/// <summary>
/// Demonstrates how to use our Kinect calibration to convert a depth image point to color image coordinates.
/// </summary>
/// <param name="calibration"></param>
/// <param name="kinectSensor"></param>
public void Run(Kinect2Calibration calibration, KinectSensor kinectSensor)
{
this.calibration = calibration;
this.kinectSensor = kinectSensor;
depthImage = new ShortImage(Kinect2Calibration.depthImageWidth, Kinect2Calibration.depthImageHeight);
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
depthFrameReader.FrameArrived += depthFrameReader_FrameArrived;
}
/// <summary>
/// Demonstrates how to use our Kinect calibration to convert a depth image point to color image coordinates.
/// </summary>
/// <param name="calibration"></param>
/// <param name="kinectSensor"></param>
public void Run(Kinect2Calibration calibration, KinectSensor kinectSensor)
{
this.calibration = calibration;
this.kinectSensor = kinectSensor;
depthImage = new ShortImage(Kinect2Calibration.depthImageWidth, Kinect2Calibration.depthImageHeight);
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
depthFrameReader.FrameArrived += depthFrameReader_FrameArrived;
}
void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
kinect2Calibration = new Kinect2.Kinect2Calibration();
kinect2Calibration.RecoverCalibrationFromSensor(kinectSensor);
kinect2CalibrationReady.Set();
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
depthFrameReader.FrameArrived += depthFrameReader_FrameArrived;
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
colorFrameReader.FrameArrived += colorFrameReader_FrameArrived;
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyFrameReader.FrameArrived += bodyFrameReader_FrameArrived;
audioBeamFrameReader = kinectSensor.AudioSource.OpenReader();
audioBeamFrameReader.FrameArrived += audioBeamFrameReader_FrameArrived;
audioBeamFrameReader.AudioSource.AudioBeams[0].AudioBeamMode = AudioBeamMode.Manual;
audioBeamFrameReader.AudioSource.AudioBeams[0].BeamAngle = 0;
}
//CoordinateMappingExample cooordinateMappingExample;
void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
kinect2Calibration = new RoomAliveToolkit.Kinect2Calibration();
kinect2Calibration.RecoverCalibrationFromSensor(kinectSensor);
kinect2CalibrationReady.Set();
//cooordinateMappingExample = new CoordinateMappingExample();
//cooordinateMappingExample.Run(kinect2Calibration, kinectSensor);
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
depthFrameReader.FrameArrived += depthFrameReader_FrameArrived;
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
colorFrameReader.FrameArrived += colorFrameReader_FrameArrived;
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyFrameReader.FrameArrived += bodyFrameReader_FrameArrived;
audioBeamFrameReader = kinectSensor.AudioSource.OpenReader();
audioBeamFrameReader.FrameArrived += audioBeamFrameReader_FrameArrived;
audioBeamFrameReader.AudioSource.AudioBeams[0].AudioBeamMode = AudioBeamMode.Manual;
audioBeamFrameReader.AudioSource.AudioBeams[0].BeamAngle = 0;
}
public Camera()
{
pose = new Matrix(4, 4);
pose.Identity();
calibration = new Kinect2Calibration();
}