internal static extern UInt32 addJointOrientationRecognizer(FubiUtils.SkeletonJoint joint,
float minX , float minY , float minZ,
float maxX, float maxY, float maxZ,
bool useLocalOrientations,
int atIndex,
IntPtr name,
float minConfidence);
internal static extern UInt32 addFingerCountRecognizer(FubiUtils.SkeletonJoint handJoint,
UInt32 minFingers, UInt32 maxFingers,
Int32 atIndex,
IntPtr name,
float minConfidence,
[MarshalAs(UnmanagedType.U1)] bool useMedianCalculation,
[MarshalAs(UnmanagedType.U1)] bool useFilteredData = false);
public static UInt32 addLinearMovementRecognizer(FubiUtils.SkeletonJoint joint,
float dirX, float dirY, float dirZ, float minVel = 0, float maxVel = FubiUtils.Math.MaxFloat,
bool useLocalPositions = false,
int atIndex = -1, string name = null, float maxAngleDifference = 45.0f, bool useOnlyCorrectDirectionComponent = true)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(name);
UInt32 ret = FubiInternal.addLinearMovementRecognizer(joint, dirX, dirY, dirZ, minVel, maxVel, useLocalPositions, atIndex, namePtr, maxAngleDifference, useOnlyCorrectDirectionComponent);
Marshal.FreeHGlobal(namePtr);
return ret;
}
public static UInt32 addFingerCountRecognizer(FubiUtils.SkeletonJoint handJoint,
UInt32 minFingers, UInt32 maxFingers,
Int32 atIndex = -1,
string name = null,
float minConfidence = -1.0f,
bool useMedianCalculation = false)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(name);
UInt32 ret = FubiInternal.addFingerCountRecognizer(handJoint, minFingers, maxFingers, atIndex, namePtr, minConfidence, useMedianCalculation);
Marshal.FreeHGlobal(namePtr);
return ret;
}
public static UInt32 addJointOrientationRecognizer(FubiUtils.SkeletonJoint joint,
float minX = -180.0f, float minY = -180.0f, float minZ = -180.0f,
float maxX = 180.0f, float maxY = 180.0f, float maxZ = 180.0f,
bool useLocalOrientations = true,
int atIndex = -1,
string name = null,
float minConfidence = -1)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(name);
UInt32 ret = FubiInternal.addJointOrientationRecognizer(joint, minX, minY, minZ, maxX, maxY, maxZ, useLocalOrientations, atIndex, namePtr, minConfidence);
Marshal.FreeHGlobal(namePtr);
return ret;
}
public static UInt32 addJointRelationRecognizer(FubiUtils.SkeletonJoint joint, FubiUtils.SkeletonJoint relJoint,
float minX = -FubiUtils.Math.MaxFloat, float minY = -FubiUtils.Math.MaxFloat, float minZ = -FubiUtils.Math.MaxFloat,
float maxX = FubiUtils.Math.MaxFloat, float maxY = FubiUtils.Math.MaxFloat, float maxZ = FubiUtils.Math.MaxFloat,
float minDistance = 0, float maxDistance = FubiUtils.Math.MaxFloat,
bool useLocalPositions = false,
Int32 atIndex = -1, string name = null,
float minConfidene = -1.0f, FubiUtils.BodyMeasurement measuringUnit = FubiUtils.BodyMeasurement.NUM_MEASUREMENTS)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(name);
UInt32 ret = FubiInternal.addJointRelationRecognizer(joint, relJoint, minX, minY, minZ, maxX, maxY, maxZ, minDistance, maxDistance, useLocalPositions, atIndex, namePtr, minConfidene, measuringUnit);
Marshal.FreeHGlobal(namePtr);
return ret;
}
public static uint addAngularMovementRecognizer(FubiUtils.SkeletonJoint joint,
float minVelX = -FubiUtils.Math.MaxFloat, float minVelY = -FubiUtils.Math.MaxFloat, float minVelZ = -FubiUtils.Math.MaxFloat,
float maxVelX = FubiUtils.Math.MaxFloat, float maxVelY = FubiUtils.Math.MaxFloat, float maxVelZ = FubiUtils.Math.MaxFloat,
bool useLocalOrients = true,
int atIndex = -1, string name = null,
float minConfidence = -1.0f, bool useFilteredData = false)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(name);
UInt32 ret = FubiInternal.addAngularMovementRecognizer(joint, minVelX, minVelY, minVelZ,
maxVelX, maxVelY, maxVelZ, useLocalOrients,
atIndex, namePtr, minConfidence, useFilteredData);
Marshal.FreeHGlobal(namePtr);
return ret;
}
internal static extern uint addAngularMovementRecognizer(FubiUtils.SkeletonJoint joint,
float minVelX, float minVelY, float minVel,
float maxVelX, float maxVelY, float maxVelZ,
bool useLocalOrients,
int atIndex, IntPtr name,
float minConfidence, [MarshalAs(UnmanagedType.U1)] bool useFilteredData);
internal static extern UInt32 addLinearMovementRecognizer(FubiUtils.SkeletonJoint joint,
float dirX, float dirY, float dirZ, float minVel, float maxVel,
float minLength, float maxLength, FubiUtils.BodyMeasurement measuringUnit,
[MarshalAs(UnmanagedType.U1)] bool useLocalPositions,
int atIndex, IntPtr name, float maxAngleDifference, [MarshalAs(UnmanagedType.U1)] bool useOnlyCorrectDirectionComponent,
[MarshalAs(UnmanagedType.U1)] bool useFilteredData = false);
internal static extern uint addLinearAccelerationRecognizer( FubiUtils.SkeletonJoint joint,
float dirX, float dirY, float dirZ, float minAccel, float maxAccel,
int atIndex,
IntPtr name,
float maxAngleDifference,
[MarshalAs(UnmanagedType.U1)] bool useOnlyCorrectDirectionComponent);
internal static extern UInt32 addJointRelationRecognizer(FubiUtils.SkeletonJoint joint, FubiUtils.SkeletonJoint relJoint,
float minX, float minY, float minZ,
float maxX, float maxY, float maxZ,
float minDistance, float maxDistance,
[MarshalAs(UnmanagedType.U1)] bool useLocalPositions,
Int32 atIndex, IntPtr name,
float minConfidence, FubiUtils.BodyMeasurement measuringUnit,
[MarshalAs(UnmanagedType.U1)] bool useFilteredData = false);
internal static extern void getSkeletonJointPosition(IntPtr trackingData, FubiUtils.SkeletonJoint joint, out float x, out float y, out float z,
out float confidence, out double timeStamp, [MarshalAs(UnmanagedType.U1)] bool useLocalPositions = false);
internal static extern bool init(IntPtr openniXmlconfig, FubiUtils.SkeletonProfile profile,
float filterMinCutOffFrequency = 1.0f, float filterVelocityCutOffFrequency = 1.0f, float filterCutOffSlope = 0.007f,
[MarshalAs(UnmanagedType.U1)]bool mirrorStreams = true, [MarshalAs(UnmanagedType.U1)]bool registerStreams = true);
public static FubiUtils.RecognitionResult recognizeGestureOn(UInt32 recognizerIndex, UInt32 userID, out FubiUtils.RecognitionCorrectionHint correctionHint)
{
FubiUtils.RecognitionCorrectionHint hint = new FubiUtils.RecognitionCorrectionHint();
FubiUtils.RecognitionResult res = FubiInternal.recognizeGestureOn(recognizerIndex, userID, hint);
correctionHint = hint;
return res;
}
public static bool initFingerSensor(FubiUtils.FingerSensorType type, float offsetPosX = 0, float offsetPosY = -600.0f, float offsetPosZ = 200.0f)
{
return FubiInternal.initFingerSensor(type, offsetPosX, offsetPosY, offsetPosZ);
}
public static bool init(FubiUtils.SensorOptions sensorOptions, FubiUtils.FilterOptions filterOptions)
{
bool ret = true;
if (!isInitialized())
{
ret = FubiInternal.init(sensorOptions.m_depthOptions.m_width, sensorOptions.m_depthOptions.m_height, sensorOptions.m_depthOptions.m_fps,
sensorOptions.m_rgbOptions.m_width, sensorOptions.m_rgbOptions.m_height, sensorOptions.m_rgbOptions.m_fps,
sensorOptions.m_irOptions.m_width, sensorOptions.m_irOptions.m_height, sensorOptions.m_irOptions.m_fps,
sensorOptions.m_type,
sensorOptions.m_trackingProfile,
filterOptions.m_filterMinCutOffFrequency, filterOptions.m_filterVelocityCutOffFrequency, filterOptions.m_filterCutOffSlope,
sensorOptions.m_mirrorStreams, sensorOptions.m_registerStreams);
}
return ret;
}
/** \addtogroup FUBICSHARP FUBI C# API
* All the C# API functions (subset of the C++ functions + some additional ones)
* Note: documentation not complete! For more details have a look at the C++ docu
*
* @{
*/
public static bool init(string openniXmlconfig, FubiUtils.SkeletonProfile profile = FubiUtils.SkeletonProfile.ALL,
float filterMinCutOffFrequency = 1.0f, float filterVelocityCutOffFrequency = 1.0f, float filterCutOffSlope = 0.007f,
bool mirrorStreams = true, bool registerStreams = true)
{
bool ret = true;
if (!isInitialized())
{
IntPtr openNiXmlPtr = Marshal.StringToHGlobalAnsi(openniXmlconfig);
ret = FubiInternal.init(openNiXmlPtr, profile, filterMinCutOffFrequency, filterVelocityCutOffFrequency, filterCutOffSlope, mirrorStreams, registerStreams);
Marshal.FreeHGlobal(openNiXmlPtr);
}
return ret;
}
public static void getImage(byte[] outputImage, FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
int renderOptions = (int)FubiUtils.RenderOptions.Default,
int jointsToRender = (int)FubiUtils.JointsToRender.ALL_JOINTS,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
uint userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS, bool moveCroppedToUpperLeft = false)
{
if (outputImage != null)
{
GCHandle h = GCHandle.Alloc(outputImage, GCHandleType.Pinned);
FubiInternal.getImage(h.AddrOfPinnedObject(), type, numChannels, depth, renderOptions, jointsToRender, depthModifications, userId, jointOfInterest, moveCroppedToUpperLeft);
h.Free();
return;
}
}
public static void getCurrentSkeletonJointPosition(UInt32 userID, FubiUtils.SkeletonJoint joint,
out float x, out float y, out float z, out float confidence, out double timeStamp,
bool useLocalPositions = false, bool useFilteredData = false)
{
IntPtr info = FubiInternal.getCurrentTrackingData(userID, useFilteredData);
FubiInternal.getSkeletonJointPosition(info, joint, out x, out y, out z, out confidence, out timeStamp, useLocalPositions);
}
internal static extern void getImage(IntPtr outputImage, FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
int renderOptions = (int)FubiUtils.RenderOptions.Default,
int jointsToRender = (int)FubiUtils.JointsToRender.ALL_JOINTS,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS, [MarshalAs(UnmanagedType.U1)]bool moveCroppedToUpperLeft = false);
internal static extern void getSkeletonJointOrientation(IntPtr trackingData, FubiUtils.SkeletonJoint joint, [MarshalAs(UnmanagedType.LPArray)] float[] mat,
out float confidence, out double timeStamp, [MarshalAs(UnmanagedType.U1)] bool useLocalOrientations = true);
internal static extern bool initFingerSensor(FubiUtils.FingerSensorType type, float offsetPosX, float offsetPosY, float offsetPosZ);
public static FubiUtils.RecognitionResult recognizeGestureOn(string recognizerName, UInt32 userID, out FubiUtils.RecognitionCorrectionHint correctionHint)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(recognizerName);
FubiUtils.RecognitionCorrectionHint hint = new FubiUtils.RecognitionCorrectionHint();
FubiUtils.RecognitionResult ret = FubiInternal.recognizeGestureOn(namePtr, userID, hint);
correctionHint = hint;
Marshal.FreeHGlobal(namePtr);
return ret;
}
internal static extern bool saveImage(IntPtr fileName, int jpegQuality /*0-100*/,
FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
int renderOptions = (int)FubiUtils.RenderOptions.Default,
int jointsToRender = (int)FubiUtils.JointsToRender.ALL_JOINTS,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS);
internal static extern bool init(int depthWidth, int depthHeight, int depthFPS = 30,
int rgbWidth = 640, int rgbHeight = 480, int rgbFPS = 30,
int irWidth = -1, int irHeight = -1, int irFPS = -1,
FubiUtils.SensorType type = FubiUtils.SensorType.OPENNI2,
FubiUtils.SkeletonProfile profile = FubiUtils.SkeletonProfile.ALL,
float filterMinCutOffFrequency = 1.0f, float filterVelocityCutOffFrequency = 1.0f, float filterCutOffSlope = 0.007f,
[MarshalAs(UnmanagedType.U1)]bool mirrorStream = true, [MarshalAs(UnmanagedType.U1)]bool registerStreams = true);
public static bool saveImage(string fileName, int jpegQuality /*0-100*/,
FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
int renderOptions = (int)FubiUtils.RenderOptions.Default,
int jointsToRender = (int)FubiUtils.JointsToRender.ALL_JOINTS,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(fileName);
bool ret = FubiInternal.saveImage(namePtr, jpegQuality, type, numChannels, depth, renderOptions, jointsToRender, depthModifications, userId, jointOfInterest);
Marshal.FreeHGlobal(namePtr);
return ret;
}
internal static extern UInt32 addJointOrientationRecognizer(FubiUtils.SkeletonJoint joint,
float minX , float minY , float minZ,
float maxX, float maxY, float maxZ,
bool useLocalOrientations,
int atIndex,
IntPtr name,
float minConfidence,
[MarshalAs(UnmanagedType.U1)] bool useFilteredData = false);
public static bool switchSensor(FubiUtils.SensorOptions options)
{
return FubiInternal.switchSensor(options.m_type, options.m_depthOptions.m_width, options.m_depthOptions.m_height, options.m_depthOptions.m_fps,
options.m_rgbOptions.m_width, options.m_rgbOptions.m_height, options.m_rgbOptions.m_fps,
options.m_irOptions.m_width, options.m_irOptions.m_height, options.m_irOptions.m_fps,
options.m_trackingProfile,
options.m_mirrorStreams, options.m_registerStreams);
}
internal static extern bool switchSensor(FubiUtils.SensorType type, int depthWidth, int depthHeight, int depthFPS = 30,
int rgbWidth = 640, int rgbHeight = 480, int rgbFPS = 30,
int irWidth = -1, int irHeight = -1, int irFPS = -1,
FubiUtils.SkeletonProfile profile = FubiUtils.SkeletonProfile.ALL,
[MarshalAs(UnmanagedType.U1)]bool mirrorStream = true, [MarshalAs(UnmanagedType.U1)]bool registerStreams = true);
public static UInt32 addJointOrientationRecognizer(FubiUtils.SkeletonJoint joint,
float orientX, float orientY, float orientZ,
float maxAngleDiff = 45.0f,
bool useLocalOrientations = true,
int atIndex = -1,
string name = null,
float minConfidence = -1,
bool useFilteredData = false)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(name);
UInt32 ret = FubiInternal.addJointOrientationRecognizer(joint, orientX, orientY, orientZ, maxAngleDiff,
useLocalOrientations, atIndex, namePtr, minConfidence, useFilteredData);
Marshal.FreeHGlobal(namePtr);
return ret;
}