Ejemplo n.º 1
0
        void mainWindow_EngineUpdate(object sender, EventArgs e)
        {
            Dispatcher.BeginInvoke((Action)delegate
            {
                if (mainWindow.IsStopRequested)
                {
                    return;
                }

                videoImage.Source = VideoSources.SharedVideoSources.GetSource(videoSourceType);

                if (videoSourceType != VideoSourceType.RectifiedTabletopProduct)
                {
                    //draw fingers
                    unsafe
                    {
                        int fingerNum;
                        ReadLockedWrapperPtr ptr = ResultsDllWrapper.lockFingers(&fingerNum);
                        Finger* fingers = (Finger*)ptr.IntPtr;

                        if (videoSourceType == VideoSourceType.RGB) //transform points
                        {
                            FloatPoint3D[] kinectPoints = new FloatPoint3D[fingerNum];
                            FloatPoint3D[] rgbPoints = new FloatPoint3D[fingerNum];

                            for (int i = 0; i < fingerNum; i++)
                            {
                                kinectPoints[i] = new FloatPoint3D()
                                {
                                    x = fingers[i].PositionInKinectPersp.x,
                                    y = fingers[i].PositionInKinectPersp.y,
                                    z = 0
                                };
                            }

                            fixed (FloatPoint3D* kinectPointsPtr = kinectPoints, rgbPointsPtr = rgbPoints)
                            {
                                CommandDllWrapper.transformPoints(kinectPointsPtr, rgbPointsPtr, fingerNum, CalibratedCoordinateSystem.Depth2D, CalibratedCoordinateSystem.RGB2D);
                            }

                            for (int i = 0; i < fingerNum; i++)
                            {
                                Canvas.SetLeft(fingerPoints[i], rgbPoints[i].x - FINGER_RADIUS);
                                Canvas.SetTop(fingerPoints[i], rgbPoints[i].y - FINGER_RADIUS);
                            }
                        }
                        else
                        {
                            for (int i = 0; i < fingerNum; i++)
                            {
                                Canvas.SetLeft(fingerPoints[i], fingers[i].PositionInKinectPersp.x);
                                Canvas.SetTop(fingerPoints[i], fingers[i].PositionInKinectPersp.y);
                            }
                        }

                        for (int i = 0; i < fingerNum; i++)
                        {
                            fingerPoints[i].Opacity = 1.0;
                            if (fingers[i].ID == 0)
                            {
                                fingerPoints[i].Fill = Brushes.Orange;
                            }
                            else
                            {
                                fingerPoints[i].Fill = new SolidColorBrush(IntColorConverter.ToColor(fingers[i].ID));
                            }

                            if (fingers[i].FingerState == FingerState.FingerOnSurface)
                            {
                                fingerPoints[i].Stroke = Brushes.White;
                            }
                            else
                            {
                                fingerPoints[i].Stroke = Brushes.Transparent;
                            }
                        }

                        for (int i = fingerNum; i < fingerPoints.Count; i++)
                        {
                            fingerPoints[i].Opacity = 0;
                        }

                        ResultsDllWrapper.releaseReadLockedWrapperPtr(ptr);
                    }

                    //draw hands
                    unsafe
                    {
                        int handNum;
                        ReadLockedWrapperPtr ptr = ResultsDllWrapper.lockHands(&handNum);
                        Hand* hands = (Hand*)ptr.IntPtr;

                        for (int i = 0; i < handNum; i++)
                        {
                            Canvas.SetLeft(handPoints[i], hands[i].PositionInKinectProj.x - HAND_RADIUS);
                            Canvas.SetTop(handPoints[i], hands[i].PositionInKinectProj.y - HAND_RADIUS);
                            //handPoints[i].Opacity = hands[i].HandType == HandType.TrackingHand ? 1.0 : 0.5;
                            handPoints[i].Opacity = hands[i].Captured > 0 ? 1.0 : 0.0;
                            handPoints[i].Fill = hands[i].HandType == HandType.NewHandHint ? Brushes.Black : new SolidColorBrush(IntColorConverter.ToColor((int)hands[i].ID));
                        }

                        for (int i = handNum; i < handPoints.Count; i++)
                        {
                            handPoints[i].Opacity = 0;
                        }

                        ResultsDllWrapper.releaseReadLockedWrapperPtr(ptr);
                    }
                }
            });
        }
        public FloatPoint3D[] ShowChessboard()
        {
            FloatPoint3D[] refCorners = new FloatPoint3D[(CHESSBOARD_ROWS - 1) * (CHESSBOARD_COLS - 1)];
            double width = chessboardCanvas.Width / CHESSBOARD_COLS;
            double height = chessboardCanvas.Height / CHESSBOARD_ROWS;

            for (int i = 0; i < CHESSBOARD_ROWS; i++)
            {
                for (int j = 0; j < CHESSBOARD_COLS; j++)
                {
                    if (i >= 1 && j >= 1)
                    {
                        Point innerCornerInCanvas = new Point(width * j, height * i);
                        Point innerCorner = chessboardCanvas.TranslatePoint(innerCornerInCanvas, globalCanvas);
                        refCorners[(i - 1) * (CHESSBOARD_COLS - 1) + (j - 1)] = new FloatPoint3D()
                        {
                            x = (float)innerCorner.X,
                            y = (float)innerCorner.Y,
                            z = 0
                        };
                    }

                    if ((i + j) % 2 != 0)
                    {
                        Rectangle rect = new Rectangle()
                        {
                            Width = width,
                            Height = height,
                            Fill = Brushes.White
                        };
                        Canvas.SetTop(rect, height * i);
                        Canvas.SetLeft(rect, width * j);
                        chessboardCanvas.Children.Add(rect);
                    }
                }
            }

            chessboardBorderCanvas.Visibility = Visibility.Visible;
            return refCorners;
        }
        public unsafe void DrawCheckpoints(FloatPoint3D* checkPoints, int checkPointNum)
        {
            Dispatcher.BeginInvoke((Action)delegate()
            {
                checkPointEllipses = new List<Ellipse>(checkPointNum);
                for (int i = 0; i < checkPointNum; i++)
                {
                    Ellipse e = new Ellipse()
                    {
                        Width = 10,
                        Height = 10,
                        Stroke = Brushes.Red,
                        StrokeThickness = 2
                    };
                    checkPointEllipses.Add(e);

                    globalCanvas.Children.Add(e);
                    Canvas.SetLeft(e, checkPoints[i].x);
                    Canvas.SetTop(e, checkPoints[i].y);
                }
            }, null);
        }
Ejemplo n.º 4
0
 public static extern unsafe FloatPoint3D transformPoint(FloatPoint3D srcPoint, CalibratedCoordinateSystem srcSpace, CalibratedCoordinateSystem dstSpace);
        void refreshWorker_DoWork(object sender, DoWorkEventArgs e)
        {
            Dispatcher.BeginInvoke((Action)delegate
            {
                //draw fingers
                unsafe
                {
                    int fingerNum;
                    ReadLockedWrapperPtr ptr = ResultsDllWrapper.lockFingers(&fingerNum);
                    Finger* fingers = (Finger*)ptr.IntPtr;

                    FloatPoint3D[] kinectPoints = new FloatPoint3D[fingerNum];
                    FloatPoint3D[] rgbPoints = new FloatPoint3D[fingerNum];

                    for (int i = 0; i < fingerNum; i++)
                    {
                        kinectPoints[i] = new FloatPoint3D()
                        {
                            x = fingers[i].PositionInKinectPersp.x,
                            y = fingers[i].PositionInKinectPersp.y,
                            z = 0
                        };
                    }

                    fixed (FloatPoint3D* kinectPointsPtr = kinectPoints, rgbPointsPtr = rgbPoints)
                    {
                        CommandDllWrapper.transformPoints(kinectPointsPtr, rgbPointsPtr, fingerNum, CalibratedCoordinateSystem.Depth2D, CalibratedCoordinateSystem.Table2D);
                    }

                    for (int i = 0; i < fingerNum; i++)
                    {
                        Canvas.SetLeft(fingerPoints[i], rgbPoints[i].x - FINGER_RADIUS);
                        Canvas.SetTop(fingerPoints[i], rgbPoints[i].y - FINGER_RADIUS);
                        fingerPoints[i].Opacity = 1.0;
                        fingerPoints[i].Fill = fingers[i].FingerType == FingerType.OmniFinger ? Brushes.Orange : Brushes.Purple;
                    }


                    for (int i = fingerNum; i < fingerPoints.Count; i++)
                    {
                        fingerPoints[i].Opacity = 0;
                    }

                    ResultsDllWrapper.releaseReadLockedWrapperPtr(ptr);
                }


                //draw hands
                unsafe
                {
                    int handNum;
                    ReadLockedWrapperPtr ptr = ResultsDllWrapper.lockHands(&handNum);
                    Hand* hands = (Hand*)ptr.IntPtr;

                    FloatPoint3D[] kinectPoints = new FloatPoint3D[handNum];
                    FloatPoint3D[] projPoints = new FloatPoint3D[handNum];

                    for (int i = 0; i < handNum; i++)
                    {
                        kinectPoints[i] = new FloatPoint3D()
                        {
                            x = hands[i].PositionInKinectProj.x,
                            y = hands[i].PositionInKinectProj.y,
                            z = 0
                        };
                    }

                    fixed (FloatPoint3D* kinectPointsPtr = kinectPoints, projPointsPtr = projPoints)
                    {
                        CommandDllWrapper.transformPoints(kinectPointsPtr, projPointsPtr, handNum, CalibratedCoordinateSystem.Depth2D, CalibratedCoordinateSystem.Table2D);
                    }

                    for (int i = 0; i < handNum; i++)
                    {
                        Canvas.SetLeft(handPoints[i], projPoints[i].x - HAND_RADIUS);
                        Canvas.SetTop(handPoints[i], projPoints[i].y - HAND_RADIUS);
                        handPoints[i].Opacity = hands[i].HandType == HandType.TrackingHand ? 1.0 : 0.5;
                        handPoints[i].Fill = hands[i].HandType == HandType.NewHandHint ? Brushes.White : new SolidColorBrush(IntColorConverter.ToColor((int)hands[i].ID));
                    }

                    for (int i = handNum; i < handPoints.Count; i++)
                    {
                        handPoints[i].Opacity = 0;
                    }

                    ResultsDllWrapper.releaseReadLockedWrapperPtr(ptr);
                }
            }, null);
        }
Ejemplo n.º 6
0
 public static extern unsafe void systemCalibrationCalibrateDepthCamera(FloatPoint3D* depthCorners, FloatPoint3D* refCorners, int cornerCount);
Ejemplo n.º 7
0
 public static extern unsafe void transformPoints(FloatPoint3D* srcPoints, FloatPoint3D* dstPoints, int pointNum, CalibratedCoordinateSystem srcSpace, CalibratedCoordinateSystem dstSpace);
Ejemplo n.º 8
0
 public static extern unsafe void systemCalibrationDetectChessboardCorner(IntPtr onFinishedCallback, FloatPoint3D* refCorners, int rows, int cols);
Ejemplo n.º 9
0
 public Finger(int id, FloatPoint3D positionInRealWorld, IntPoint3D positionInKinectPersp, FingerType fingerType, FingerState fingerState)
 {
     this.id = id;
     this.positionInKinectProj = positionInKinectPersp;
     this.positionInRealWorld = positionInRealWorld;
     this.fingerType = fingerType;
     this.fingerState = fingerState;
 }
Ejemplo n.º 10
0
        private void calibrateDepthButton_Click(object sender, RoutedEventArgs e)
        {
            FloatPoint3D[] depthCorners = new FloatPoint3D[depthRefEllipses.Count];
            for (int i = 0; i < depthRefEllipses.Count; i++)
            {
                depthCorners[i].x = (float)(Canvas.GetLeft(depthRefEllipses[i]) + CALIBRATION_POINT_RADIUS);
                depthCorners[i].y = (float)(Canvas.GetTop(depthRefEllipses[i]) + CALIBRATION_POINT_RADIUS);
                depthCorners[i].z = 0;
            }

            unsafe
            {
                fixed (FloatPoint3D* refCornersPtr = refCorners, depthCornersPtr = depthCorners)
                {
                    CommandDllWrapper.systemCalibrationCalibrateDepthCamera(depthCornersPtr, refCornersPtr, refCorners.Length);
                    isAllCalibrated = true;
                }
            }

            foreach (var ellipse in depthRefEllipses)
            {
                depthVideo.UiCanvas.Children.Remove(ellipse);
            }

            calibrateDepthButton.IsEnabled = false;
            calibrateDepthSaveButton.IsEnabled = false;
            calibrateDepthLoadButton.IsEnabled = false;
        }
Ejemplo n.º 11
0
        private void video_MouseMove(object sender, MouseEventArgs e)
        {
            if (sender == depthVideo)
            {
                if (draggingDepthRefPoint != null)
                {
                    Point mousePoint = e.GetPosition(depthVideo.UiCanvas);
                    Canvas.SetLeft(draggingDepthRefPoint, mousePoint.X - draggingDepthRefPointOffset.X);
                    Canvas.SetTop(draggingDepthRefPoint, mousePoint.Y - draggingDepthRefPointOffset.Y);
                }
            }

            ZoomableVideoUserControl video = sender as ZoomableVideoUserControl;

            if (isAllCalibrated)
            {
                Point mousePos = e.GetPosition(video.UiCanvas);
                FloatPoint3D p = new FloatPoint3D()
                {
                    x = (float)mousePos.X,
                    y = (float)mousePos.Y,
                    z = 0
                };

                CalibratedCoordinateSystem srcSpace;
                if (sender == depthVideo)
                {
                    srcSpace = CalibratedCoordinateSystem.Depth2D;
                }
                else if (sender == rgbVideo)
                {
                    srcSpace = CalibratedCoordinateSystem.RGB2D;
                }
                else
                {
                    throw new NotImplementedException();
                }

                unsafe
                {
                    testPointInTableSurface = CommandDllWrapper.transformPoint(p, srcSpace, CalibratedCoordinateSystem.Table2D);
                }

                refreshTestPoint();
            }
        }
Ejemplo n.º 12
0
        /*void refreshWorker_DoWork(object sender, DoWorkEventArgs e)
        {
            Dispatcher.BeginInvoke((Action)delegate
            {
                if (rgbSource != null)
                {
                    ReadLockedWrapperPtr ptr = ResultsDllWrapper.lockCalibrationRGBImage();
                    rgbSource.Lock();
                    rgbSource.WritePixels(new Int32Rect(0, 0, rgbWidth, rgbHeight), ptr.IntPtr, rgbWidth * rgbHeight * 3, rgbWidth * 3);
                    rgbSource.Unlock();
                    ResultsDllWrapper.releaseReadLockedWrapperPtr(ptr);
                    rgbVideo.ImageSource = rgbSource;
                }

                if (depthSource != null)
                {
                    ReadLockedWrapperPtr ptr = ResultsDllWrapper.lockCalibrationDepthImage();
                    depthSource.Lock();
                    depthSource.WritePixels(new Int32Rect(0, 0, depthWidth, depthHeight), ptr.IntPtr, depthWidth * depthHeight, depthWidth);
                    depthSource.Unlock();
                    ResultsDllWrapper.releaseReadLockedWrapperPtr(ptr);
                    depthVideo.ImageSource = depthSource;
                }

            }, null);
        }*/

        unsafe void onRGBChessboardDetected(FloatPoint3D* checkPoints, int checkPointNum, FloatPoint3D* depthRefPoints, int depthRefPointNum)
        {
            projectorFeedbackWindow.DrawCheckpoints(checkPoints, checkPointNum);

            //draw depth ref corners
            Dispatcher.BeginInvoke((Action)delegate()
            {
                depthRefEllipses = new List<Ellipse>();
                for (int i = 0; i < depthRefPointNum; i++)
                {
                    Ellipse e = new Ellipse()
                    {
                        Fill = Brushes.Yellow,
                        Opacity = 0.8,
                        Stroke = Brushes.Orange,
                        StrokeThickness = CALIBRATION_POINT_STROKE,
                        Width = CALIBRATION_POINT_RADIUS * 2,
                        Height = CALIBRATION_POINT_RADIUS * 2
                    };
                    e.MouseDown += new MouseButtonEventHandler(depthRefPoint_MouseDown);
                    depthVideo.UiCanvas.Children.Add(e);
                    Canvas.SetLeft(e, depthRefPoints[i].x - CALIBRATION_POINT_RADIUS);
                    Canvas.SetTop(e, depthRefPoints[i].y - CALIBRATION_POINT_RADIUS);
                    depthRefEllipses.Add(e);
                }

                calibrateDepthButton.IsEnabled = true;
                calibrateDepthSaveButton.IsEnabled = true;
                calibrateDepthLoadButton.IsEnabled = true;
            }, null);
        }