public MainWindow()
{
InitializeComponent();
try {
// ContextとImageGeneratorの作成
ScriptNode node;
context = Context.CreateFromXmlFile( "../../SamplesConfig.xml", out node );
context.GlobalMirror = false;
image = context.FindExistingNode( NodeType.Image ) as ImageGenerator;
// ユーザーの作成
user = new UserGenerator( context );
context.StartGeneratingAll();
// 画像更新のためのスレッドを作成
shouldRun = true;
readerThread = new Thread( new ThreadStart( ReaderThread ) );
readerThread.Start();
}
catch ( Exception ex ) {
MessageBox.Show( ex.Message );
}
}
public MainWindow()
{
InitializeComponent();
this.context = Context.CreateFromXmlFile(SAMPLE_XML_FILE, out scriptNode);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary<int,Dictionary<SkeletonJoint,SkeletonJointPosition>>();
this.userGenerator.StartGenerating();
this.histogram = new int[this.depth.DeviceMaxDepth];
MapOutputMode mapMode = this.depth.MapOutputMode;
this.bitmap = new Bitmap((int)mapMode.XRes, (int)mapMode.YRes/*, System.Drawing.Imaging.PixelFormat.Format24bppRgb*/);
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
}
public MainWindow()
{
InitializeComponent();
try {
// ContextとImageGeneratorの作成
ScriptNode node;
context = Context.CreateFromXmlFile( "../../SamplesConfig.xml", out node );
context.GlobalMirror = true;
image = context.FindExistingNode( NodeType.Image ) as ImageGenerator;
depth = context.FindExistingNode( NodeType.Depth ) as DepthGenerator;
depth.AlternativeViewpointCapability.SetViewpoint( image );
// ユーザーの作成
user = context.FindExistingNode( NodeType.User ) as UserGenerator;
// ユーザー認識のコールバックを登録
user.NewUser += new EventHandler<NewUserEventArgs>( user_NewUser );
//キャリブレーションにポーズが必要か確認
if ( user.SkeletonCapability.DoesNeedPoseForCalibration ) {
// ポーズ検出のサポートチェック
if ( !user.IsCapabilitySupported( "User::PoseDetection" ) ) {
throw new Exception( "ポーズ検出をサポートしていません" );
}
// ポーズ検出のコールバックを登録
user.PoseDetectionCapability.PoseDetected +=
new EventHandler<PoseDetectedEventArgs>( poseDetect_PoseDetected );
}
// スケルトン検出機能をサポートしているか確認
if ( !user.IsCapabilitySupported( "User::Skeleton" ) ) {
throw new Exception( "ユーザー検出をサポートしていません" );
}
// キャリブレーションのコールバックを登録
user.SkeletonCapability.CalibrationEnd +=
new EventHandler<CalibrationEndEventArgs>( skelton_CalibrationEnd );
// すべてをトラッキングする
user.SkeletonCapability.SetSkeletonProfile( SkeletonProfile.HeadAndHands );
// ジェスチャーの検出開始
context.StartGeneratingAll();
// 画像更新のためのスレッドを作成
shouldRun = true;
readerThread = new Thread( new ThreadStart( ReaderThread ) );
readerThread.Start();
}
catch ( Exception ex ) {
MessageBox.Show( ex.Message );
}
}
void Start()
{
calibratedUsers = new List<int>();
calibratingUsers = new List<int>();
allUsers = new List<int>();
this.userGenerator = OpenNIContext.OpenNode(NodeType.User) as UserGenerator; //new UserGenerator(this.Context.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.userGenerator.NewUser += new EventHandler<NewUserEventArgs>(userGenerator_NewUser);
this.userGenerator.LostUser += new EventHandler<UserLostEventArgs>(userGenerator_LostUser);
this.poseDetectionCapability.PoseDetected += new EventHandler<PoseDetectedEventArgs>(poseDetectionCapability_PoseDetected);
this.skeletonCapbility.CalibrationEnd += new EventHandler<CalibrationEndEventArgs>(skeletonCapbility_CalibrationEnd);
}
public MainWindow()
{
InitializeComponent();
try
{
// OpenNIの初期化
ScriptNode node;
context = Context.CreateFromXmlFile("../../SamplesConfig.xml", out node);
context.GlobalMirror = false;
// depthの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
// ユーザーの作成
user = new UserGenerator(context);
// ポーズが必要な場合は、最新版を入れてもらう
if (user.SkeletonCapability.DoesNeedPoseForCalibration)
{
throw new Exception("最新のOpenNIをインストールしてください");
}
// ユーザー検出、キャリブレーション完了のイベントを登録する
user.NewUser += new EventHandler<NewUserEventArgs>(user_NewUser);
user.SkeletonCapability.CalibrationComplete += new EventHandler<CalibrationProgressEventArgs>(SkeletonCapability_CalibrationComplete);
// すべての骨格を追跡する
user.SkeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
// 動作を開始する
context.StartGeneratingAll();
// 画像更新のためのスレッドを作成
shouldRun = true;
readerThread = new Thread(new ThreadStart(ReaderThread));
readerThread.Start();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
public KinectManager()
{
try
{
_context = new Context(@"..\..\Data\openniconfig.xml");
_depth_generator = _context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (_depth_generator == null)
throw new Exception(@"Error in Data\openniconfig.xml - No depth node found.");
_user_generator = new UserGenerator(_context);
_skeleton_caps = _user_generator.SkeletonCapability;
_pose_detect_caps = _user_generator.PoseDetectionCapability;
_calibration_pose = _skeleton_caps.CalibrationPose;
// event handler for detection
_user_generator.NewUser += (_user_generator_NewUser);
_user_generator.LostUser += (_user_generator_LostUser);
_pose_detect_caps.PoseDetected += (_pose_detect_caps_PoseDetected);
_skeleton_caps.CalibrationEnd += (_skeleton_caps_CalibrationEnd);
_skeleton_caps.SetSkeletonProfile(SkeletonProfile.All);
// initialize joints
_joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
_joint_orientation = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointOrientation>>();
// start generating data
_user_generator.StartGenerating();
}catch(Exception ex)
{
Console.WriteLine("Error initializing OpenNi.");
Console.WriteLine(ex.Message);
}
// update timer for the depth image
DispatcherTimer dispatcher_timer = new DispatcherTimer();
dispatcher_timer.Tick += new EventHandler(dispatcher_timer_Tick);
dispatcher_timer.Interval = new TimeSpan(0, 0, 0, 0, 10); // update every 10 ms
dispatcher_timer.Start();
Console.WriteLine("Finished loading");
}
public UserController(Context context, string calibrationPath)
{
this.Context = context;
this.CalibrationPath = calibrationPath;
this.Users = new Dictionary<int, KinectUser>();
_UserLock = new object();
_SkeletonLock = new object();
_UserGenerator = new UserGenerator(Context);
_SkeletonCapability = _UserGenerator.SkeletonCapability;
_PoseDetectionCapability = _UserGenerator.PoseDetectionCapability;
_CalibrationPose = _SkeletonCapability.CalibrationPose;
_UserGenerator.NewUser += new EventHandler<NewUserEventArgs>(_UserGenerator_NewUser);
_UserGenerator.LostUser += new EventHandler<UserLostEventArgs>(_UserGenerator_LostUser);
_PoseDetectionCapability.PoseDetected += new EventHandler<PoseDetectedEventArgs>(PoseDetectionCapability_PoseDetected);
_SkeletonCapability.CalibrationComplete += new EventHandler<CalibrationProgressEventArgs>(_SkeletonCapability_CalibrationComplete);
_SkeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
_UserGenerator.StartGenerating();
}
public void DrawOrientation(ref WriteableBitmap image, int id, UserGenerator userGenerator, SkeletonJoint joint, Point3D corner)
{
SkeletonJointOrientation orientation = new SkeletonJointOrientation();
SkeletonJointPosition position = new SkeletonJointPosition();
position = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, joint);
orientation = userGenerator.SkeletonCapability.GetSkeletonJointOrientation(id, joint);
if (position.Confidence != 1 && orientation.Confidence != 1)
{
return;
}
SkeletonJointPosition v1 = new SkeletonJointPosition();
SkeletonJointPosition v2 = new SkeletonJointPosition();
v1.Confidence = v2.Confidence = 1;
v1.Position = position.Position;
v2.Position = new Point3D(v1.Position.X + 100 * orientation.X1,
v1.Position.Y + 100 * orientation.Y1,
v1.Position.Z + 100 * orientation.Z1);
DrawTheLine(ref image, ref v1, ref v2);
v1.Position = position.Position;
v2.Position = new Point3D(v1.Position.X + 100 * orientation.X2,
v1.Position.Y + 100 * orientation.Y2,
v1.Position.Z + 100 * orientation.Z2);
DrawTheLine(ref image, ref v1, ref v2);
v1.Position = position.Position;
v2.Position = new Point3D(v1.Position.X + 100 * orientation.X3,
v1.Position.Y + 100 * orientation.Y3,
v1.Position.Z + 100 * orientation.Z3);
DrawTheLine(ref image, ref v1, ref v2);
}
public void DrawHeadAndHands(ref WriteableBitmap image, int id, UserGenerator userGenerator, DepthGenerator depthGenerator)
{
int headSize = 40; int handSize = 20;
SkeletonJointPosition head = new SkeletonJointPosition();
SkeletonJointPosition leftHand = new SkeletonJointPosition();
SkeletonJointPosition rightHand = new SkeletonJointPosition();
head = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.Head);
leftHand = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.LeftHand);
rightHand = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, SkeletonJoint.RightHand);
image.Lock();
var b = new Bitmap(image.PixelWidth, image.PixelHeight, image.BackBufferStride, System.Drawing.Imaging.PixelFormat.Format24bppRgb,
image.BackBuffer);
using (var bitmapGraphics = System.Drawing.Graphics.FromImage(b))
{
bitmapGraphics.SmoothingMode = SmoothingMode.HighSpeed;
bitmapGraphics.InterpolationMode = InterpolationMode.NearestNeighbor;
bitmapGraphics.CompositingMode = CompositingMode.SourceCopy;
bitmapGraphics.CompositingQuality = CompositingQuality.HighSpeed;
int[] headCoord = ConvertCoord(head, -headSize/2);
int[] leftHandCoord = ConvertCoord(leftHand, -handSize/2);
int[] rightHandCoord = ConvertCoord(rightHand, -handSize/2);
bitmapGraphics.DrawEllipse(Pens.BlueViolet, headCoord[0], headCoord[1], headSize, headSize);
bitmapGraphics.DrawEllipse(Pens.BlueViolet, leftHandCoord[0], leftHandCoord[1], handSize, handSize);
bitmapGraphics.DrawEllipse(Pens.BlueViolet, rightHandCoord[0], rightHandCoord[1], handSize, handSize);
bitmapGraphics.Dispose();
}
image.AddDirtyRect(new Int32Rect(0, 0, image.PixelWidth, image.PixelHeight));
image.Unlock();
}
public SpatialController(ControllerStartup startupType, UserGenerator userGenerator)
{
this.raysToBeAnimated = new Ray3D[2]; // Left and right, in this case.
this.userGenerator = userGenerator;
this.animationLock = new object();
this.calibrated = false;
this.devices = new Device[Device.getNodes().Count];
for (int i = 0; i < devices.Length; i++)
{
this.devices[i] = devices[i];
}
synth = new SpeechSynthesizer();
synth.SelectVoice("Microsoft Anna");
SpeakAndWriteToPrompt("Starting SpatialController!");
switch (startupType)
{
case ControllerStartup.FromFile:
this.calibrated = true;
initFromFile();
break;
case ControllerStartup.Calibrate:
// Wait for user to be recognized to start calibration.
break;
default:
break;
}
dimmingDown = false;
dimmingUp = false;
dimmingStartY = -1000.0;
VoiceCalibration();
}
public KinectManager(InputProvider inputProvider)
{
this.inputProvider = inputProvider;
//get configuration
String OpenNiconfigPath = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location) + "\\" + CONFIG_XML_FILE;
this.context = Context.CreateFromXmlFile(OpenNiconfigPath, out scriptNode);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.maxDepth = this.depth.DeviceMaxDepth;
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.Upper);
this.users = new Dictionary<int, User>();
this.userGenerator.StartGenerating();
this.mapMode = this.depth.MapOutputMode;
//load settings
updateSettings();
//start threads
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
this.settingsUpdateThread = new Thread(runUpdateSettings);
this.settingsUpdateThread.Start();
Console.WriteLine("Device initialized");
}
// private methods
/// @brief private constructor
///
/// This is part of the singleton pattern, a protected constructor cannot be called externally (although
/// it can be inherited for extensions. In which case the extender should also replace the singleton!
private NIUserAndSkeleton()
{
m_userGenerator = null;
}
/// @brief Initialize the user and skeleton information
///
/// This method initializes the user and skeleton information. It assumes the
/// context is already valid (otherwise we fail).
/// @note - Since we use a singleton pattern, multiple initializations will simply delete
/// the old information and create new one!
/// @note - It is the responsibility of the initializer to call @ref Dispose.
/// @param context the context used
/// @param logger the logger object we will enter logs into
/// @return true on success, false on failure.
public bool Init(NIEventLogger logger, NIContext context)
{
NIOpenNICheckVersion.Instance.ValidatePrerequisite();
Dispose(); // to make sure we are not initialized
if (InitWithContext(logger, context) == false)
return false;
m_userGenerator = context.CreateNode(NodeType.User) as UserGenerator;
if (m_userGenerator == null || m_userGenerator.SkeletonCapability==null)
{
Log("Failed to create proper user generator.", NIEventLogger.Categories.Initialization, NIEventLogger.Sources.Skeleton, NIEventLogger.VerboseLevel.Errors);
// we either don't have a user generator or the user generator we received does not have a skeleton
Dispose();
return false;
}
// skeleton heuristics tries to handle the skeleton when the confidence is low. It can
// have two values: 0 (no heuristics) or 255 (use heuristics).
m_userGenerator.SetIntProperty("SkeletonHeuristics", 255);
// makes sure we use all joints
m_userGenerator.SkeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
PoseDetectionCapability cap = UserNode.PoseDetectionCapability;
if (cap != null)
m_legalPoses = cap.GetAllAvailablePoses();
else
m_legalPoses = null;
m_poseDetectionCounter = new List<poseDetectionReferenceCounter>();
m_userGenerator.LostUser += new EventHandler<UserLostEventArgs>(LostUserCallback);
return true;
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType? type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = NodeInfo.FromNative(pNodeInfo).Description.Type;
}
ProductionNode node;
switch (type)
{
case NodeType.Device:
node = new Device(this, nodeHandle, true);
break;
case NodeType.Depth:
node = new DepthGenerator(this, nodeHandle, true);
break;
case NodeType.Image:
node = new ImageGenerator(this, nodeHandle, true);
break;
case NodeType.Audio:
node = new AudioGenerator(this, nodeHandle, true);
break;
case NodeType.IR:
node = new IRGenerator(this, nodeHandle, true);
break;
case NodeType.User:
node = new UserGenerator(this, nodeHandle, true);
break;
case NodeType.Recorder:
node = new Recorder(this, nodeHandle, true);
break;
case NodeType.Player:
node = new Player(this, nodeHandle, true);
break;
case NodeType.Gesture:
node = new GestureGenerator(this, nodeHandle, true);
break;
case NodeType.Scene:
node = new SceneAnalyzer(this, nodeHandle, true);
break;
case NodeType.Hands:
node = new HandsGenerator(this, nodeHandle, true);
break;
case NodeType.Codec:
node = new Codec(this, nodeHandle, true);
break;
case NodeType.ProductionNode:
node = new ProductionNode(this, nodeHandle, true);
break;
case NodeType.Generator:
node = new Generator(this, nodeHandle, true);
break;
case NodeType.MapGenerator:
node = new MapGenerator(this, nodeHandle, true);
break;
case NodeType.ScriptNode:
node = new ScriptNode(this, nodeHandle, true);
break;
default:
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return this.allNodes[nodeHandle];
} // lock
}
/// <summary>
/// Saves the labelmap with the provided stream.
/// </summary>
protected unsafe void saveUserDataToFileStream(BinaryWriter userInformationWriter, UserGenerator userGenerator)
{
ushort* pLabels = (ushort*)userGenerator.GetUserPixels(0).LabelMapPtr.ToPointer();
// At one position, only three bits of the 16 actual ushort bits
// are used to indicate the user id. So by combining four of these
// values, it is possible to write three bytes to the stream.
// This might be implemented for a future release.
for (int y = 0; y < imageMD.YRes; ++y)
{
for (int x = 0; x < imageMD.XRes; ++x)
{
userInformationWriter.Write(*pLabels++);
}
}
}
void FState_Initialised(object sender, EventArgs e)
{
try
{
//initialise
FUserGenerator = new UserGenerator(FState.Context);
FUserGenerator.NewUser += new EventHandler<NewUserEventArgs>(FUserGenerator_NewUser);
FUserGenerator.LostUser += new EventHandler<UserLostEventArgs>(FUserGenerator_LostUser);
FUserGenerator.UserReEnter += new EventHandler<UserReEnterEventArgs>(FUserGenerator_UserReEnter);
FUserGenerator.UserExit += new EventHandler<UserExitEventArgs>(FUserGenerator_UserExit);
FUserGenerator.StartGenerating();
FPinOutMask[0] = FImageMask.Link;
FImageMask.Image.Initialise(new Size(640, 480), TColorFormat.L16);
FState.Update += new EventHandler(FState_Update);
FStarted = true;
FPinOutStatus[0] = "OK";
}
catch (StatusException err)
{
Close();
FPinOutStatus[0] = err.Message;
}
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType? type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = NodeInfo.FromNative(pNodeInfo).Description.Type;
}
ProductionNode node;
// start with concrete types
if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Device))
{
node = new Device(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Depth))
{
node = new DepthGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Image))
{
node = new ImageGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Audio))
{
node = new AudioGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.IR))
{
node = new IRGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.User))
{
node = new UserGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Recorder))
{
node = new Recorder(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Player))
{
node = new Player(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Gesture))
{
node = new GestureGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Scene))
{
node = new SceneAnalyzer(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Hands))
{
node = new HandsGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Codec))
{
node = new Codec(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ScriptNode))
{
node = new ScriptNode(this, nodeHandle, true);
}
// move on to abstract types
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.MapGenerator))
{
node = new MapGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Generator))
{
node = new Generator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ProductionNode))
{
node = new ProductionNode(this, nodeHandle, true);
}
else
{
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return this.allNodes[nodeHandle];
} // lock
}
/// <summary>
/// Creates a new instance of SensorData with the specified configuration file.
/// </summary>
/// <param name="configuration">Configuration file path.</param>
public HandTracker(string configuration)
{
InitializeCamera(configuration);
InitializeBitmaps();
InitializeThread();
this.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(this.ImageGenerator);
this.userGenerator = new UserGenerator(this.Context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
this.sessionManager = new NITE.SessionManager(this.Context, "Wave,Click", "RaiseHand");
_handsGenerator = new HandsGenerator(Context);
_handsGenerator.SetSmoothing(0.1f);
_gestureGenerator = new GestureGenerator(Context);
this.Context.StartGeneratingAll();
Console.WriteLine("Start Generating All");
pointControl = new PointControl("PointTracker");
pointControl.PointCreate += new EventHandler<HandEventArgs>(pointControl_PointCreate);
pointControl.PointUpdate += new EventHandler<HandEventArgs>(pointControl_PointUpdate);
pointControl.PointDestroy += new EventHandler<IdEventArgs>(pointControl_PointDestroy);
sessionManager.AddListener(pointControl);
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.userGenerator.StartGenerating();
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType?type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = NodeInfo.FromNative(pNodeInfo).Description.Type;
}
ProductionNode node;
// start with concrete types
if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Device))
{
node = new Device(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Depth))
{
node = new DepthGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Image))
{
node = new ImageGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Audio))
{
node = new AudioGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.IR))
{
node = new IRGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.User))
{
node = new UserGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Recorder))
{
node = new Recorder(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Player))
{
node = new Player(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Gesture))
{
node = new GestureGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Scene))
{
node = new SceneAnalyzer(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Hands))
{
node = new HandsGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Codec))
{
node = new Codec(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ScriptNode))
{
node = new ScriptNode(this, nodeHandle, true);
}
// move on to abstract types
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.MapGenerator))
{
node = new MapGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Generator))
{
node = new Generator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ProductionNode))
{
node = new ProductionNode(this, nodeHandle, true);
}
else
{
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return(this.allNodes[nodeHandle]);
} // lock
}
/// <summary>
/// Creates a new instance of SensorData with the specified configuration file.
/// </summary>
/// <param name="configuration">Configuration file path.</param>
public SensorData(string configuration)
{
InitializeCamera(configuration);
InitializeBitmaps();
InitializeThread();
//New flow router
this.flowRouter = new NITE.FlowRouter();
this.boxes = new MyBox("Box1");
this.boxes.Leave += new MyBox.LeaveHandler(boxes_Leave);
this.boxes.Update += new MyBox.UpdateHandler(boxes_Update);
this.sessionManager.AddListener(this.flowRouter);
this.sessionManager.SessionStart += new EventHandler<NITE.PositionEventArgs>(sessionManager_SessionStart);
Console.WriteLine("Initialized Sensor Data");
this.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(this.ImageGenerator);
this.userGenerator = new UserGenerator(this.Context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.userGenerator.StartGenerating();
}
void Start()
{
this.hands.HandCreate += new EventHandler<HandCreateEventArgs>(hands_HandCreate);
this.hands.HandUpdate += new EventHandler<HandUpdateEventArgs>(hands_HandUpdate);
this.hands.HandDestroy += new EventHandler<HandDestroyEventArgs>(hands_HandDestroy);
if (DetectWave) {
this.gestures.AddGesture ("Wave");
}
if (DetectPush) {
this.gestures.AddGesture ("Click");
}
if (ExperimentalGestureless) {
this.gestures.AddGesture("RaiseHand");
}
this.gestures.GestureRecognized += new EventHandler<GestureRecognizedEventArgs> (gestures_GestureRecognized);
if (RotateToUser) {
if (null == userGenerator) {
userGenerator = OpenNIContext.OpenNode(NodeType.User) as UserGenerator;
}
}
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// 鏡モード(反転)にしない
context.GlobalMirror = false;
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// ユーザージェネレータの作成
user = context.FindExistingNode(NodeType.User) as UserGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ユーザー検出機能をサポートしているか確認
if (!user.IsCapabilitySupported("User::Skeleton")) {
throw new Exception("ユーザー検出をサポートしていません");
}
// ユーザー認識のコールバックを登録
user.NewUser += new EventHandler<NewUserEventArgs>(user_NewUser);
user.LostUser += new EventHandler<UserLostEventArgs>(user_LostUser);
//キャリブレーションにポーズが必要か確認
skelton = user.SkeletonCapability;
if (skelton.DoesNeedPoseForCalibration) {
// ポーズ検出のサポートチェック
if (!user.IsCapabilitySupported("User::PoseDetection")) {
throw new Exception("ユーザー検出をサポートしていません");
}
// キャリブレーションポーズの取得
pose = skelton.CalibrationPose;
// ポーズ検出のコールバックを登録
PoseDetectionCapability poseDetect = user.PoseDetectionCapability;
poseDetect.PoseDetected += new EventHandler<PoseDetectedEventArgs>(poseDetect_PoseDetected);
poseDetect.OutOfPose += new EventHandler<OutOfPoseEventArgs>( poseDetect_OutOfPose );
}
// キャリブレーションのコールバックを登録
skelton.CalibrationStart += new EventHandler<CalibrationStartEventArgs>(skelton_CalibrationStart);
skelton.CalibrationComplete += new EventHandler<CalibrationProgressEventArgs>( skelton_CalibrationComplete );
// すべてをトラッキングする
skelton.SetSkeletonProfile(SkeletonProfile.All);
// ジェスチャーの検出開始
context.StartGeneratingAll();
}
public void DrawStickLine(ref WriteableBitmap image, int id, UserGenerator userGenerator, SkeletonJoint first, SkeletonJoint second, Point3D corner)
{
SkeletonJointPosition a = new SkeletonJointPosition();
SkeletonJointPosition b = new SkeletonJointPosition();
a = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, first);
b = userGenerator.SkeletonCapability.GetSkeletonJointPosition(id, second);
if (a.Confidence == 1 && b.Confidence == 1)
{
// choose color
}
else
{
if ((a.Position.X == 0 && a.Position.Y == 0 && a.Position.Z == 0) ||
(b.Position.X == 0 && b.Position.Y == 0 && b.Position.Z == 0))
{
return;
}
}
DrawTheLine(ref image, ref a, ref b);
}
private void Initialize()
{
ScriptNode scriptNode;
this.context = Context.CreateFromXmlFile(SAMPLE_XML_FILE, out scriptNode);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.userGenerator.NewUser += this.OnUserGeneratorNewUser;
this.userGenerator.LostUser += this.OnUserGeneratorLostUser;
this.skeletonCapbility.CalibrationComplete += this.OnSkeletonCapbilityCalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
this.userGenerator.StartGenerating();
}
void Close()
{
if (FStarted)
{
if (FUserGenerator != null)
FUserGenerator.Dispose();
FUserGenerator = null;
FStarted = false;
}
}
// Use this for initialization
void Start()
{
this.context=Context.CreateFromXmlFile(XML_CONFIG,out scriptNode);
//Al Ejecutar esta linea al salir de probar el nodo sigue trabajando para eso ocupamos el onApplicationQuit
this.depth=context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if(depth==null){
throw new Exception("Nodo de Profundidad no encontrado");
}
this.userGenerator=new UserGenerator(this.context);
this.skeletonCapability=this.userGenerator.SkeletonCapability;
this.poseDetectionCapability=this.userGenerator.PoseDetectionCapability;
this.calibPose=this.skeletonCapability.CalibrationPose;
//Agregas los handlers
this.userGenerator.NewUser+=userGenerator_NewUser;
this.userGenerator.LostUser+=userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected+=poseDetectionCapability_PoseDetected;
this.skeletonCapability.CalibrationComplete+=skeletonCapability_CalibrationComplete;
//Activar los joints depende del profile
//http://openni.org/docs2/Reference/_xn_types_8h_a294999eabe6eeab319a61d3d0093b174.html#a294999eabe6eeab319a61d3d0093b174
this.skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
this.joints=new Dictionary<int,Dictionary<SkeletonJoint,SkeletonJointPosition>>();
this.userGenerator.StartGenerating();
this.shouldRun=true;
}
/// <summary>
/// Initializes the usergenerator based on the config file
/// </summary>
private void InitializeUserGenerator()
{
UserGenerator = Context.FindExistingNode(NodeType.User) as UserGenerator;
if (this.UserGenerator == null)
{
throw new OpenNI.GeneralException("Viewer must have a user node!");
}
}
/// @brief Release a previously initialize image node.
///
/// This method releases a previously initialized image node.
/// @note - Since we use a singleton pattern, only one place should do a release, otherwise the
/// result could become problematic for other objects
/// @note - It is the responsibility of the whoever called @ref Init to do the release.
/// @note - The release should be called BEFORE releasing the context. If the context is invalid, the result is
/// undefined.
public override void Dispose()
{
if (m_context == null)
{
return;
}
if (m_userGenerator != null)
{
if (m_poseDetectionCounter != null)
{
m_poseDetectionCounter.Clear();
m_poseDetectionCounter = null;
}
m_context.ReleaseNode(m_userGenerator); // we call this even if the context is invalid because it is a singleton which will release stuff
m_userGenerator = null;
}
base.Dispose();
}
/*
private int distanciaAnt=0;
private int escalaAnt=0;
*/
void Start()
{
Debug.Log("START APP");
this.context=Context.CreateFromXmlFile(XML_CONFIG, out scriptNode);
this.depth=this.context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if(depth==null){
throw new Exception("Nodo de Profundidad no encontrado");
}
//User Tracking
this.userGenerator=new UserGenerator(this.context);
this.skeletonCapability=this.userGenerator.SkeletonCapability;
this.poseDetectionCapability=this.userGenerator.PoseDetectionCapability;
this.calibPose=this.skeletonCapability.CalibrationPose;
this.userGenerator.NewUser+=userGenerator_NewUser;
this.userGenerator.LostUser+=userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected+=poseDetectionCapability_PoseDetected;
this.skeletonCapability.CalibrationComplete+=skeletonCapability_CalibrationComplete;
this.skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
this.userGenerator.StartGenerating();
this.joints=new Dictionary<int,Dictionary<SkeletonJoint,SkeletonJointPosition>>();
//
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image)
as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth)
as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// ユーザージェネレータの作成
user = context.FindExistingNode(NodeType.User)
as UserGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ユーザー検出機能をサポートしているか確認
if (!user.IsCapabilitySupported("User::Skeleton")) {
throw new Exception("ユーザー検出をサポートしていません");
}
// ユーザー認識のコールバックを登録
user.NewUser += new EventHandler<NewUserEventArgs>(user_NewUser);
user.LostUser += new EventHandler<UserLostEventArgs>(user_LostUser);
}
private void VerifyInit()
{
if (context != null)
{
return;
}
string initFile = @"data/openni.xml";
bool isInit = false;
while (!isInit)
{
try
{
context = new Context(initFile);
isInit = true;
}
catch (StatusException ex)
{
Trace.WriteLine("OpenNI StatusException: " + ex.ToString());
isInit = false;
Thread.Sleep(1000);
}
catch (GeneralException ex)
{
Trace.WriteLine("GeneralException: " + ex.ToString());
isInit = false;
IsGeneratorThreadRunning = false;
return;
}
}
this.joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapability = userGenerator.SkeletonCapability;
this.poseDetectionCapability = userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapability.CalibrationPose;
this.userGenerator.NewUser += new EventHandler<NewUserEventArgs>(userGenerator_NewUser);
this.userGenerator.LostUser += new EventHandler<UserLostEventArgs>(userGenerator_LostUser);
this.poseDetectionCapability.PoseDetected += new EventHandler<PoseDetectedEventArgs>(poseDetectionCapability_PoseDetected);
this.skeletonCapability.CalibrationEnd += new EventHandler<CalibrationEndEventArgs>(skeletonCapability_CalibrationEnd);
this.skeletonCapability.SetSkeletonProfile(SkeletonProfile.Upper);
this.userGenerator.StartGenerating();
depthGenerator = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
depthGenerator.NewDataAvailable += new EventHandler(depthGenerator_NewDataAvailable);
this.histogram = new int[depthGenerator.DeviceMaxDepth];
depthGenerator.StartGenerating();
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType?type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = SafeNativeMethods.xnNodeInfoGetDescription(pNodeInfo).Type;
}
ProductionNode node;
switch (type)
{
case NodeType.Device:
node = new Device(this, nodeHandle, true);
break;
case NodeType.Depth:
node = new DepthGenerator(this, nodeHandle, true);
break;
case NodeType.Image:
node = new ImageGenerator(this, nodeHandle, true);
break;
case NodeType.Audio:
node = new AudioGenerator(this, nodeHandle, true);
break;
case NodeType.IR:
node = new IRGenerator(this, nodeHandle, true);
break;
case NodeType.User:
node = new UserGenerator(this, nodeHandle, true);
break;
case NodeType.Recorder:
node = new Recorder(this, nodeHandle, true);
break;
case NodeType.Player:
node = new Player(this, nodeHandle, true);
break;
case NodeType.Gesture:
node = new GestureGenerator(this, nodeHandle, true);
break;
case NodeType.Scene:
node = new SceneAnalyzer(this, nodeHandle, true);
break;
case NodeType.Hands:
node = new HandsGenerator(this, nodeHandle, true);
break;
case NodeType.Codec:
node = new Codec(this, nodeHandle, true);
break;
case NodeType.ProductionNode:
node = new ProductionNode(this, nodeHandle, true);
break;
case NodeType.Generator:
node = new Generator(this, nodeHandle, true);
break;
case NodeType.MapGenerator:
node = new MapGenerator(this, nodeHandle, true);
break;
case NodeType.ScriptNode:
node = new ScriptNode(this, nodeHandle, true);
break;
default:
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return(this.allNodes[nodeHandle]);
} // lock
}
