private void PaintGray16(WriteableBitmap b, XnMDepthMetaData depthMeta)
{
b.Lock();
short* pDepthRow = (short*) depthMeta.Data;
int nTexMapX = b.BackBufferStride / (b.Format.BitsPerPixel / 8);
short* pTexRow = (short*) b.BackBuffer + depthMeta.YOffset*nTexMapX;
for (int y = 0; y < depthMeta.YRes; y++)
{
short* pDepth = pDepthRow;
short* pTex = pTexRow + depthMeta.XOffset;
for (int x = 0; x < depthMeta.XRes; x++)
{
if (*pDepth != 0)
{
*pTex = (short) _depthHist[*pDepth];
}
else
{
*pTex = 0;
}
pDepth++;
pTex++;
}
pDepthRow += depthMeta.XRes;
pTexRow += nTexMapX;
}
b.AddDirtyRect(new Int32Rect(0, 0, b.PixelWidth, b.PixelHeight));
b.Unlock();
}
private void PaintGray16(WriteableBitmap b, XnMDepthMetaData depthMeta)
{
b.Lock();
short *pDepthRow = (short *)depthMeta.Data;
int nTexMapX = b.BackBufferStride / (b.Format.BitsPerPixel / 8);
short *pTexRow = (short *)b.BackBuffer + depthMeta.YOffset * nTexMapX;
for (int y = 0; y < depthMeta.YRes; y++)
{
short *pDepth = pDepthRow;
short *pTex = pTexRow + depthMeta.XOffset;
for (int x = 0; x < depthMeta.XRes; x++)
{
if (*pDepth != 0)
{
*pTex = (short)_depthHist[*pDepth];
}
else
{
*pTex = 0;
}
pDepth++;
pTex++;
}
pDepthRow += depthMeta.XRes;
pTexRow += nTexMapX;
}
b.AddDirtyRect(new Int32Rect(0, 0, b.PixelWidth, b.PixelHeight));
b.Unlock();
}
public void Paint(XnMDepthMetaData depthMeta, WriteableBitmap b)
{
if (b.Format == PixelFormats.Gray16)
PaintGray16(b, depthMeta);
else if (b.Format == PixelFormats.Pbgra32)
PaintPbgra32(b, depthMeta);
}
private void InitOpenNi(AsyncStateData asyncData)
{
_niContext = new XnMOpenNIContextEx();
_niContext.InitFromXmlFile("openni.xml");
_imageNode = (XnMImageGenerator)_niContext.FindExistingNode(XnMProductionNodeType.Image);
_imageMeta = new XnMImageMetaData();
_imageNode.GetMetaData(_imageMeta);
// create the image bitmap source on
asyncData.AsyncOperation.SynchronizationContext.Send(
md => CreateImageBitmap(_imageMeta, out _rgbImageSource),
null);
// add depth node
_depthNode = (XnMDepthGenerator)_niContext.FindExistingNode(XnMProductionNodeType.Depth);
_depthMeta = new XnMDepthMetaData();
_depthNode.GetMetaData(_depthMeta);
asyncData.AsyncOperation.SynchronizationContext.Send(
state => CreateImageBitmap(_depthMeta, out _depthImageSource, PixelFormats.Pbgra32),
null);
// add scene node
_sceneNode = (XnMSceneAnalyzer)_niContext.FindExistingNode(XnMProductionNodeType.Scene);
_sceneMeta = new XnMSceneMetaData();
_sceneNode.GetMetaData(_sceneMeta);
asyncData.AsyncOperation.SynchronizationContext.Send(
state => CreateImageBitmap(_sceneMeta, out _sceneImageSource, PixelFormats.Pbgra32),
null);
}
public void Paint(XnMDepthMetaData depthMeta, WriteableBitmap b)
{
if (b.Format == PixelFormats.Gray16)
{
PaintGray16(b, depthMeta);
}
else if (b.Format == PixelFormats.Pbgra32)
{
PaintPbgra32(b, depthMeta);
}
}
private bool InitOpenNi(AsyncStateData asyncData)
{
try
{
_niContext = new XnMOpenNIContextEx();
_niContext.InitFromXmlFile("openni.xml");
_imageNode = (XnMImageGenerator)_niContext.FindExistingNode(XnMProductionNodeType.Image);
_imageMeta = new XnMImageMetaData();
_imageNode.GetMetaData(_imageMeta);
if (_imageMeta.PixelFormat != XnMPixelFormat.Rgb24)
{
throw new InvalidOperationException("Only RGB24 pixel format is supported");
}
// add depth node
_depthNode = (XnMDepthGenerator)_niContext.FindExistingNode(XnMProductionNodeType.Depth);
_depthMeta = new XnMDepthMetaData();
_depthNode.GetMetaData(_depthMeta);
if (_depthMeta.PixelFormat != XnMPixelFormat.Grayscale16Bit)
{
throw new InvalidOperationException("Only 16-bit depth precission is supported");
}
if (_depthMeta.XRes != _imageMeta.XRes || _depthMeta.YRes != _imageMeta.YRes)
{
throw new InvalidOperationException("Image and depth map must have the same resolution");
}
// add scene node
_sceneNode = (XnMSceneAnalyzer)_niContext.FindExistingNode(XnMProductionNodeType.Scene);
_sceneMeta = new XnMSceneMetaData();
_sceneNode.GetMetaData(_sceneMeta);
asyncData.AsyncOperation.SynchronizationContext.Send(
delegate
{
UpdateCameraInfo();
UpdateFrameData();
InvokeTrackinkgStarted(EventArgs.Empty);
}, null);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
private void PaintPbgra32(WriteableBitmap b, XnMDepthMetaData depthMeta)
{
b.Lock();
short *pDepthRow = (short *)depthMeta.Data;
int nTexMapX = b.BackBufferStride;
byte *pTexRow = (byte *)b.BackBuffer + depthMeta.YOffset * nTexMapX;
for (int y = 0; y < depthMeta.YRes; y++)
{
short *pDepth = pDepthRow;
byte * pTex = pTexRow + depthMeta.XOffset;
for (int x = 0; x < depthMeta.XRes; x++)
{
if (*pDepth != 0)
{
// paint as yellow
byte val = (byte)(_depthHist[*pDepth] / 256);
pTex[0] = 0; // B
pTex[1] = val; // G
pTex[2] = val; // R
pTex[3] = 255; // A
}
else
{
pTex[0] = 0; // B
pTex[1] = 0; // G
pTex[2] = 0; // R
pTex[3] = 0; // A
}
pDepth++;
pTex += 4;
}
pDepthRow += depthMeta.XRes;
pTexRow += nTexMapX;
}
b.AddDirtyRect(new Int32Rect(0, 0, b.PixelWidth, b.PixelHeight));
b.Unlock();
}
public void Update(XnMDepthMetaData depthMeta)
{
if (_depthHist == null)
{
_depthHist = new float[MaxDepth];
}
Array.Clear(_depthHist, 0, _depthHist.Length);
int numPoints = 0;
short *ptrDepth = (short *)depthMeta.Data;
for (int y = 0; y < depthMeta.YRes; y++)
{
for (int x = 0; x < depthMeta.XRes; x++)
{
if (*ptrDepth != 0)
{
_depthHist[*ptrDepth]++;
numPoints++;
}
ptrDepth++;
}
}
for (int i = 1; i < MaxDepth; i++)
{
_depthHist[i] += _depthHist[i - 1];
}
if (numPoints > 0)
{
for (int nIndex = 1; nIndex < MaxDepth; nIndex++)
{
_depthHist[nIndex] = Int16.MaxValue * (1.0f - (_depthHist[nIndex] / numPoints));
}
}
}
public void Update(XnMDepthMetaData depthMeta)
{
if (_depthHist == null)
_depthHist = new float[MaxDepth];
Array.Clear(_depthHist, 0, _depthHist.Length);
int numPoints = 0;
short* ptrDepth = (short*)depthMeta.Data;
for (int y = 0; y < depthMeta.YRes; y++)
{
for (int x = 0; x < depthMeta.XRes; x++)
{
if (*ptrDepth != 0)
{
_depthHist[*ptrDepth]++;
numPoints++;
}
ptrDepth++;
}
}
for (int i = 1; i < MaxDepth; i++)
{
_depthHist[i] += _depthHist[i - 1];
}
if (numPoints > 0)
{
for (int nIndex = 1; nIndex < MaxDepth; nIndex++)
{
_depthHist[nIndex] = Int16.MaxValue * (1.0f - (_depthHist[nIndex] / numPoints));
}
}
}
private bool InitOpenNi(AsyncStateData asyncData)
{
try
{
_niContext = new XnMOpenNIContextEx();
_niContext.InitFromXmlFile("openni.xml");
_imageNode = (XnMImageGenerator)_niContext.FindExistingNode(XnMProductionNodeType.Image);
_imageMeta = new XnMImageMetaData();
_imageNode.GetMetaData(_imageMeta);
if (_imageMeta.PixelFormat != XnMPixelFormat.Rgb24)
throw new InvalidOperationException("Only RGB24 pixel format is supported");
// add depth node
_depthNode = (XnMDepthGenerator)_niContext.FindExistingNode(XnMProductionNodeType.Depth);
_depthMeta = new XnMDepthMetaData();
_depthNode.GetMetaData(_depthMeta);
if (_depthMeta.PixelFormat != XnMPixelFormat.Grayscale16Bit)
throw new InvalidOperationException("Only 16-bit depth precission is supported");
if (_depthMeta.XRes != _imageMeta.XRes || _depthMeta.YRes != _imageMeta.YRes)
throw new InvalidOperationException("Image and depth map must have the same resolution");
// add scene node
_sceneNode = (XnMSceneAnalyzer)_niContext.FindExistingNode(XnMProductionNodeType.Scene);
_sceneMeta = new XnMSceneMetaData();
_sceneNode.GetMetaData(_sceneMeta);
asyncData.AsyncOperation.SynchronizationContext.Send(
delegate
{
UpdateCameraInfo();
UpdateFrameData();
InvokeTrackinkgStarted(EventArgs.Empty);
}, null);
return true;
}
catch (Exception ex)
{
return false;
}
}
private void InitOpenNi(AsyncStateData asyncData)
{
_niContext = new XnMOpenNIContextEx();
_niContext.InitFromXmlFile("openni.xml");
_imageNode = (XnMImageGenerator)_niContext.FindExistingNode(XnMProductionNodeType.Image);
_imageMeta = new XnMImageMetaData();
_imageNode.GetMetaData(_imageMeta);
// create the image bitmap source on
asyncData.AsyncOperation.SynchronizationContext.Send(
md => CreateImageBitmap(_imageMeta, out _rgbImageSource),
null);
// add depth node
_depthNode = (XnMDepthGenerator) _niContext.FindExistingNode(XnMProductionNodeType.Depth);
_depthMeta = new XnMDepthMetaData();
_depthNode.GetMetaData(_depthMeta);
asyncData.AsyncOperation.SynchronizationContext.Send(
state => CreateImageBitmap(_depthMeta, out _depthImageSource, PixelFormats.Pbgra32),
null);
// add scene node
_sceneNode = (XnMSceneAnalyzer) _niContext.FindExistingNode(XnMProductionNodeType.Scene);
_sceneMeta = new XnMSceneMetaData();
_sceneNode.GetMetaData(_sceneMeta);
asyncData.AsyncOperation.SynchronizationContext.Send(
state => CreateImageBitmap(_sceneMeta, out _sceneImageSource, PixelFormats.Pbgra32),
null);
}
private void PaintPbgra32(WriteableBitmap b, XnMDepthMetaData depthMeta)
{
b.Lock();
short* pDepthRow = (short*)depthMeta.Data;
int nTexMapX = b.BackBufferStride;
byte* pTexRow = (byte*)b.BackBuffer + depthMeta.YOffset * nTexMapX;
for (int y = 0; y < depthMeta.YRes; y++)
{
short* pDepth = pDepthRow;
byte* pTex = pTexRow + depthMeta.XOffset;
for (int x = 0; x < depthMeta.XRes; x++)
{
if (*pDepth != 0)
{
// paint as yellow
byte val = (byte) (_depthHist[*pDepth]/256);
pTex[0] = 0; // B
pTex[1] = val; // G
pTex[2] = val; // R
pTex[3] = 255; // A
}
else
{
pTex[0] = 0; // B
pTex[1] = 0; // G
pTex[2] = 0; // R
pTex[3] = 0; // A
}
pDepth++;
pTex+=4;
}
pDepthRow += depthMeta.XRes;
pTexRow += nTexMapX;
}
b.AddDirtyRect(new Int32Rect(0, 0, b.PixelWidth, b.PixelHeight));
b.Unlock();
}
