/// <summary>
/// Maps a point in the depth image to a point in the color image.
/// </summary>
/// <param name="x">x coordinate in the depth image.</param>
/// <param name="y">y coordinate in the depth image.</param>
/// <param name="depth">correspoinding depth at (x, y).</param>
/// <returns></returns>
public ColorImagePoint MapDepthPointToColorPoint(int x, int y, int depth)
{
var dp = new DepthImagePoint()
{
X = x,
Y = y,
Depth = depth
};
return(mapper.MapDepthPointToColorPoint(dif, dp, cif));
}
//DEPTH_END
void GetCameraPoint(Skeleton first, AllFramesReadyEventArgs e)
{
using (DepthImageFrame depth = e.OpenDepthImageFrame())
{
if (depth == null || kinectSensorChooser1.Kinect == null)
{
return;
}
CoordinateMapper cm = new CoordinateMapper(kinectSensorChooser1.Kinect);
DepthImagePoint headDepthPoint = cm.MapSkeletonPointToDepthPoint(first.Joints[JointType.Head].Position, DepthImageFormat.Resolution640x480Fps30);
DepthImagePoint leftDepthPoint = cm.MapSkeletonPointToDepthPoint(first.Joints[JointType.HandLeft].Position, DepthImageFormat.Resolution640x480Fps30);
DepthImagePoint rightDepthPoint = cm.MapSkeletonPointToDepthPoint(first.Joints[JointType.HandRight].Position, DepthImageFormat.Resolution640x480Fps30);
ColorImagePoint headColorPoint = cm.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, headDepthPoint, ColorImageFormat.RgbResolution640x480Fps30);
ColorImagePoint leftColorPoint = cm.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, leftDepthPoint, ColorImageFormat.RgbResolution640x480Fps30);
ColorImagePoint rightColorPoint = cm.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, rightDepthPoint, ColorImageFormat.RgbResolution640x480Fps30);
//=> CameraPosition(headImage, headColorPoint);
//=> CameraPosition(leftEllipse, leftColorPoint);
//=> CameraPosition(rightEllipse, rightColorPoint);
}
}
public bool GetColorFromDepth(int x, int y, out Color c)
{
c = Color.Black;
int cX, cY;
CoordinateMapper cm = new CoordinateMapper(this.sensor);
//this.sensor.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, new ImageViewArea(), x/2, y/2, (short)(depthMM[x + y*w] << 3), out cX, out cY);
ColorImagePoint colorpoint = cm.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, new DepthImagePoint()
{
X = x, Y = y, Depth = depthMM[x + y * w]
}, ColorImageFormat.RgbResolution640x480Fps30);
//ColorImagePoint colorPoint = this.sensor.MapDepthToColorImagePoint(DepthImageFormat.Resolution640x480Fps30, x/2, y/2, (short)(depthMM[x + y*w] << 3), ColorImageFormat.RgbResolution640x480Fps30 )//, out cX, out cY); // .MapToColorImagePoint(depthPoint.X, depthPoint.Y, sensor.ColorStream.Format);
//if (cX != -1 && colorFrameData != null && cX < w && cY < h)
if (colorpoint.X != -1 && colorFrameData != null && colorpoint.X < w && colorpoint.Y < h)
{
c = colorFrameData[colorpoint.X + colorpoint.Y * w];
return(true);
}
return(false);
}
void GetCameraPoint(Skeleton first, AllFramesReadyEventArgs e)
{
using (DepthImageFrame depth = e.OpenDepthImageFrame())
{
if (depth == null ||
kinectSensorChooser1.Kinect == null)
{
return;
}
//Map a joint location to a point on the depth map
//head
CoordinateMapper mapper = new CoordinateMapper(sensor);
DepthImagePoint headDepthPoint =
mapper.MapSkeletonPointToDepthPoint(first.Joints[JointType.Head].Position, DepthImageFormat.Resolution640x480Fps30);
//left hand
DepthImagePoint leftDepthPoint =
mapper.MapSkeletonPointToDepthPoint(first.Joints[JointType.HandLeft].Position, DepthImageFormat.Resolution640x480Fps30);
//right hand
DepthImagePoint rightDepthPoint =
mapper.MapSkeletonPointToDepthPoint(first.Joints[JointType.HandRight].Position, DepthImageFormat.Resolution640x480Fps30);
//Map a depth point to a point on the color image
//head
ColorImagePoint headColorPoint =
mapper.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, headDepthPoint, ColorImageFormat.RgbResolution640x480Fps30);
//left hand
ColorImagePoint leftColorPoint =
mapper.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, leftDepthPoint,
ColorImageFormat.RgbResolution640x480Fps30);
//right hand
ColorImagePoint rightColorPoint =
mapper.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, rightDepthPoint,
ColorImageFormat.RgbResolution640x480Fps30);
SkeletonPoint rightHand = first.Joints[JointType.HandRight].Position;
SkeletonPoint leftHand = first.Joints[JointType.HandLeft].Position;
if (isInBoundingBox(rightHand))
{
CameraPosition(rightEllipse, rightColorPoint);
RightBlobs.Points.Add(new System.Windows.Point(rightColorPoint.X, rightColorPoint.Y));
//drawBlob(rightColorPoint);
tuioManager.addPoint(0, new PointF(rightColorPoint.X, rightColorPoint.Y));
}
else
{
rightColorPoint.X = 0; rightColorPoint.Y = 0;
CameraPosition(rightEllipse, rightColorPoint);
}
if (isInBoundingBox(leftHand))
{
CameraPosition(leftEllipse, leftColorPoint);
LeftBlobs.Points.Add(new System.Windows.Point(leftColorPoint.X, leftColorPoint.Y));
//drawBlob(leftColorPoint);
tuioManager.addPoint(1, new PointF(leftColorPoint.X, leftColorPoint.Y));
}
else
{
leftColorPoint.X = 0; leftColorPoint.Y = 0;
CameraPosition(leftEllipse, leftColorPoint);
}
//Console.WriteLine("X " + rightHand.X + "Y " + rightHand.Y + "Z " + rightHand.Z);
label1.Content = "X " + rightHand.X + "Y " + rightHand.Y + "Z " + rightHand.Z;
}
}
//DEPTH_END
void GetCameraPoint(Skeleton first, AllFramesReadyEventArgs e)
{
using (DepthImageFrame depth = e.OpenDepthImageFrame())
{
if (depth == null || kinectSensorChooser1.Kinect == null)
{
return;
}
CoordinateMapper cm = new CoordinateMapper(kinectSensorChooser1.Kinect);
DepthImagePoint headDepthPoint = cm.MapSkeletonPointToDepthPoint(first.Joints[JointType.Head].Position,DepthImageFormat.Resolution640x480Fps30);
DepthImagePoint leftDepthPoint = cm.MapSkeletonPointToDepthPoint(first.Joints[JointType.HandLeft].Position, DepthImageFormat.Resolution640x480Fps30);
DepthImagePoint rightDepthPoint = cm.MapSkeletonPointToDepthPoint(first.Joints[JointType.HandRight].Position, DepthImageFormat.Resolution640x480Fps30);
ColorImagePoint headColorPoint = cm.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, headDepthPoint, ColorImageFormat.RgbResolution640x480Fps30);
ColorImagePoint leftColorPoint = cm.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, leftDepthPoint, ColorImageFormat.RgbResolution640x480Fps30);
ColorImagePoint rightColorPoint = cm.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, rightDepthPoint, ColorImageFormat.RgbResolution640x480Fps30);
//=> CameraPosition(headImage, headColorPoint);
//=> CameraPosition(leftEllipse, leftColorPoint);
//=> CameraPosition(rightEllipse, rightColorPoint);
}
}
