private void Window_Closing(object sender, CancelEventArgs e)
{
// Shutdown Tracker
if (tracker != null)
{
tracker.Shutdown();
tracker.Dispose();
tracker = null;
}
// Destroy Transformation
if (transformation != null)
{
transformation.Dispose();
transformation = null;
}
// Stop and Close Camera
if (device != null)
{
device.StopCameras();
device.Dispose();
device = null;
}
}
public MainWindow()
{
InitializeComponent();
// Open Device
device = K4A.Device.Open();
// Start Cameras
device.StartCameras(new K4A.DeviceConfiguration
{
ColorFormat = K4A.ImageFormat.ColorBGRA32,
ColorResolution = K4A.ColorResolution.R720p,
DepthMode = K4A.DepthMode.NFOV_Unbinned,
SynchronizedImagesOnly = true
});
// Create Buffer
int depth_width = device.GetCalibration().DepthCameraCalibration.ResolutionWidth;
int depth_height = device.GetCalibration().DepthCameraCalibration.ResolutionHeight;
const int depth_channles = 1;
depth_stride = depth_width * sizeof(byte) * depth_channles;
depth_rect = new Int32Rect(0, 0, depth_width, depth_height);
depth_bitmap = new WriteableBitmap(depth_width, depth_height, 96.0, 96.0, PixelFormats.Gray8, null);
// Bined Image Control
Depth_Image.Source = depth_bitmap;
Depth_Image.Width = depth_width;
Depth_Image.Height = depth_height;
}
private void Window_Unloaded(object sender, RoutedEventArgs e)
{
// Stop and Close Camera
if (device != null)
{
device.StopCameras();
device.Dispose();
device = null;
}
}
private void Window_Closing(object sender, CancelEventArgs e)
{
// Stop and Close Camera
if (device != null)
{
device.StopCameras();
device.Dispose();
device = null;
}
}
public MainWindow()
{
InitializeComponent();
// Open Device
device = K4A.Device.Open();
// Start Cameras
device.StartCameras(new K4A.DeviceConfiguration
{
ColorFormat = K4A.ImageFormat.ColorBGRA32,
ColorResolution = K4A.ColorResolution.R720p,
DepthMode = K4A.DepthMode.NFOV_Unbinned,
SynchronizedImagesOnly = true
});
// Create Transformation
transformation = device.GetCalibration().CreateTransformation();
// Create Buffer
#if TO_COLOR
int width = device.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int height = device.GetCalibration().ColorCameraCalibration.ResolutionHeight;
#else
int width = device.GetCalibration().DepthCameraCalibration.ResolutionWidth;
int height = device.GetCalibration().DepthCameraCalibration.ResolutionHeight;
#endif
const int color_channles = 4;
color_stride = width * sizeof(byte) * color_channles;
color_rect = new Int32Rect(0, 0, width, height);
color_bitmap = new WriteableBitmap(width, height, 96.0, 96.0, PixelFormats.Bgra32, null);
const int depth_channles = 1;
depth_stride = width * sizeof(byte) * depth_channles;
depth_rect = new Int32Rect(0, 0, width, height);
depth_bitmap = new WriteableBitmap(width, height, 96.0, 96.0, PixelFormats.Gray8, null);
// Bined Image Control
Color_Image.Source = color_bitmap;
Color_Image.Width = width;
Color_Image.Height = height;
Depth_Image.Source = depth_bitmap;
Depth_Image.Width = width;
Depth_Image.Height = height;
}
private void Window_Unloaded(object sender, RoutedEventArgs e)
{
// Destroy Transformation
if (transformation != null)
{
transformation.Dispose();
transformation = null;
}
// Stop and Close Camera
if (device != null)
{
device.StopCameras();
device.Dispose();
device = null;
}
}
private void Window_Unloaded(object sender, RoutedEventArgs e)
{
// Shutdown Tracker
if (tracker != null)
{
tracker.Shutdown();
tracker.Dispose();
tracker = null;
}
// Stop and Close Camera
if (device != null)
{
device.StopCameras();
device.Dispose();
device = null;
}
}
public MainWindow()
{
InitializeComponent();
// Open Device
device = K4A.Device.Open();
// Start Cameras
device.StartCameras(new K4A.DeviceConfiguration
{
ColorFormat = K4A.ImageFormat.ColorBGRA32,
ColorResolution = K4A.ColorResolution.R720p,
DepthMode = K4A.DepthMode.NFOV_2x2Binned,
SynchronizedImagesOnly = true
});
// Get Calibration
calibration = device.GetCalibration(K4A.DepthMode.NFOV_2x2Binned, K4A.ColorResolution.R720p);
// Create Tracker
tracker = K4ABT.Tracker.Create(
calibration,
new K4ABT.TrackerConfiguration
{
SensorOrientation = K4ABT.SensorOrientation.Default,
ProcessingMode = K4ABT.TrackerProcessingMode.Gpu
}
);
// Create Buffer
int color_width = calibration.ColorCameraCalibration.ResolutionWidth;
int color_height = calibration.ColorCameraCalibration.ResolutionHeight;
const int color_channles = 4;
color_stride = color_width * sizeof(byte) * color_channles;
color_rect = new Int32Rect(0, 0, color_width, color_height);
color_bitmap = new WriteableBitmap(color_width, color_height, 96.0, 96.0, PixelFormats.Bgra32, null);
// Generate Color LUT
colors = new Color[6];
colors[0] = new Color()
{
B = 255, G = 0, R = 0, A = 128
};
colors[1] = new Color()
{
B = 0, G = 255, R = 0, A = 128
};
colors[2] = new Color()
{
B = 0, G = 0, R = 255, A = 128
};
colors[3] = new Color()
{
B = 255, G = 255, R = 0, A = 128
};
colors[4] = new Color()
{
B = 0, G = 255, R = 255, A = 128
};
colors[5] = new Color()
{
B = 255, G = 0, R = 255, A = 128
};
// Bined Image Control
Color_Image.Source = color_bitmap;
Color_Image.Width = color_width;
Color_Image.Height = color_height;
// Set Cnvas Size
Canvas_Body.Width = color_width;
Canvas_Body.Height = color_height;
}
