Example #1
0
        private void KinectSensorOnAllFramesReady(object sender, AllFramesReadyEventArgs e)
        {
            if (frameProccessed[1] == false)
            {
                frameProccessed[1] = true;
            }
            else
            {
                frameProccessed[1] = false;
                return;
            }
            ColorImageFrame colorImageFrame = null;
            DepthImageFrame depthImageFrame = null;
            SkeletonFrame   skeletonFrame   = null;

            try
            {
                colorImageFrame = e.OpenColorImageFrame();
                depthImageFrame = e.OpenDepthImageFrame();
                skeletonFrame   = e.OpenSkeletonFrame();

                if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
                {
                    return;
                }

                if (this.depthImageFormat != depthImageFrame.Format)
                {
                    this.depthImage       = null;
                    this.depthImageFormat = depthImageFrame.Format;
                }

                if (this.colorImageFormat != colorImageFrame.Format)
                {
                    this.colorImage       = null;
                    this.colorImageFormat = colorImageFrame.Format;
                }

                if (this.depthImage == null)
                {
                    this.depthImage = new short[depthImageFrame.PixelDataLength];
                }

                if (this.colorImage == null)
                {
                    this.colorImage = new byte[colorImageFrame.PixelDataLength];
                }

                if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
                {
                    this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
                }

                colorImageFrame.CopyPixelDataTo(this.colorImage);
                depthImageFrame.CopyPixelDataTo(this.depthImage);
                skeletonFrame.CopySkeletonDataTo(this.skeletonData);
            }
            finally
            {
                if (colorImageFrame != null)
                {
                    colorImageFrame.Dispose();
                }

                if (depthImageFrame != null)
                {
                    depthImageFrame.Dispose();
                }

                if (skeletonFrame != null)
                {
                    skeletonFrame.Dispose();
                }

                using (depthImageFrame)
                {
                    if (depthImageFrame != null && skeletonData != null)
                    {
                        foreach (Skeleton sd in skeletonData)
                        {
                            if (sd.TrackingState == SkeletonTrackingState.Tracked || sd.TrackingState == SkeletonTrackingState.PositionOnly)
                            {
                                Joint joint = sd.Joints[JointType.Head];

                                DepthImagePoint  depthPoint;
                                CoordinateMapper coordinateMapper = new CoordinateMapper(frontSensor);
                                depthPoint = coordinateMapper.MapSkeletonPointToDepthPoint(joint.Position, DepthImageFormat.Resolution320x240Fps30);

                                point = new System.Windows.Point((int)(frontSensor.ColorStream.FrameWidth * depthPoint.X
                                                                       / depthImageFrame.Width),
                                                                 (int)(frontSensor.ColorStream.FrameHeight * depthPoint.Y
                                                                       / depthImageFrame.Height));

                                /* textBlock1.Text = string.Format("X:{0:0.00} Y:{1:0.00} Z:{2:0.00}",
                                 *                              point.X,
                                 *                              point.Y,
                                 *                              joint.Position.Z); */

                                Canvas.SetLeft(headEllipse, point.X - headEllipse.Width / 2);
                                Canvas.SetTop(headEllipse, point.Y - headEllipse.Height / 2);

                                if (this.faceTracker == null)
                                {
                                    try
                                    {
                                        this.faceTracker = new FaceTracker(frontSensor);
                                    }
                                    catch (InvalidOperationException)
                                    {
                                        // During some shutdown scenarios the FaceTrack
                                        // is unable to be instantiated.  Catch that exception
                                        // and don't track a face.
                                        this.faceTracker = null;
                                    }
                                }
                                if (this.faceTracker != null)
                                {
                                    FaceTrackFrame frame = this.faceTracker.Track(
                                        colorImageFormat, colorImage, depthImageFormat, depthImage, sd);

                                    if (frame.TrackSuccessful)
                                    {
                                        faceTriangles   = frame.GetTriangles();
                                        this.facePoints = frame.GetProjected3DShape();

                                        var faceModelPts = new List <Point>();
                                        var faceModel    = new List <FaceModelTriangle>();


                                        for (int i = 0; i < this.facePoints.Count; i++)
                                        {
                                            faceModelPts.Add(new Point(this.facePoints[i].X + 0.5f, this.facePoints[i].Y + 0.5f));
                                        }

                                        foreach (var t in faceTriangles)
                                        {
                                            var triangle = new FaceModelTriangle();
                                            triangle.P1 = faceModelPts[t.First];
                                            //triangle.P2 = faceModelPts[t.Second];
                                            //triangle.P3 = faceModelPts[t.Third];
                                            faceModel.Add(triangle);
                                        }

                                        Canvas.SetLeft(noseEllipse, faceModel[108].P1.X - noseEllipse.Width / 2);
                                        Canvas.SetTop(noseEllipse, faceModel[108].P1.Y - noseEllipse.Height / 2);
                                        nosePoint = new Point(faceModel[108].P1.X, faceModel[108].P1.Y);
                                    }
                                }
                            }
                        }
                    }
                }

                getAttentionAngle(nosePoint);
            }
        }
Example #2
0
        private void KinectSensorOnAllFramesReady(object sender, AllFramesReadyEventArgs e)
        {
            if (frameProccessed[1] == false)
            {
                frameProccessed[1] = true;
            }
            else
            {
                frameProccessed[1] = false;
                return;
            }
            ColorImageFrame colorImageFrame = null;
            DepthImageFrame depthImageFrame = null;
            SkeletonFrame skeletonFrame = null;

            try
            {

                colorImageFrame = e.OpenColorImageFrame();
                depthImageFrame = e.OpenDepthImageFrame();
                skeletonFrame = e.OpenSkeletonFrame();

                if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
                {
                    return;
                }

                if (this.depthImageFormat != depthImageFrame.Format)
                {
                    this.depthImage = null;
                    this.depthImageFormat = depthImageFrame.Format;
                }

                if (this.colorImageFormat != colorImageFrame.Format)
                {
                    this.colorImage = null;
                    this.colorImageFormat = colorImageFrame.Format;
                }

                if (this.depthImage == null)
                {
                    this.depthImage = new short[depthImageFrame.PixelDataLength];
                }

                if (this.colorImage == null)
                {
                    this.colorImage = new byte[colorImageFrame.PixelDataLength];
                }

                if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
                {
                    this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
                }

                colorImageFrame.CopyPixelDataTo(this.colorImage);
                depthImageFrame.CopyPixelDataTo(this.depthImage);
                skeletonFrame.CopySkeletonDataTo(this.skeletonData);
            }
            finally
            {
                if (colorImageFrame != null)
                {
                    colorImageFrame.Dispose();
                }

                if (depthImageFrame != null)
                {
                    depthImageFrame.Dispose();
                }

                if (skeletonFrame != null)
                {
                    skeletonFrame.Dispose();
                }

                using (depthImageFrame)
                {
                    if (depthImageFrame != null && skeletonData != null)
                    {
                        foreach (Skeleton sd in skeletonData)
                        {
                            if (sd.TrackingState == SkeletonTrackingState.Tracked || sd.TrackingState == SkeletonTrackingState.PositionOnly)
                            {
                                Joint joint = sd.Joints[JointType.Head];

                                DepthImagePoint depthPoint;
                                CoordinateMapper coordinateMapper = new CoordinateMapper(frontSensor);
                                depthPoint = coordinateMapper.MapSkeletonPointToDepthPoint(joint.Position, DepthImageFormat.Resolution320x240Fps30);

                                point = new System.Windows.Point((int)(frontSensor.ColorStream.FrameWidth * depthPoint.X
                                                                   / depthImageFrame.Width),
                                                        (int)(frontSensor.ColorStream.FrameHeight * depthPoint.Y
                                                                   / depthImageFrame.Height));

                                /* textBlock1.Text = string.Format("X:{0:0.00} Y:{1:0.00} Z:{2:0.00}",
                                                                point.X,
                                                                point.Y,
                                                                joint.Position.Z); */

                                Canvas.SetLeft(headEllipse, point.X - headEllipse.Width / 2);
                                Canvas.SetTop(headEllipse, point.Y - headEllipse.Height / 2);

                                if (this.faceTracker == null)
                                {
                                    try
                                    {
                                        this.faceTracker = new FaceTracker(frontSensor);
                                    }
                                    catch (InvalidOperationException)
                                    {
                                        // During some shutdown scenarios the FaceTrack
                                        // is unable to be instantiated.  Catch that exception
                                        // and don't track a face.
                                        this.faceTracker = null;
                                    }
                                }
                                if (this.faceTracker != null)
                                {
                                    FaceTrackFrame frame = this.faceTracker.Track(
                                        colorImageFormat, colorImage, depthImageFormat, depthImage, sd);

                                    if (frame.TrackSuccessful)
                                    {
                                        faceTriangles = frame.GetTriangles();
                                        this.facePoints = frame.GetProjected3DShape();

                                        var faceModelPts = new List<Point>();
                                        var faceModel = new List<FaceModelTriangle>();

                                        for (int i = 0; i < this.facePoints.Count; i++)
                                        {
                                            faceModelPts.Add(new Point(this.facePoints[i].X + 0.5f, this.facePoints[i].Y + 0.5f));
                                        }

                                        foreach (var t in faceTriangles)
                                        {
                                            var triangle = new FaceModelTriangle();
                                            triangle.P1 = faceModelPts[t.First];
                                            //triangle.P2 = faceModelPts[t.Second];
                                            //triangle.P3 = faceModelPts[t.Third];
                                            faceModel.Add(triangle);
                                        }

                                        Canvas.SetLeft(noseEllipse, faceModel[108].P1.X - noseEllipse.Width / 2);
                                        Canvas.SetTop(noseEllipse, faceModel[108].P1.Y - noseEllipse.Height / 2);
                                        nosePoint = new Point(faceModel[108].P1.X, faceModel[108].P1.Y);
                                    }
                                }
                            }
                        }
                    }
                }

                getAttentionAngle(nosePoint);
            }
        }