public Form1()
{
try
{
Nuitrack.Init("");
}
catch (System.Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
}
catch (System.Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
throw exception;
}
_depthSensor.SetMirror(false);
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
mode = _depthSensor.GetOutputMode();
colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, Color.FromKnownColor(KnownColor.Aqua));
}
}
InitializeComponent();
}
// Use this for initialization
void Start()
{
Nuitrack.Init();
depthSensor = DepthSensor.Create();
depthSensor.OnUpdateEvent += DepthSensor_OnUpdateEvent;
skeletonTracker = SkeletonTracker.Create();
skeletonTracker.OnSkeletonUpdateEvent += SkeletonTracker_OnSkeletonUpdateEvent;
Nuitrack.Run();
}
/* Initialize the Nuitrack Environment */
private void Initialize()
{
try {
Nuitrack.Init("");
}
catch (nuitrack.Exception exception) {
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
// Select the device
_device = SelectDevice();
// Select video configurations
_configVideo = SelectVideoMode();
// Activate the license
ActivateDevice();
Nuitrack.SetDevice(_device);
// Add modules Sensors
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
// Add modules Events Handlers
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_userTracker.OnNewUserEvent += onUserTrackerNewUser;
_userTracker.OnLostUserEvent += onUserTrackerLostUser;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
// Connect to remote
_streamer = SelectStreamer();
// Run Nuitrack
Nuitrack.Run();
_running = true;
Console.WriteLine("Nuitrack is Running...");
}
public MainForm()
{
// Initialize Nuitrack. This should be called before using any Nuitrack module.
// By passing the default arguments we specify that Nuitrack must determine
// the location automatically.
try
{
Nuitrack.Init("");
}
catch (Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
_handTracker = HandTracker.Create();
_gestureRecognizer = GestureRecognizer.Create();
}
catch (Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
throw exception;
}
//_depthSensor.SetMirror(false);
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_userTracker.OnNewUserEvent += onUserTrackerNewUser;
_userTracker.OnLostUserEvent += onUserTrackerLostUser;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
_handTracker.OnUpdateEvent += onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent += onNewGestures;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
// Create and configure the Bitmap object according to the depth sensor output mode
OutputMode mode = _depthSensor.GetOutputMode();
OutputMode colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, Color.FromKnownColor(KnownColor.Aqua));
}
}
// Set fixed form size
this.MinimumSize = this.MaximumSize = new Size(mode.XRes, mode.YRes);
// Disable unnecessary caption bar buttons
this.MinimizeBox = this.MaximizeBox = false;
// Enable double buffering to prevent flicker
this.DoubleBuffered = true;
// Run Nuitrack. This starts sensor data processing.
try
{
Nuitrack.Run();
}
catch (Exception exception)
{
Console.WriteLine("Cannot start Nuitrack.");
throw exception;
}
this.Show();
}
/// <summary>
///3D扫描的构造函数 -byCQZ 2019.6.16
///
/// </summary>
private void NuitrackCreate()
{
try
{
Nuitrack.Init("");
Console.WriteLine("Initialize succneed.");
}
catch (nuitrack.Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
//throw exception;
MessageBoxX.Warning("3D摄像头初始化失败，请检查SDK配置和是否进行密钥认证。");
Application.Current.Shutdown();
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
//_handTracker = HandTracker.Create();
_gestureRecognizer = GestureRecognizer.Create();
}
catch (nuitrack.Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
//throw exception;
MessageBoxX.Warning("3D摄像头初始化失败，请检查SDK配置和是否进行密钥认证。");
Application.Current.Shutdown();
}
_depthSensor.SetMirror(false);
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
//_handTracker.OnUpdateEvent += onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent += onNewGestures;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
// Create and configure the Bitmap object according to the depth sensor output mode
OutputMode mode = _depthSensor.GetOutputMode();
OutputMode colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
Console.WriteLine(mode.XRes + "=====================" + mode.YRes);
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, Color.FromKnownColor(KnownColor.Aqua));
}
}
try
{
Nuitrack.Run();
Console.WriteLine("Start Nuitrack.");
}
catch (nuitrack.Exception exception)
{
Console.WriteLine("Cannot start Nuitrack.");
//throw exception;
MessageBoxX.Warning("3D摄像头启动失败，请检查SDK配置和是否进行密钥认证。");
Application.Current.Shutdown();
}
}
static void Main(string[] args)
{//UDP writer for OSC
UdpWriter udpWrite = new UdpWriter("127.0.0.1", 7000);
try
{
Nuitrack.Init("");
}
catch (Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
}
catch (Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
Console.WriteLine(exception.Message);
throw exception;
}
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += OnDepthSensorUpdate;
_userTracker.OnNewUserEvent += OnUserTrackerNewUser;
_userTracker.OnLostUserEvent += OnUserTrackerLostUser;
_skeletonTracker.OnSkeletonUpdateEvent += OnSkeletonUpdate;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += OnIssueDataUpdate;
try
{
Nuitrack.Run();
Console.WriteLine(DateTime.Now.ToString());
}
catch (Exception exception)
{
Console.WriteLine("Cannot start Nuitrack.");
throw exception;
}
bool a = true;
while (a)
{
int start = (int)DateTime.Now.TimeOfDay.TotalMilliseconds;
// Update Nuitrack data. Data will be synchronized with skeleton time stamps.
try
{
Nuitrack.Update(_skeletonTracker);
}
catch (LicenseNotAcquiredException exception)
{
Console.WriteLine(DateTime.Now.ToString());
Console.WriteLine("LicenseNotAcquired exception. Exception: {0}", exception);
throw exception;
}
catch (Exception exception)
{
Console.WriteLine("Nuitrack update failed. Exception: ", exception);
}
if (_skeletonData != null)
{
//Create new bundle for each time skeleton data is refreshed
OscBundle bundle = new OscBundle();
//const int jointSize = 10;
foreach (var skeleton in _skeletonData.Skeletons)
{
foreach (var joint in skeleton.Joints)
{
float[] rotationMatrix = joint.Orient.Matrix;
//Ignore joints that are not currently used by Nuitrack
if (joint.Type == JointType.None || joint.Type == JointType.LeftFingertip || joint.Type == JointType.RightFingertip || joint.Type == JointType.LeftFoot || joint.Type == JointType.RightFoot)
{
continue;
}
//Create new message element for joint containing joint type and rotation matrix
OscElement jointMessage = new OscElement("/" + joint.Type, joint.Real.X, joint.Real.Y, joint.Real.Z, rotationMatrix[0], rotationMatrix[1], -1 * rotationMatrix[2], rotationMatrix[3], rotationMatrix[4], -1 * rotationMatrix[5], -1 * rotationMatrix[6], -1 * rotationMatrix[7], rotationMatrix[8]);
Console.WriteLine(joint.Real.X + " " + joint.Real.Y + " " + joint.Real.Z);
bundle.AddElement(jointMessage);
}
//Send the message bundle with the data
udpWrite.Send(bundle);
int difference = delay - start - (int)DateTime.Now.TimeOfDay.TotalMilliseconds;
System.Threading.Thread.Sleep(delay);
}
}
}
Nuitrack.Release();
Console.ReadLine();
}
public MainWindow()
{
InitializeComponent();
try
{
Nuitrack.Init();
}
catch (nuitrack.Exception exception)
{
Debug.WriteLine("Can not initialize Nuitrack. Exception: ", exception);
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
_handTracker = HandTracker.Create();
_gestureRecognizer = GestureRecognizer.Create();
}
catch (nuitrack.Exception exception)
{
Debug.WriteLine("Cannot create Nuitrack module.");
throw exception;
}
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
_handTracker.OnUpdateEvent += onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent += onNewGestures;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
// Create and configure the Bitmap object according to the depth sensor output mode
OutputMode mode = _depthSensor.GetOutputMode();
OutputMode colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, System.Drawing.Color.FromKnownColor(KnownColor.Aqua));
}
}
}