;
// Action H hide background:
bool hideBackground = false;
float zCutoff = 3.4f;
float xadj = 0, yadj = 0.0f, zadj = 0;
float incr = 0.01f;
bool adjust = true;
program.SetProjection(pc);
Action<float> xfoo = (f) =>
{
if (!adjust)
return;
xadj += f;
program.SetProjection(pc);
};
Action<float> yfoo = (f) =>
{
if (!adjust)
return;
yadj += f;
program.SetProjection(pc);
};
Action<float> zfoo = (f) =>
{
if (!adjust)
return;
zadj += f;
program.SetProjection(pc);
};
keyl.AddAction(() => adjust = !adjust, Key.A);
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, null, (i) => yfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, null, (i) => xfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft }, (i) => zfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ControlLeft }, (i) => yfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, new Key[] { Key.ControlLeft }, (i) => xfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft, Key.ControlLeft }, (i) => zfoo(i * incr * 3));
keyl.AddAction(() =>
{
hideBackground = !hideBackground;
if (skeletons != null && skeletons.Length > 0)
{
zCutoff = skeletons.Min(sp => sp.Z);
}
else
zCutoff = 0;
}, OpenTK.Input.Key.H);
program.SetProjection(pc, inputs.Select(i => i.calibrator).First().GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
while (true)
{
var points = inputs.Select(inp => new
{
Calibrator = inp.calibrator,
Skeletons = inp.depth.Get(100).Where(p => p.HasValue && p.Value.Index > 0)
.Select(p => inp.sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, p.Value.Point))
.ToArray()
});
program.SetPositions(points.Take(1).SelectMany(v => v.Skeletons.Select(sp => new Vector3(sp.X, sp.Y, sp.Z))));
overview.SetPointCloud(0, points.SelectMany(p =>
{
return p.Skeletons.Select(sp =>
{
var gp = p.Calibrator.ToGlobal(sp);
return new DynamicVertex(new Vector3(gp[0], gp[1], gp[2]));
});
}).ToArray());
window.RenderFrame();
overviewWindow.RenderFrame();
window.ProcessEvents();
overviewWindow.ProcessEvents();
}
}
public static void RunOld(string[] args)
{
var camfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(camfile) || !File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var cc = Utils.DeSerializeObject<CalibrationResult>(camfile);
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new LightStudioProgram(0.08f);
window.SetProgram(program);
var overviewWindow = new ProgramWindow(750, 50, 1280, 960);
overviewWindow.Load();
overviewWindow.ResizeGraphics();
OverviewProgram overview = new OverviewProgram(program);
overviewWindow.SetProgram(overview);
KinectSensor sensor = KinectSensor.KinectSensors.First();
var format = DepthImageFormat.Resolution80x60Fps30;
DepthCamera depthCam = new DepthCamera(sensor, format);
KinectCalibrator kc = new KinectCalibrator(cc);
SkeletonCamera scam = new SkeletonCamera(sensor);
sensor.Start();
float[] data = Utils.DeSerializeObject<float[]>(LightningFastApp.IR2RGBFILE) ?? MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.Identity(4).ToColumnWiseArray();
MathNet.Numerics.LinearAlgebra.Generic.Matrix<float> D2C = MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4, 4, data);
//var adjustment = OpenTK.Matrix4.CreateTranslation(0f, 0.14f, 0.00f);
//program.SetProjection(pc, kc.GetModelView(D2C), adjustment);
//program.SetProjection(pc); //, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(0f, 0.14f, 0.06f));
//var rs = Range.OfDoubles(0.5, -0.5, 0.04);
//program.SetPositions(rs.SelectMany(x => rs.Select(y => new Vector3((float)x, (float)y, 1.7f))).ToArray());
//while (true)
//{
// window.RenderFrame();
// window.ProcessEvents();
//}
var keyl = new KeyboardListener(window.Keyboard);
SkeletonPoint[] skeletons = null;
// Action H hide background:
bool hideBackground = false;
float zCutoff = 3.4f;
float xadj = 0, yadj = 0.0f, zadj = 0;
float incr = 0.01f;
bool adjust = true;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
Action<float> xfoo = (f) =>
{
if (!adjust)
return;
xadj += f;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
};
Action<float> yfoo = (f) =>
{
if (!adjust)
return;
yadj += f;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
};
Action<float> zfoo = (f) =>
{
if (!adjust)
return;
zadj += f;
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(xadj, yadj, zadj));
};
keyl.AddAction(() => adjust = !adjust, Key.A);
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, null, (i) => yfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, null, (i) => xfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft }, (i) => zfoo(i * incr));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ControlLeft }, (i) => yfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Left, Key.Right, new Key[] { Key.ControlLeft }, (i) => xfoo(i * incr * 3));
keyl.AddBinaryAction(1, -1, Key.Up, Key.Down, new Key[] { Key.ShiftLeft, Key.ControlLeft }, (i) => zfoo(i * incr * 3));
keyl.AddAction(() =>
{
hideBackground = !hideBackground;
if (skeletons != null && skeletons.Length > 0)
{
zCutoff = skeletons.Min(sp => sp.Z);
}
else
zCutoff = 0;
}, OpenTK.Input.Key.H);
while (true)
{
var points = depthCam.Get(1000).Where(p => p.HasValue && p.Value.Index > 0).Select(p => p.Value);
skeletons = points.Select(p => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, p.Point)).ToArray();
program.SetPositions(skeletons.Where(sp => !hideBackground || sp.Z < zCutoff).Select(sp => new Vector3(sp.X, sp.Y, sp.Z)).ToArray());
overview.SetPointCloud(0, skeletons.Select(sp =>
{
var gp = kc.ToGlobal(sp);
return new DynamicVertex(new Vector3(gp[0], gp[1], gp[2]));
}).ToArray());
window.RenderFrame();
overviewWindow.RenderFrame();
window.ProcessEvents();
overviewWindow.ProcessEvents();
}
}