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_profile, options.m_mirrorStreams, options.m_smoothing));
}
public static FubiUtils.RecognitionResult getCombinationRecognitionProgressOn(string recognizerName, UInt32 userID, out FubiTrackingData[] userStates, bool restart = true)
{
IntPtr vec = FubiInternal.createTrackingDataVector();
IntPtr namePtr = Marshal.StringToHGlobalAnsi(recognizerName);
FubiUtils.RecognitionResult recognized = FubiInternal.getCombinationRecognitionProgressOn(namePtr, userID, vec, restart);
Marshal.FreeHGlobal(namePtr);
if (recognized == FubiUtils.RecognitionResult.RECOGNIZED)
{
UInt32 size = FubiInternal.getTrackingDataVectorSize(vec);
userStates = new FubiTrackingData[size];
for (UInt32 i = 0; i < size; i++)
{
IntPtr tInfo = FubiInternal.getTrackingData(vec, i);
FubiTrackingData info = new FubiTrackingData();
for (UInt32 j = 0; j < (uint)FubiUtils.SkeletonJoint.NUM_JOINTS; ++j)
{
FubiInternal.getSkeletonJointPosition(tInfo, (FubiUtils.SkeletonJoint)j, out info.jointPositions[j].x, out info.jointPositions[j].y, out info.jointPositions[j].z, out info.jointPositions[j].confidence, out info.timeStamp);
double timeStamp = 0;
FubiInternal.getSkeletonJointOrientation(tInfo, (FubiUtils.SkeletonJoint)j, info.jointOrientations[j].rotMat, out info.jointPositions[j].confidence, out timeStamp);
info.timeStamp = Math.Max(timeStamp, info.timeStamp);
}
userStates[i] = info;
}
}
else
{
userStates = null;
}
FubiInternal.releaseTrackingDataVector(vec);
return(recognized);
}
public static void enableCombinationRecognition(string combinationName, UInt32 userID, bool enable)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(combinationName);
FubiInternal.enableCombinationRecognition(namePtr, userID, enable);
Marshal.FreeHGlobal(namePtr);
}
public static void getImage(byte[] outputImage, FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
uint userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS)
{
if (outputImage != null)
{
int size = outputImage.Length + 1;
// allocate memory for resource data
IntPtr ptr = Marshal.AllocHGlobal(size);
// load resource
FubiInternal.getImage(ptr, type, numChannels, depth, renderOptions, depthModifications, userId, jointOfInterest);
// copy byte data into allocated memory
Marshal.Copy(ptr, outputImage, 0, outputImage.Length);
Marshal.WriteByte(ptr, size, 0x00);
// free previously allocated memory
Marshal.FreeHGlobal(ptr);
return;
}
}
public static Int32 getUserDefinedCombinationRecognizerIndex(string recognizerName)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(recognizerName);
Int32 ret = FubiInternal.getUserDefinedCombinationRecognizerIndex(namePtr);
Marshal.FreeHGlobal(namePtr);
return(ret);
}
public static FubiUtils.RecognitionResult getCombinationRecognitionProgressOn(string recognizerName, UInt32 userID, bool restart = true)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(recognizerName);
FubiUtils.RecognitionResult ret = FubiInternal.getCombinationRecognitionProgressOn(namePtr, userID, new IntPtr(0), restart);
Marshal.FreeHGlobal(namePtr);
return(ret);
}
public static bool loadRecognizersFromXML(string fileName)
{
IntPtr fileNamePtr = Marshal.StringToHGlobalAnsi(fileName);
bool ret = FubiInternal.loadRecognizersFromXML(fileNamePtr);
Marshal.FreeHGlobal(fileNamePtr);
return(ret);
}
public static bool addCombinationRecognizer(string xmlDefinition)
{
IntPtr stringPtr = Marshal.StringToHGlobalAnsi(xmlDefinition);
bool ret = FubiInternal.addCombinationRecognizer(stringPtr);
Marshal.FreeHGlobal(stringPtr);
return(ret);
}
public static FubiUtils.RecognitionResult recognizeGestureOn(string recognizerName, UInt32 userID)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(recognizerName);
FubiUtils.RecognitionResult ret = FubiInternal.recognizeGestureOn(namePtr, userID);
Marshal.FreeHGlobal(namePtr);
return(ret);
}
public static UInt32 addLinearMovementRecognizer(FubiUtils.SkeletonJoint joint, FubiUtils.SkeletonJoint relJoint,
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, relJoint, dirX, dirY, dirZ, minVel, maxVel, useLocalPositions, atIndex, namePtr, maxAngleDifference, useOnlyCorrectDirectionComponent);
Marshal.FreeHGlobal(namePtr);
return(ret);
}
public static bool init(string openniXmlconfig, FubiUtils.SkeletonProfile profile = FubiUtils.SkeletonProfile.ALL, bool mirrorStream = true, float smoothing = 0)
{
bool ret = true;
if (!isInitialized())
{
IntPtr openNiXmlPtr = Marshal.StringToHGlobalAnsi(openniXmlconfig);
ret = FubiInternal.init(openNiXmlPtr, profile, mirrorStream, smoothing);
Marshal.FreeHGlobal(openNiXmlPtr);
}
return(ret);
}
public static bool saveImage(string fileName, int jpegQuality /*0-100*/,
FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
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, depthModifications, userId, jointOfInterest);
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 bool init(FubiUtils.SensorOptions options)
{
bool ret = true;
if (!isInitialized())
{
ret = FubiInternal.init(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_type,
options.m_profile, options.m_mirrorStreams, options.m_smoothing);
}
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 void getCurrentSkeletonJointOrientation(UInt32 userID, FubiUtils.SkeletonJoint joint, float[] mat, out float confidence, out double timeStamp)
{
IntPtr info = FubiInternal.getCurrentTrackingData(userID);
if (info.ToInt32() != 0)
{
FubiInternal.getSkeletonJointOrientation(info, joint, mat, out confidence, out timeStamp);
}
else
{
mat = new float[] { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
confidence = 0;
timeStamp = 0;
}
}
public static FubiUtils.SensorType getCurrentSensorType()
{
return(FubiInternal.getCurrentSensorType());
}
public static void release()
{
FubiInternal.release();
}
public static bool isUserInScene(UInt32 userID)
{
return(FubiInternal.isUserInScene(userID));
}
public static int getAvailableSensors()
{
return(FubiInternal.getAvailableSensorTypes());
}
public static void resetTracking()
{
FubiInternal.resetTracking();
}
public static double getCurrentTime()
{
return(FubiInternal.getCurrentTime());
}
public static void realWorldToProjective(float realWorldX, float realWorldY, float realWorldZ, out float screenX, out float screenY, out float screenZ)
{
FubiInternal.realWorldToProjective(realWorldX, realWorldY, realWorldZ, out screenX, out screenY, out screenZ);
}
public static UInt16 getNumUsers()
{
return(FubiInternal.getCurrentUsers(new IntPtr(0)));
}
public static UInt32 getClosestUserID()
{
return(FubiInternal.getClosestUserID());
}
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)
{
IntPtr info = FubiInternal.getCurrentTrackingData(userID);
FubiInternal.getSkeletonJointPosition(info, joint, out x, out y, out z, out confidence, out timeStamp, useLocalPositions);
}
public static void updateSensor()
{
FubiInternal.updateSensor();
}
public static bool isUserTracked(UInt32 userID)
{
return(FubiInternal.isUserTracked(userID));
}
public static void clearUserDefinedRecognizers()
{
FubiInternal.clearUserDefinedRecognizers();
}
