// Listing 2-11
private void DiscoverKinectSensor()
{
if (this._Kinect != null && this._Kinect.Status != KinectStatus.Connected)
{
this._Kinect = null;
}
if (this._Kinect == null)
{
this._Kinect = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected);
if (this._Kinect != null)
{
this._Kinect.ColorStream.Enable();
this._Kinect.Start();
ColorImageStream colorStream = this._Kinect.ColorStream;
this._ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
this._ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
this._ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
this.ColorImageElement.Source = this._ColorImageBitmap;
this._ColorImagePixelData = new byte[colorStream.FramePixelDataLength];
}
}
}
private void WindowLoaded(object sender, RoutedEventArgs e)
{
KinectSensor kinect = KinectSensor.KinectSensors[0];
ColorImageStream clrStream = kinect.ColorStream;
clrStream.Enable(rgbFormat);
DepthImageStream depStream = kinect.DepthStream;
depStream.Enable(depthFormat);
kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
pixelBuffer = new byte[kinect.ColorStream.FramePixelDataLength];
depthBuffer = new DepthImagePixel[depStream.FramePixelDataLength];
clrPntBuffer = new ColorImagePoint[depStream.FramePixelDataLength];
depthMaskBuffer = new byte[clrStream.FramePixelDataLength];
bmpBuffer = new RenderTargetBitmap(clrStream.FrameWidth, clrStream.FrameHeight,
96, 96, PixelFormats.Default);
rgbImage.Source = bmpBuffer;
kinect.AllFramesReady += AllFramesReady;
textBox1.Clear();
kinect.Start();
kinect.ElevationAngle = 0;
}
void ColorWindow_Loaded(object sender, RoutedEventArgs e)
{
if (kinect != null)
{
#region 彩色影像與深度影像初始化
ColorImageStream colorStream = kinect.ColorStream;
kinect.ColorStream.Enable();
_ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
_ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorData.Source = _ColorImageBitmap;
DepthImageStream depthStream = kinect.DepthStream;
//預設解析度
kinect.DepthStream.Enable();
//降低解析度至 80x60
//kinect.DepthStream.Enable(DepthImageFormat.Resolution80x60Fps30);
_DepthImageBitmap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
_DepthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight);
_DepthImageStride = depthStream.FrameWidth * depthStream.FrameBytesPerPixel;
DepthData.Source = _DepthImageBitmap;
#endregion
kinect.SkeletonStream.Enable();
kinect.AllFramesReady += mykinect_AllFramesReady;
kinect.Start();
}
}
/// <summary>
/// RGBカメラからの画像を距離カメラの画像の位置に合わせる
/// </summary>
/// <param name="points">RGB画像と距離の対応付けのデータ</param>
/// <param name="colorPixels">RGB画像のバイト配列</param>
/// <returns></returns>
private byte[] CoordinateColorImage(ColorImagePoint[] points, byte[] colorPixels)
{
ColorImageStream colorStream = kinect.ColorStream;
// 出力バッファ(初期値はRGBカメラの画像)
byte[] outputColor = new byte[colorPixels.Length];
for (int i = 0; i < outputColor.Length; i += Bgr32BytesPerPixel)
{
outputColor[i] = colorPixels[i];
outputColor[i + 1] = colorPixels[i + 1];
outputColor[i + 2] = colorPixels[i + 2];
}
for (int index = 0; index < depthPixel.Length; index++)
{
// 変換した結果が、フレームサイズを超えることがあるため、小さいほうを使う
int x = Math.Min(points[index].X, colorStream.FrameWidth - 1);
int y = Math.Min(points[index].Y, colorStream.FrameHeight - 1);
int colorIndex = ((y * kinect.DepthStream.FrameWidth) + x) * Bgr32BytesPerPixel;
int outputIndex = index * Bgr32BytesPerPixel;
// カラー画像のピクセルを調整された座標値に変換する
outputColor[outputIndex] = colorPixels[colorIndex];
outputColor[outputIndex + 1] = colorPixels[colorIndex + 1];
outputColor[outputIndex + 2] = colorPixels[colorIndex + 2];
}
return(outputColor);
}
// Habilita ColorStream de KinectSensor recién detectado y establece la imagen de salida
private void InitializeKinectSensor(KinectSensor sensor)
{
if (sensor != null)
{
ColorImageStream colorStream = sensor.ColorStream;
colorStream.Enable();
KinectCameraImage = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight
, 96, 96, PixelFormats.Bgr32, null);
_cameraSourceBounds = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_colorStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
sensor.ColorFrameReady += KinectSensor_ColorFrameReady; ///METODOS DE KINECT
sensor.SkeletonStream.AppChoosesSkeletons = false;
sensor.SkeletonStream.Enable();
_skeletons = new Skeleton[sensor.SkeletonStream.FrameSkeletonArrayLength];
sensor.SkeletonFrameReady += KinectSensor_SkeletonFrameReady;
try
{
sensor.Start();
}
catch (Exception)
{
UninitializeKinectSensor(sensor);
Kinect = null;
ErrorGridVisibility = Visibility.Visible;
ErrorGridMessage = "Kinect está siendo utilizado por otro proceso. " + Environment.NewLine +
"Trata de desconectar y volver a conectar el dispositivo al ordenador." + Environment.NewLine +
"Asegúrese de que todos los programas que utilizan Kinect se han desactivado.";
}
}
}
void ColorWindow_Loaded(object sender, RoutedEventArgs e)
{
if (kinect != null)
{
#region 彩色影像相關物件初始化
ColorImageStream colorStream = kinect.ColorStream;
colorStream.Enable();
kinect.ColorFrameReady += myKinect_ColorFrameReady;
_ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96,
PixelFormats.Bgr32, null);
_ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorData.Source = _ColorImageBitmap;
#endregion
kinect.Start();
speechRecognizer = CreateSpeechRecognizer();
if (speechRecognizer != null)
{
ready4sTimer = new DispatcherTimer();
ready4sTimer.Tick += ReadyTimerTick;
ready4sTimer.Interval = new TimeSpan(0, 0, 4);
ready4sTimer.Start();
}
}
}
/// <summary>
/// Enables ColorStream from newly detected KinectSensor and sets output image
/// </summary>
/// <param name="sensor">Detected KinectSensor</param>
private void InitializeKinectSensor(KinectSensor sensor)
{
if (sensor != null)
{
ColorImageStream colorStream = sensor.ColorStream;
colorStream.Enable();
KinectCameraImage = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight
, 96, 96, PixelFormats.Bgr32, null);
_cameraSourceBounds = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_colorStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
sensor.ColorFrameReady += KinectSensor_ColorFrameReady;
sensor.SkeletonStream.AppChoosesSkeletons = false;
sensor.SkeletonStream.Enable();
_skeletons = new Skeleton[sensor.SkeletonStream.FrameSkeletonArrayLength];
sensor.SkeletonFrameReady += KinectSensor_SkeletonFrameReady;
try
{
sensor.Start();
}
catch (Exception)
{
UninitializeKinectSensor(sensor);
Kinect = null;
ErrorGridVisibility = Visibility.Visible;
ErrorGridMessage = "Kinect jest używany przez inny proces." + Environment.NewLine +
"Spróbuj odłączyć i ponownie podłączyć urządzenie do komputera." + Environment.NewLine +
"Upewnij się, że wszystkie programy używajace Kinecta zostały wyłączone.";
}
}
}
} //fin CompositionTarget_Rendering()
private WriteableBitmap PollColor(int numKinect)
{
Kinect = Sensor[numKinect];
if (this.Kinect != null)
{
ColorImageStream ColorStream = this.Kinect.ColorStream;
this.ColorImagenBitmap = new WriteableBitmap(ColorStream.FrameWidth, ColorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
this.ColorImagenRect = new Int32Rect(0, 0, ColorStream.FrameWidth, ColorStream.FrameHeight);
this.ColorImagenStride = ColorStream.FrameWidth * ColorStream.FrameBytesPerPixel;
this.ColorImagenPixeles = new byte[ColorStream.FramePixelDataLength];
try
{
using (ColorImageFrame frame = this.Kinect.ColorStream.OpenNextFrame(100))
{
if (frame != null)
{
frame.CopyPixelDataTo(this.ColorImagenPixeles);
this.ColorImagenBitmap.WritePixels(this.ColorImagenRect, this.ColorImagenPixeles, this.ColorImagenStride, 0);
}
}
}
catch
{
MessageBox.Show("No se pueden leer los datos del sensor", "Error");
}
}
if (grabacion == true)
{
GuardaImagenes(numKinect, ColorImagenBitmap);
}
return(ColorImagenBitmap);
}//fin PollColor()
void ColorWindow_Loaded(object sender, RoutedEventArgs e)
{
if (kinect != null)
{
ColorImageStream colorStream = kinect.ColorStream;
kinect.ColorStream.Enable();
_ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgra32, null);
_ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorData.Source = _ColorImageBitmap;
DepthImageStream depthStream = kinect.DepthStream;
kinect.DepthStream.Enable();
_DepthImageBitmap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
_DepthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight);
_DepthImageStride = depthStream.FrameWidth * depthStream.FrameBytesPerPixel;
DepthData.Source = _DepthImageBitmap;
kinect.SkeletonStream.Enable();
kinect.AllFramesReady += mykinect_AllFramesReady;
kinect.Start();
}
}
private void DiscoverKinectSensor()
{
if (this.kinect != null && this.kinect.Status != KinectStatus.Connected)
{
//if this sensor is no longer connected, we need to discover a new one:
this.kinect = null;
}
if (this.kinect == null)
{
//find the firts connected sensor
this.kinect = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected);
if (this.kinect != null)
{
//initialize the sensor
this.kinect.ColorStream.Enable();
this.kinect.Start();
ColorImageStream colorStream = this.kinect.ColorStream;
this.ColorImageElementPolling.Dispatcher.BeginInvoke(new Action(() =>
{
this.colorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight,
96, 96, PixelFormats.Bgr32, null);
this.colorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
this.colorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
this.ColorImageElementPolling.Source = this.colorImageBitmap;
this.colorImagePixelData = new byte[colorStream.FramePixelDataLength];
}));
}
}
}
private void InitializeKinectSensor(KinectSensor kinectSensor)
{
if (kinectSensor != null)
{
ColorImageStream colorStream = kinectSensor.ColorStream;
colorStream.Enable();
this._ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight,
96, 96, PixelFormats.Bgr32, null);
this._ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
this._ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
videoStream.Source = this._ColorImageBitmap;
kinectSensor.SkeletonStream.Enable(new TransformSmoothParameters()
{
Correction = 0.5f,
JitterRadius = 0.05f,
MaxDeviationRadius = 0.04f,
Smoothing = 0.5f
});
kinectSensor.SkeletonFrameReady += Kinect_SkeletonFrameReady;
kinectSensor.ColorFrameReady += Kinect_ColorFrameReady;
kinectSensor.Start();
this.FrameSkeletons = new Skeleton[this.Kinect.SkeletonStream.FrameSkeletonArrayLength];
}
}
void ColorWindow_Loaded(object sender, RoutedEventArgs e)
{
kinect = KinectSensor.KinectSensors[0];
if (kinect != null)
{
/*MediaPlayer mplayer = new MediaPlayer();
* mplayer.Open(new Uri(@"C:\Users\MCU\Desktop\專\WpfApplication1\Resources\右手錯誤.wav", UriKind.Relative));
* mplayer.Play();
* Thread.Sleep(2000);
* mplayer.Open(new Uri(@"C:\Users\MCU\Desktop\Kinectcolortest\Kinectcolortest\Resources\右腳錯誤.wav", UriKind.Relative));
* mplayer.Play();
* Thread.Sleep(2000);
*/// MessageBox.Show("OK");
ColorImageStream colorStream = kinect.ColorStream;
kinect.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
kinect.SkeletonStream.Enable();
Color_pixelData = new byte[640 * 480 * 4];
//Pic = new byte[100 * 100 * 4];
//Pic2 = new byte[100 * 100 * 4];
coordinateMapper = new CoordinateMapper(kinect);
kinect.AllFramesReady += this.All_mykinect_SkeletonFrameReady;
kinect.Start();
}
}
/// <summary>
/// 距離データの画像変換
/// </summary>
/// <param name="kinect">Kinect センサー</param>
/// <param name="depthFrame">深度フレームデータ</param>
/// <returns>距離データの画像データ</returns>
private byte[] _ConvertDepthColor(KinectSensor kinect, DepthImageFrame depthFrame)
{
ColorImageStream colorStream = kinect.ColorStream;
DepthImageStream depthStream = kinect.DepthStream;
// 距離カメラのピクセル毎のデータを取得する
short[] depthPixel = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixel);
// 距離カメラの座標に対する RGB カメラ座標を取得する（座標合わせ）
ColorImagePoint[] colorPoint = new ColorImagePoint[depthFrame.PixelDataLength];
kinect.MapDepthFrameToColorFrame(depthStream.Format, depthPixel, colorStream.Format, colorPoint);
byte[] depthColor = new byte[depthFrame.PixelDataLength * Bgr32BytesPerPixel];
int pxLen = depthPixel.Length;
for (int i = 0; i < pxLen; i++)
{
int distance = depthPixel[i] >> DepthImageFrame.PlayerIndexBitmaskWidth;
// 変換した結果がフレームサイズを超えないよう、小さい方を採用
int x = Math.Min(colorPoint[i].X, colorStream.FrameWidth - 1);
int y = Math.Min(colorPoint[i].Y, colorStream.FrameHeight - 1);
int colorIndex = ((y * depthFrame.Width) + x) * Bgr32BytesPerPixel;
// サポート外 0-40cm
if (distance == depthStream.UnknownDepth)
{
depthColor[colorIndex] = 0;
depthColor[colorIndex + 1] = 0;
depthColor[colorIndex + 2] = 255;
}
// 近すぎ 40cm-80cm（Default）
else if (distance == depthStream.TooNearDepth)
{
depthColor[colorIndex] = 0;
depthColor[colorIndex + 1] = 255;
depthColor[colorIndex + 2] = 0;
}
// 遠すぎ 3m（Near）, 4m（Default）-8m
else if (distance == depthStream.TooFarDepth)
{
depthColor[colorIndex] = 255;
depthColor[colorIndex + 1] = 0;
depthColor[colorIndex + 2] = 0;
}
// 有効な距離データ
else
{
depthColor[colorIndex] = 0;
depthColor[colorIndex + 1] = 255;
depthColor[colorIndex + 2] = 255;
}
}
return(depthColor);
}
private void InitializeKinectSensor(KinectSensor kinectSensor)
{
if (kinectSensor != null)
{
ColorImageStream colorStream = this.kinect.ColorStream;
kinectSensor.ColorStream.Enable();
kinectSensor.ColorFrameReady += new EventHandler <ColorImageFrameReadyEventArgs>(kinectSensor_ColorFrameReady);
kinectSensor.Start();
}
}
public static WriteableBitmap CreateWriteableBitmap(ColorImageStream colorStream)
{
if (colorStream.Format == ColorImageFormat.InfraredResolution640x480Fps30)
{
return(CreateWriteableBitmap(colorStream, PixelFormats.Gray16, null));
}
else
{
return(CreateWriteableBitmap(colorStream, PixelFormats.Bgr32, null));
}
}
/// <summary>
/// DoReadColorFrame Frame Read Behavior
/// </summary>
/// <param name="rawFrames">Raw frames</param>
/// <param name="kinectStream">Kinect stream</param>
private void DoReadColorFrame(RawKinectFrames rawFrames, ColorImageStream kinectStream)
{
ColorImageFrame kinectFrame = kinectStream.OpenNextFrame(AVeryLargeNumberOfMilliseconds);
if (kinectFrame != null)
{
rawFrames.RawColorFrameInfo = new KinectFrameInfo(kinectFrame);
rawFrames.RawColorFrameData = new byte[kinectFrame.PixelDataLength];
kinectFrame.CopyPixelDataTo(rawFrames.RawColorFrameData);
}
}
public static WriteableBitmap CreateWriteableBitmap(ColorImageStream colorStream)
{
if (colorStream.Format == ColorImageFormat.InfraredResolution640x480Fps30)
{
return CreateWriteableBitmap(colorStream, PixelFormats.Gray16, null);
}
else
{
return CreateWriteableBitmap(colorStream, PixelFormats.Bgr32, null);
}
}
private void EnableColorImageStreamBasedOnIsChecked(
CheckBox checkBox, ColorImageStream imageStream, ComboBox colorFormatsValue)
{
if (checkBox.IsChecked.HasValue && checkBox.IsChecked.Value)
{
imageStream.Enable((ColorImageFormat)colorFormatsValue.SelectedItem);
}
else
{
imageStream.Disable();
}
}
private void Enable_Kinect1_ColorImage()
{
KinectDevice1.ColorStream.Enable();
KinectDevice1.Start();
ColorImageStream colorStream1 = KinectDevice1.ColorStream;
_ColorImageBitmap1 = new WriteableBitmap(colorStream1.FrameWidth, colorStream1.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
_ColorImageBitmapRect1 = new Int32Rect(0, 0, colorStream1.FrameWidth, colorStream1.FrameHeight);
_ColorImageStride1 = colorStream1.FrameWidth * colorStream1.FrameBytesPerPixel;
//ColorImageElement1.Source = _ColorImageBitmap1;
_ColorImagePixelData1 = new byte[colorStream1.FramePixelDataLength];
}
/// <summary>
/// 光学迷彩
/// </summary>
/// <param name="kinect"></param>
/// <param name="colorFrame"></param>
/// <param name="depthFrame"></param>
/// <returns></returns>
private byte[] OpticalCamouflage(KinectSensor kinect,
ColorImageFrame colorFrame, DepthImageFrame depthFrame)
{
ColorImageStream colorStream = kinect.ColorStream;
DepthImageStream depthStream = kinect.DepthStream;
// RGBカメラのピクセルごとのデータを取得する
byte[] colorPixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixel);
// 背景がないときは、そのときのフレームを背景として保存する
if (backPixel == null)
{
backPixel = new byte[colorFrame.PixelDataLength];
Array.Copy(colorPixel, backPixel, backPixel.Length);
}
// 距離カメラのピクセルごとのデータを取得する
short[] depthPixel = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixel);
// 距離カメラの座標に対応するRGBカメラの座標を取得する(座標合わせ)
ColorImagePoint[] colorPoint = new ColorImagePoint[depthFrame.PixelDataLength];
kinect.MapDepthFrameToColorFrame(depthStream.Format, depthPixel,
colorStream.Format, colorPoint);
// 出力バッファ(初期値はRGBカメラの画像)
byte[] outputColor = new byte[colorPixel.Length];
Array.Copy(colorPixel, outputColor, outputColor.Length);
for (int index = 0; index < depthPixel.Length; index++)
{
// プレイヤーを取得する
int player = depthPixel[index] & DepthImageFrame.PlayerIndexBitmask;
// 変換した結果が、フレームサイズを超えることがあるため、小さいほうを使う
int x = Math.Min(colorPoint[index].X, colorStream.FrameWidth - 1);
int y = Math.Min(colorPoint[index].Y, colorStream.FrameHeight - 1);
int colorIndex = ((y * depthFrame.Width) + x) * Bgr32BytesPerPixel;
// プレーヤーを検出した座標は、背景画像を使う
if (player != 0)
{
outputColor[colorIndex] = backPixel[colorIndex];
outputColor[colorIndex + 1] = backPixel[colorIndex + 1];
outputColor[colorIndex + 2] = backPixel[colorIndex + 2];
}
}
return(outputColor);
}
/// <summary>
/// Kinectで取得したデータを点群に変換する
/// </summary>
/// <returns></returns>
bool GetPoint()
{
KinectSensor kinect = KinectSensor.KinectSensors[0];
ColorImageStream colorStream = kinect.ColorStream;
DepthImageStream depthStream = kinect.DepthStream;
// RGBカメラと距離カメラのフレームデータを取得する
using (ColorImageFrame colorFrame = kinect.ColorStream.OpenNextFrame(100)) {
using (DepthImageFrame depthFrame = kinect.DepthStream.OpenNextFrame(100)) {
if (colorFrame == null || depthFrame == null)
{
return(false);
}
// RGBカメラのデータを作成する
byte[] colorPixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixel);
rgb = new RGB[colorFrame.Width * colorFrame.Height];
for (int i = 0; i < rgb.Length; i++)
{
int colorIndex = i * 4;
rgb[i] = new RGB(colorPixel[colorIndex + 2], colorPixel[colorIndex + 1],
colorPixel[colorIndex]);
}
// 距離カメラのピクセルデータを取得する
short[] depthPixel = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixel);
// 距離カメラの座標に対応するRGBカメラの座標を取得する(座標合わせ)
ColorImagePoint[] colorPoint = new ColorImagePoint[depthFrame.PixelDataLength];
kinect.MapDepthFrameToColorFrame(depthStream.Format, depthPixel,
colorStream.Format, colorPoint);
// 距離データを作成する
depth = new Depth[depthFrame.Width * depthFrame.Height];
for (int i = 0; i < depth.Length; i++)
{
int x = Math.Min(colorPoint[i].X, colorStream.FrameWidth - 1);
int y = Math.Min(colorPoint[i].Y, colorStream.FrameHeight - 1);
int distance = depthPixel[i] >> DepthImageFrame.PlayerIndexBitmaskWidth;
depth[i] = new Depth(x, y, distance);
}
}
}
return(true);
}
// kinect センサーの初期化
private void InitKinectSensor(KinectSensor kinect)
{
//カラーストリームの有効化
ColorImageStream clrStream = kinect.ColorStream;
clrStream.Enable(rgbFormat);
// 深度ストリームの有効化
DepthImageStream depStream = kinect.DepthStream;
// depStream.Enable(depthFormat); // /*TEST_DEPTHFRAME*/
//骨格ストリームの有効化
SkeletonStream skelStream = kinect.SkeletonStream;
skelStream.Enable();
// バッファの初期化
pixelBuffer = new byte[clrStream.FramePixelDataLength];
if (TEST_DEPTHFLAG)
{
depthBuffer = new short[depStream.FramePixelDataLength];
clrPntBuffer = new ColorImagePoint[depStream.FramePixelDataLength];
depMaskBuffer = new byte[clrStream.FramePixelDataLength];
}
skeletonBuffer = new Skeleton[skelStream.FrameSkeletonArrayLength];
bmpBuffer = new RenderTargetBitmap(clrStream.FrameWidth, clrStream.FrameHeight, 96, 96, PixelFormats.Default);
rgbimage.Source = bmpBuffer;
// 音声認識エンジンの初期化
speechEngine = InitSpeechEngine();
// イベントハンドラの登録
kinect.AllFramesReady += AllFramesReady;
kinect.AudioSource.SoundSourceAngleChanged += SoundSourceChanged;
speechEngine.SpeechRecognized += SpeechRecognized;
// 近接モードに変更
kinect.DepthStream.Range = DepthRange.Near;
// 着席モードに変更
kinect.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
// Kinect センサーからのストリーム取得を開始
System.IO.Stream stream = kinect.AudioSource.Start();
var speechAudioFormat = new SpeechAudioFormatInfo(EncodingFormat.Pcm, 16000, 16, 1, 32000, 2, null);
speechEngine.SetInputToAudioStream(stream, speechAudioFormat);
speechEngine.RecognizeAsync(RecognizeMode.Multiple);
}
/// <summary>
/// プレーヤーだけ表示する
/// </summary>
/// <param name="colorFrame"></param>
/// <param name="depthFrame"></param>
/// <returns></returns>
private byte[] BackgroundMask(KinectSensor kinect,
ColorImageFrame colorFrame, DepthImageFrame depthFrame)
{
ColorImageStream colorStream = kinect.ColorStream;
DepthImageStream depthStream = kinect.DepthStream;
// RGBカメラのピクセルごとのデータを取得する
byte[] colorPixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixel);
// 距離カメラのピクセルごとのデータを取得する
short[] depthPixel = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixel);
// 距離カメラの座標に対応するRGBカメラの座標を取得する(座標合わせ)
ColorImagePoint[] colorPoint = new ColorImagePoint[depthFrame.PixelDataLength];
kinect.MapDepthFrameToColorFrame(depthStream.Format, depthPixel,
colorStream.Format, colorPoint);
// 出力バッファ(初期値は白(255,255,255))
byte[] outputColor = new byte[colorPixel.Length];
for (int i = 0; i < outputColor.Length; i += Bgr32BytesPerPixel)
{
outputColor[i] = 255;
outputColor[i + 1] = 255;
outputColor[i + 2] = 255;
}
for (int index = 0; index < depthPixel.Length; index++)
{
// プレイヤーを取得する
int player = depthPixel[index] & DepthImageFrame.PlayerIndexBitmask;
// 変換した結果が、フレームサイズを超えることがあるため、小さいほうを使う
int x = Math.Min(colorPoint[index].X, colorStream.FrameWidth - 1);
int y = Math.Min(colorPoint[index].Y, colorStream.FrameHeight - 1);
int colorIndex = ((y * depthFrame.Width) + x) * Bgr32BytesPerPixel;
// プレーヤーを検出した座標だけ、RGBカメラの画像を使う
if (player != 0)
{
outputColor[colorIndex] = colorPixel[colorIndex];
outputColor[colorIndex + 1] = colorPixel[colorIndex + 1];
outputColor[colorIndex + 2] = colorPixel[colorIndex + 2];
}
}
return(outputColor);
}
//private byte[] colorImagePixelData;
private void InitializeKinectSensor(KinectSensor kinectSensor)
{
if (kinectSensor != null)
{
ColorImageStream colorStream = kinectSensor.ColorStream;
kinectSensor.ColorStream.Enable(ColorImageFormat.RgbResolution1280x960Fps12);
this.colorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
this.colorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
this.colorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorImageElement.Source = this.colorImageBitmap;
kinectSensor.ColorFrameReady += kinectSensor_ColorFrameReady;
//kinectSensor.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(kinectSensor_ColorFrameReady);
kinectSensor.Start();
}
}
void MainWindow_Loaded(object sender, RoutedEventArgs e)
{
if (kinects.Count > 0)
{
ColorImageStream colorStream = kinects[0].ColorStream;
colorStream.Enable();
//kinects[0].ColorStream.Enable(ColorImageFormat.InfraredResolution640x480Fps30);
kinects[0].ColorFrameReady += Kinect_ColorFrameReady;
_ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96,
PixelFormats.Bgr32, null);
_ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorData.Source = _ColorImageBitmap;
}
}
private void DiscoverKinectSensor()
{
if (this._Kinect != null && this._Kinect.Status != KinectStatus.Connected)
{
this._Kinect = null;
}
if (this._Kinect == null)
{
this.Kinect = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected);
if (this._Kinect != null)
{
this._Kinect.ColorStream.Enable();
this._Kinect.Start();
ColorImageStream colorStream = this._Kinect.ColorStream;
DepthImageStream depthStream = this._Kinect.DepthStream;
this._Kinect.DepthStream.Enable();
if (!lowResource)
{
this.ColorImageElement.Dispatcher.BeginInvoke(new Action(() =>
{
this._ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
this._ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
this._ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorImageElement.Source = this._ColorImageBitmap;
this._ColorImagePixelData = new byte[colorStream.FramePixelDataLength];
}));
this.DepthImageModified.Dispatcher.BeginInvoke(new Action(() =>
{
this._DepthImageBitmap = new WriteableBitmap(depthStream.FrameWidth, depthStream.FrameHeight, 96, 96, PixelFormats.Gray16, null);
this._DepthImageBitmapRect = new Int32Rect(0, 0, depthStream.FrameWidth, depthStream.FrameHeight);
this._DepthImageStride = depthStream.FrameWidth * depthStream.FrameBytesPerPixel;
this._DepthImagePixelData = new short[depthStream.FramePixelDataLength];
}));
}
else
{
this._ColorImagePixelData = new byte[colorStream.FramePixelDataLength];
this._DepthImagePixelData = new short[depthStream.FramePixelDataLength];
}
}
}
}
void ColorWindow_Loaded(object sender, RoutedEventArgs e)
{
if (kinect != null)
{
ColorImageStream colorStream = kinect.ColorStream;
colorStream.Enable();
kinect.ColorFrameReady += myKinect_ColorFrameReady;
_ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96,
PixelFormats.Bgr32, null);
_ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorData.Source = _ColorImageBitmap;
kinect.Start();
}
}
private void InitializeKinectSensor(KinectSensor sensor)
{
if (sensor != null)
{
ColorImageStream colorStream = sensor.ColorStream;
colorStream.Enable();
/* Added in Listing 2-5 */
this._ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
this._ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
this._ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
this.ColorImageElement.Source = this._ColorImageBitmap;
this._ColorImagePixelData = new byte[colorStream.FramePixelDataLength];
/* Added in Listing 2-5 */
sensor.ColorFrameReady += Kinect_ColorFrameReady;
sensor.Start();
}
}
/// <summary>
/// 距離データをカラー画像に変換する
/// </summary>
/// <param name="kinect"></param>
/// <param name="depthFrame"></param>
/// <returns></returns>
private byte[] ConvertDepthColor(KinectSensor kinect, DepthImageFrame depthFrame)
{
ColorImageStream colorStream = kinect.ColorStream;
DepthImageStream depthStream = kinect.DepthStream;
// 距離カメラのピクセルごとのデータを取得する
short[] depthPixel = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixel);
// 距離カメラの座標に対応するRGBカメラの座標を取得する(座標合わせ)
ColorImagePoint[] colorPoint = new ColorImagePoint[depthFrame.PixelDataLength];
kinect.MapDepthFrameToColorFrame(depthStream.Format, depthPixel,
colorStream.Format, colorPoint);
byte[] depthColor = new byte[depthFrame.PixelDataLength * Bgr32BytesPerPixel];
for (int index = 0; index < depthPixel.Length; index++)
{
// 距離カメラのデータから、プレイヤーIDと距離を取得する
int player = depthPixel[index] & DepthImageFrame.PlayerIndexBitmask;
int distance = depthPixel[index] >> DepthImageFrame.PlayerIndexBitmaskWidth;
// 変換した結果が、フレームサイズを超えることがあるため、小さいほうを使う
int x = Math.Min(colorPoint[index].X, colorStream.FrameWidth - 1);
int y = Math.Min(colorPoint[index].Y, colorStream.FrameHeight - 1);
int colorIndex = ((y * depthFrame.Width) + x) * Bgr32BytesPerPixel;
// プレイヤーがいるピクセルの場合
if (player != 0)
{
// 有効なプレーヤーに色付けする
if (enablePlayer[player])
{
depthColor[colorIndex] = playerColor[player].B;
depthColor[colorIndex + 1] = playerColor[player].G;
depthColor[colorIndex + 2] = playerColor[player].R;
}
}
}
return(depthColor);
}
/// <summary>
/// Enables ColorStream from newly detected KinectSensor and sets output image
/// </summary>
/// <param name="sensor">Detected KinectSensor</param>
private void InitializeKinectSensor(KinectSensor sensor)
{
if (sensor != null)
{
ColorImageStream colorStream = sensor.ColorStream;
colorStream.Enable();
_cameraSourceBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight
, 96, 96, PixelFormats.Bgr32, null);
_cameraSourceBounds = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_colorStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
KinectCameraImage.Source = _cameraSourceBitmap;
sensor.ColorFrameReady += KinectSensor_ColorFrameReady;
sensor.SkeletonStream.Enable();
_skeletons = new Skeleton[sensor.SkeletonStream.FrameSkeletonArrayLength];
sensor.SkeletonFrameReady += KinectSensor_SkeletonFrameReady;
sensor.Start();
}
}
void ColorWindow_Loaded(object sender, RoutedEventArgs e)
{
if (kinect != null)
{
ColorImageStream colorStream = kinect.ColorStream;
_ColorImageBitmap = new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, 96, 96, PixelFormats.Bgr32, null);
_ColorImageBitmapRect = new Int32Rect(0, 0, colorStream.FrameWidth, colorStream.FrameHeight);
_ColorImageStride = colorStream.FrameWidth * colorStream.FrameBytesPerPixel;
ColorData.Source = _ColorImageBitmap;
kinect.ColorStream.Enable();
kinect.ColorFrameReady += myKinect_ColorFrameReady;
kinect.SkeletonStream.Enable();
kinect.SkeletonFrameReady += mykinect_SkeletonFrameReady;
kinect.Start();
//if(AcceptButton.uxSBHold!=null)
// AcceptButton.uxSBHold.Completed += new EventHandler(uxSBHold_Completed);
}
}
static void SendColor(UdpClient client, ColorImageStream stream, Commands command, IPEndPoint destination)
{
using (var frame = stream.OpenNextFrame(50))
{
if (frame == null)
return;
var cc = GetColorCommand(command);
if (!cc.HasValue)
return;
client.Send(ToBytes(cc.Value), sizeof(int), destination);
byte[] pixelData = new byte[frame.PixelDataLength];
frame.CopyPixelDataTo(pixelData);
Send(client, pixelData, destination);
}
}
public static WriteableBitmap CreateWriteableBitmap(ColorImageStream colorStream, PixelFormat pixelFormat)
{
return CreateWriteableBitmap(colorStream, pixelFormat, null);
}
public static WriteableBitmap CreateWriteableBitmap(ColorImageStream colorStream, PixelFormat pixelFormat, BitmapPalette palette)
{
return new WriteableBitmap(colorStream.FrameWidth, colorStream.FrameHeight, DpiX, DpiY, pixelFormat, palette);
}
public ColorImageStreamAdapter(ColorImageStream colorImageStream)
{
_colorImageStream = colorImageStream;
}
/// <summary>
/// 背丈を表示する
/// </summary>
/// <param name="kinect"></param>
/// <param name="colorStream"></param>
/// <param name="head"></param>
/// <param name="foot"></param>
private void DrawMeasure( KinectSensor kinect, ColorImageStream colorStream, Joint head, Joint foot )
{
// 頭と足の座標の差分を身長とする(メートルからセンチメートルに変換する)
int height = (int)(Math.Abs( head.Position.Y - foot.Position.Y ) * 100);
// 頭と足のスケルトン座標を、RGBカメラの座標に変換する
ColorImagePoint headColor = kinect.MapSkeletonPointToColor( head.Position, colorStream.Format );
ColorImagePoint footColor = kinect.MapSkeletonPointToColor( foot.Position, colorStream.Format );
// RGBカメラの座標を、表示する画面の座標に変換する
Point headScalePoint = new Point(
ScaleTo( headColor.X, colorStream.FrameWidth, canvasMeasure.Width ),
ScaleTo( headColor.Y, colorStream.FrameHeight, canvasMeasure.Height )
);
Point footScalePoint = new Point(
ScaleTo( footColor.X, colorStream.FrameWidth, canvasMeasure.Width ),
ScaleTo( footColor.Y, colorStream.FrameHeight, canvasMeasure.Height )
);
const int lineLength = 50;
const int thickness = 10;
canvasMeasure.Children.Clear();
// 頭の位置
canvasMeasure.Children.Add( new Line()
{
Stroke = new SolidColorBrush( Colors.Red ),
X1 = headScalePoint.X,
Y1 = headScalePoint.Y,
X2 = headScalePoint.X + lineLength,
Y2 = headScalePoint.Y,
StrokeThickness = thickness,
} );
// 足の位置
canvasMeasure.Children.Add( new Line()
{
Stroke = new SolidColorBrush( Colors.Red ),
X1 = footScalePoint.X,
Y1 = footScalePoint.Y,
X2 = headScalePoint.X + lineLength,
Y2 = footScalePoint.Y,
StrokeThickness = thickness,
} );
// 頭と足を結ぶ線
canvasMeasure.Children.Add( new Line()
{
Stroke = new SolidColorBrush( Colors.Red ),
X1 = headScalePoint.X + lineLength,
Y1 = headScalePoint.Y,
X2 = headScalePoint.X + lineLength,
Y2 = footScalePoint.Y,
StrokeThickness = thickness,
} );
// 身長の表示Y位置
double Y = Math.Abs( headScalePoint.Y + footScalePoint.Y ) / 2;
canvasMeasure.Children.Add( new TextBlock()
{
Margin = new Thickness( headScalePoint.X + lineLength, Y, 0, 0 ),
Text = height.ToString(),
Height = 36,
Width = 60,
FontSize = 24,
FontWeight = FontWeights.Bold,
Background = new SolidColorBrush( Colors.White ),
} );
}
private void EnableColorImageStreamBasedOnIsChecked(
CheckBox checkBox, ColorImageStream imageStream, ComboBox colorFormatsValue)
{
if (checkBox.IsChecked.HasValue && checkBox.IsChecked.Value)
{
imageStream.Enable((ColorImageFormat)colorFormatsValue.SelectedItem);
}
else
{
imageStream.Disable();
}
}
