private Point GetPosition2DLocation(DepthImageFrame depthFrame, SkeletonPoint skeletonPoint)
{
DepthImagePoint depthPoint = depthFrame.MapFromSkeletonPoint(skeletonPoint);
ColorImagePoint colorPoint = depthFrame.MapToColorImagePoint(depthPoint.X, depthPoint.Y, this._sensor.ColorStream.Format);
// map back to skeleton.Width & skeleton.Height
//return new Point(
// (int)(this.RenderSize.Width * colorPoint.X / this._sensor.ColorStream.FrameWidth),
// (int)(this.RenderSize.Height * colorPoint.Y / this._sensor.ColorStream.FrameHeight));
return new Point(
(int)(canvas1.Width * colorPoint.X / this._sensor.ColorStream.FrameWidth),
(int)(canvas1.Height * colorPoint.Y / this._sensor.ColorStream.FrameHeight));
}
/// <summary>
/// Convert real-world positions to 2D image coords.
/// </summary>
/// <param name="depthFrame">Datth frame used to conversion.</param>
/// <param name="skeletonPosition">Point which position should be converted.</param>
/// <returns>Point in 2D image.</returns>
private Point GetPosition2DLocation(DepthImageFrame depthFrame, SkeletonPoint skeletonPosition)
{
DepthImagePoint depthPoint = depthFrame.MapFromSkeletonPoint(skeletonPosition);
ColorImagePoint colorPoint = depthFrame.MapToColorImagePoint(depthPoint.X, depthPoint.Y, kinect.ColorStream.Format);
// map back to skeleton.Width & skeleton.Height
return new Point(colorPoint.X, colorPoint.Y);
}
public void ProcessFrame(KinectSensor sensor, byte[] colorImage, ColorImageFormat colorImageFormat, DepthImageFrame depthFrame, short[] depthImage, DepthImageFormat depthImageFormat, Skeleton[] skeletonData, SkeletonFrame skeletonFrame)
{
//Console.WriteLine("N: ---------");
coordinates.Clear();
int detectedFace = 0;
int trackedSkeletonsCount = 0;
int playerIndex = -1;
for (int i = 0; i < skeletonData.Length; i++)
//foreach (Skeleton skeleton in skeletonData)
{
Skeleton skeleton = skeletonData[i];
if (skeleton.TrackingState == SkeletonTrackingState.Tracked
|| skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// We want keep a record of any skeleton, tracked or untracked.
if (!trackedSkeletons.ContainsKey(skeleton.TrackingId))
{
trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());
}
DepthImagePoint depthPoint = depthFrame.MapFromSkeletonPoint(skeleton.Joints[JointType.Head].Position);
ColorImagePoint colorPoint = depthFrame.MapToColorImagePoint(depthPoint.X, depthPoint.Y, colorImageFormat);
Coordinates2D c = new Coordinates2D();
playerIndex = i + 1;
c.X = colorPoint.X;
c.Y = colorPoint.Y;
c.Width = 0;
c.Height = 0;
c.LeftEyeX = 0;
c.LeftEyeY = 0;
c.RightEyeX = 0;
c.RightEyeY = 0;
c.PlayerIndex = playerIndex;
trackedSkeletonsCount++;
// Give each tracker the upated frame.
SkeletonFaceTracker skeletonFaceTracker;
if (!scannedIdentities.Contains(skeleton.TrackingId) &&
detectedFace < 1 &&
trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))
{
detectedFace++;
scannedIdentities.Add(skeleton.TrackingId);
skeletonFaceTracker.OnFrameReady(sensor, colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);
skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;
Coordinates2D? realCoords = skeletonFaceTracker.GetFaceCoordinates();
if (realCoords.HasValue)
{
c = realCoords.Value;
c.PlayerIndex = playerIndex;
}
}
c.TrackingId = skeleton.TrackingId;
coordinates.Add(c);
}
}
if (scannedIdentities.Count > 0 && scannedIdentities.Count >= trackedSkeletonsCount)
{
scannedIdentities.Clear();
//Console.WriteLine("Clearing");
}
RemoveOldTrackers(skeletonFrame.FrameNumber);
//if (coordinates.Count > 0)
{
int[] identities = new int[coordinates.Count];
// stopwatch.Reset();
// stopwatch.Start();
double[] distances = new double[coordinates.Count * 8];
this.
ProcessImage(colorImage, GetWidth(colorImageFormat), GetHeight(colorImageFormat), depthImage, 640, 480, coordinates.ToArray(), identities, distances);
// stopwatch.Stop();
// foreach (int i in identities)
// {
// Console.WriteLine("Recognized: {0} (in {1} millis - {2} ticks)", i, stopwatch.ElapsedMilliseconds, stopwatch.ElapsedTicks);
// }
}
}
public Point MapToPoint(SkeletonPoint s, DepthImageFrame depth)
{
DepthImagePoint dp = depth.MapFromSkeletonPoint(s);
ColorImagePoint cp = depth.MapToColorImagePoint(dp.X, dp.Y, ColorImageFormat.RgbResolution640x480Fps30);
return new Point(cp.X, cp.Y);
}
