private static Task RunVideo()
{
return(Task.Run(() =>
{
using (var visualizerData = new VisualizerData())
{
renderer = new Renderer(visualizerData);
renderer.StartVisualizationThread();
// Open device.
using (Device device = Device.Open())
{
device.StartCameras(new DeviceConfiguration()
{
CameraFPS = FPS.FPS30,
ColorResolution = ColorResolution.Off,
DepthMode = DepthMode.NFOV_Unbinned,
WiredSyncMode = WiredSyncMode.Standalone,
});
var deviceCalibration = device.GetCalibration();
PointCloud.ComputePointCloudCache(deviceCalibration);
using (Tracker tracker = Tracker.Create(deviceCalibration, new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
{
while (renderer.IsActive)
{
using (Capture sensorCapture = device.GetCapture())
{
// Queue latest frame from the sensor.
tracker.EnqueueCapture(sensorCapture);
}
// Try getting latest tracker frame.
using (Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (frame != null)
{
// Save this frame for visualization in Renderer.
// One can access frame data here and extract e.g. tracked bodies from it for the needed purpose.
// Instead, for simplicity, we transfer the frame object to the rendering background thread.
// This example shows that frame popped from tracker should be disposed. Since here it is used
// in a different thread, we use Reference method to prolong the lifetime of the frame object.
// For reference on how to read frame data, please take a look at Renderer.NativeWindow_Render().
visualizerData.Frame = frame.Reference();
}
}
}
}
}
}
}));
}
/// <summary>
/// Constuctor
/// </summary>
/// <param name="visualizerData"></param>
public Renderer(VisualizerData visualizerData)
{
this.visualizerData = visualizerData;
LeftHand_Kinect_PA = new PointArray(MAX_NUM_OF_POINTS);
RightHand_Kinect_PA = new PointArray(MAX_NUM_OF_POINTS);
LeftHand_Hololens_PA = new PointArray(MAX_NUM_OF_POINTS);
RightHand_Hololens_PA = new PointArray(MAX_NUM_OF_POINTS);
LeftHand_Hololens_list = new List <Point3D>();
RightHand_Hololens_list = new List <Point3D>();
LeftHand_Kinect_list = new List <Point3D>();
RightHand_Kinect_list = new List <Point3D>();
LH_Hololens_pos = new Point3D(0, 0, 0);
RH_Hololens_pos = new Point3D(0, 0, 0);
MT = new MatrixTransformation();
ReadHololensIP();
udpClient = new UdpClient(20201);
}
static void Main()
{
using (var visualizerData = new VisualizerData())
{
var renderer = new Renderer(visualizerData);
renderer.StartVisualizationThread();
// Open device.
using (Device device = Device.Open())
{
var fileName = $"bt-dump-{DateTime.Now:yyyy-MM-dd_hh-mm-ss}.btd";
using (BinaryWriter file = new BinaryWriter(new FileStream(fileName, FileMode.Create, FileAccess.Write)))
{
file.Write(Encoding.ASCII.GetBytes("BT-DUMP\nV: 1\n"));
WriteVersion(file, device.Version);
file.Write(Encoding.ASCII.GetBytes($"device-sn: {device.SerialNum}\n"));
device.StartCameras(new DeviceConfiguration()
{
CameraFPS = FPS.FPS30,
ColorResolution = ColorResolution.Off,
DepthMode = DepthMode.NFOV_Unbinned,
WiredSyncMode = WiredSyncMode.Standalone,
});
file.Write(Encoding.ASCII.GetBytes($"device-color-resolution: {device.CurrentColorResolution}\n"));
file.Write(Encoding.ASCII.GetBytes($"device-depth-mode: {device.CurrentDepthMode}\n"));
var deviceCalibration = device.GetCalibration();
PointCloud.ComputePointCloudCache(deviceCalibration);
WriteCalibration(file, "depth", deviceCalibration.DepthCameraCalibration);
WriteCalibration(file, "color", deviceCalibration.ColorCameraCalibration);
using (Tracker tracker = Tracker.Create(deviceCalibration, new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
{
file.Write(Encoding.ASCII.GetBytes($"joint-count: {Skeleton.JointCount}\n"));
file.Write(Encoding.ASCII.GetBytes("data:\n"));
while (renderer.IsActive)
{
using (Capture sensorCapture = device.GetCapture())
{
// Queue latest frame from the sensor.
tracker.EnqueueCapture(sensorCapture);
}
// Try getting latest tracker frame.
using (Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (frame != null)
{
// Save to recording file.
file.Write(frame.DeviceTimestamp.Ticks); // long = Int64
file.Write(frame.NumberOfBodies); // uint = Int32
for (uint i = 0; i < frame.NumberOfBodies; i++)
{
var person = frame.GetBodyId(i);
file.Write(person); // uint = Int32
var s = frame.GetBodySkeleton(i);
for (uint j = 0; j < Skeleton.JointCount; j++)
{
var joint = s.GetJoint((JointId)j);
var c = joint.ConfidenceLevel;
var p = joint.Position;
var r = joint.Quaternion;
file.Write((byte)c); // byte = 8-bit unsigned
file.Write(p.X); file.Write(p.Y); file.Write(p.Z); // float = 32-bit floating point.
file.Write(r.X); file.Write(r.Y); file.Write(r.Z); file.Write(r.W);
}
}
// Save this frame for visualization in Renderer.
// One can access frame data here and extract e.g. tracked bodies from it for the needed purpose.
// Instead, for simplicity, we transfer the frame object to the rendering background thread.
// This example shows that frame popped from tracker should be disposed. Since here it is used
// in a different thread, we use Reference method to prolong the lifetime of the frame object.
// For reference on how to read frame data, please take a look at Renderer.NativeWindow_Render().
visualizerData.Frame = frame.Reference();
}
}
}
}
}
}
}
}
static async Task Main()
{
using (var visualizerData = new VisualizerData())
{
var renderer = new PosSaver(visualizerData);
renderer.StartVisualizationThread();
// Open device.
using (Device device = Device.Open())
{
device.StartCameras(new DeviceConfiguration()
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.NFOV_Unbinned,
SynchronizedImagesOnly = true,
WiredSyncMode = WiredSyncMode.Standalone,
CameraFPS = FPS.FPS15
});
var deviceCalibration = device.GetCalibration();
var transformation = deviceCalibration.CreateTransformation();
PointCloud.ComputePointCloudCache(deviceCalibration);
using (Tracker tracker = Tracker.Create(deviceCalibration, new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
{
while (renderer.IsActive)
{
using (Capture sensorCapture = await Task.Run(() => device.GetCapture()).ConfigureAwait(true))
{
// Queue latest frame from the sensor.
tracker.EnqueueCapture(sensorCapture);
if (renderer.IsHuman)
{
unsafe
{
//Depth画像の横幅(width)と縦幅(height)を取得
int depth_width = device.GetCalibration().DepthCameraCalibration.ResolutionWidth;
int depth_height = device.GetCalibration().DepthCameraCalibration.ResolutionHeight;
// Bitmap depthBitmap = new Bitmap(depth_width, depth_height, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
Bitmap colorBitmap = new Bitmap(depth_width, depth_height, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
// Image depthImage = sensorCapture.Depth;
Image colorImage = transformation.ColorImageToDepthCamera(sensorCapture);
// ushort[] depthArray = depthImage.GetPixels<ushort>().ToArray();
BGRA[] colorArray = colorImage.GetPixels <BGRA>().ToArray();
// BitmapData bitmapData = depthBitmap.LockBits(new Rectangle(0, 0, depthBitmap.Width, depthBitmap.Height), System.Drawing.Imaging.ImageLockMode.WriteOnly, PixelFormat.Format32bppArgb);
BitmapData bitmapData = colorBitmap.LockBits(new Rectangle(0, 0, colorBitmap.Width, colorBitmap.Height), System.Drawing.Imaging.ImageLockMode.WriteOnly, PixelFormat.Format32bppArgb);
//各ピクセルの値へのポインタ
byte *pixels = (byte *)bitmapData.Scan0;
int index = 0;
//一ピクセルずつ処理
for (int i = 0; i < colorArray.Length; i++)
{
pixels[index++] = colorArray[i].B;
pixels[index++] = colorArray[i].G;
pixels[index++] = colorArray[i].R;
pixels[index++] = 255;//Alpha値を固定して不透過に
}
//書き込み終了
colorBitmap.UnlockBits(bitmapData);
string string_now = renderer.now.ToString("HHmmssfff");
colorBitmap.Save($@"{PosSaver.path}\{renderer.day}\{renderer.scene}\depth\{string_now}.png", System.Drawing.Imaging.ImageFormat.Png);
}
}
}
// Try getting latest tracker frame.
using (Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (frame != null)
{
// Save this frame for visualization in Renderer.
// One can access frame data here and extract e.g. tracked bodies from it for the needed purpose.
// Instead, for simplicity, we transfer the frame object to the rendering background thread.
// This example shows that frame popped from tracker should be disposed. Since here it is used
// in a different thread, we use Reference method to prolong the lifetime of the frame object.
// For reference on how to read frame data, please take a look at Renderer.NativeWindow_Render().
visualizerData.Frame = frame.Reference();
}
}
}
}
}
}
}
public Renderer(VisualizerData visualizerData)
{
this.visualizerData = visualizerData;
}