private void HandModule_FrameProcessed(object sender, RS.FrameProcessedEventArgs args)
{
handData.Update();
IHand[] ileftHand = null;
IHand[] irightHand = null;
if (handData.QueryHandData(AccessOrderType.ACCESS_ORDER_LEFT_HANDS, out ileftHand) == RS.Status.STATUS_NO_ERROR)
{
leftHand = new Hand(ileftHand[0]);
}
else
{
leftHand = null;
}
if (handData.QueryHandData(AccessOrderType.ACCESS_ORDER_RIGHT_HANDS, out irightHand) == RS.Status.STATUS_NO_ERROR)
{
rightHand = new Hand(irightHand[0]);
}
else
{
rightHand = null;
}
if (irightHand != null || ileftHand != null)
{
HandDataChanged.Invoke(rightHand, leftHand);
DataStreamUpdate.Invoke(GetAllHandDataAttribute(rightHand, leftHand), GetPreprocessedHand(rightHand, leftHand));
}
sm.ReleaseFrame();
}
/* Displaying current frames hand joints */
private void DisplayJoints(HandData handOutput, long timeStamp = 0)
{
if (_form.GetJointsState() || _form.GetSkeletonState() || _form.GetExtremitiesState())
{
//Iterate hands
var nodes = new JointData[][] { new JointData[0x20], new JointData[0x20] };
var extremityNodes = new ExtremityData[][] { new ExtremityData[0x6], new ExtremityData[0x6] };
int numOfHands = handOutput.NumberOfHands;
if (numOfHands == 1)
{
_mCursorPoints[1].Clear();
}
for (int i = 0; i < 2; i++)
{
//Get hand by time of appearance
IHand handData;
if (handOutput.QueryHandData(AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == Status.STATUS_NO_ERROR)
{
if (handData != null)
{
var nodeIndex = handData.BodySide == BodySideType.BODY_SIDE_LEFT ? 0 : 1;
//Iterate Joints
foreach (var tJ in handData.TrackedJoints)
{
nodes[nodeIndex][(int)tJ.Key] = tJ.Value;
} // end iterating over joints
// iterate over extremity points
if (_form.GetExtremitiesState())
{
for (int j = 0; j < HandData.NUMBER_OF_EXTREMITIES; j++)
{
foreach (var eP in handData.ExtremityPoints)
{
extremityNodes[nodeIndex][(int)eP.Key] = eP.Value;
}
}
}
}
}
} // end iterating over hands
_form.DisplayJoints(nodes, 2);
if (numOfHands > 0)
{
if (_form.GetExtremitiesState())
{
_form.DisplayExtremities(numOfHands, extremityNodes);
}
}
}
}
/* 显示当前帧手关节*/
private void DisplayJoints(HandData handOutput, long timeStamp = 0)
{
if (_form.GetJointsState() || _form.GetSkeletonState() || _form.GetExtremitiesState())
{
//迭代手
var nodes = new JointData[][] { new JointData[0x20], new JointData[0x20] };
var extremityNodes = new ExtremityData[][] { new ExtremityData[0x6], new ExtremityData[0x6] };
int numOfHands = handOutput.NumberOfHands;
if (numOfHands == 1)
{
_mCursorPoints[1].Clear();
}
for (int i = 0; i < numOfHands; i++)
{
//在出现的时候检测手
IHand handData;
if (handOutput.QueryHandData(AccessOrderType.ACCESS_ORDER_BY_TIME, i, out handData) == Status.STATUS_NO_ERROR)
{
if (handData != null)
{
//迭代手关节
foreach (var tJ in handData.TrackedJoints)
{
nodes[i][(int)tJ.Key] = tJ.Value;
}
// 手关节迭代结束
// 迭代手边缘点
if (_form.GetExtremitiesState())
{
for (int j = 0; j < HandData.NUMBER_OF_EXTREMITIES; j++)
{
foreach (var eP in handData.ExtremityPoints)
{
extremityNodes[i][(int)eP.Key] = eP.Value;
}
}
}
}
}
} //迭代手结束
_form.DisplayJoints(nodes, numOfHands);
if (numOfHands > 0)
{
if (_form.GetExtremitiesState())
{
_form.DisplayExtremities(numOfHands, extremityNodes);
}
}
}
}
/* Displaying Depth/Mask Images - for depth image only we use a delay of NumberOfFramesToDelay to sync image with tracking */
private unsafe void DisplayPicture(Image depth, HandData handAnalysis)
{
if (depth == null)
{
return;
}
Image image = depth;
//Mask Image
if (_form.GetLabelmapState())
{
System.Drawing.Bitmap labeledBitmap = null;
try
{
int numOfHands = handAnalysis.NumberOfHands;
PointI32[][] pointOuter = new PointI32[numOfHands][];
PointI32[][] pointInner = new PointI32[numOfHands][];
labeledBitmap = new System.Drawing.Bitmap(image.Info.width, image.Info.height, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
for (int j = 0; j < numOfHands; j++)
{
int id;
ImageData data;
handAnalysis.QueryHandId(AccessOrderType.ACCESS_ORDER_BY_TIME, j, out id);
//Get hand by time of appearance
IHand handData;
handAnalysis.QueryHandData(AccessOrderType.ACCESS_ORDER_BY_TIME, j, out handData);
if (handData != null)
{
image = handData.SegmentationImage;
if (image != null)
{
if (image.AcquireAccess(ImageAccess.ACCESS_READ, PixelFormat.PIXEL_FORMAT_Y8,
out data) >= Status.STATUS_NO_ERROR)
{
var rect = new System.Drawing.Rectangle(0, 0, image.Info.width, image.Info.height);
var bitmapdata = labeledBitmap.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadWrite, labeledBitmap.PixelFormat);
byte *numPtr = (byte *)bitmapdata.Scan0; //dst
byte *numPtr2 = (byte *)data.planes[0]; //row
int imagesize = image.Info.width * image.Info.height;
byte num2 = (_form.GetFullHandModeState()) ? (byte)handData.BodySide : (byte)1;
byte tmp = 0;
for (int i = 0; i < imagesize; i++, numPtr += 4, numPtr2++)
{
tmp = (byte)(_lut[numPtr2[0]] * num2 * 100);
numPtr[0] = (Byte)(tmp | numPtr[0]);
numPtr[1] = (Byte)(tmp | numPtr[1]);
numPtr[2] = (Byte)(tmp | numPtr[2]);
numPtr[3] = 0xff;
}
labeledBitmap.UnlockBits(bitmapdata);
image.ReleaseAccess(data);
}
if ((_form.GetContourState()))
{
int contourNumber = handData.NumberOfContours;
if (contourNumber > 0)
{
for (int k = 0; k < contourNumber; ++k)
{
IContour contour = handData.Contours[k];
if (contour != null)
{
if (contour.Outer)
{
pointOuter[j] = contour.Points;
}
else
{
pointInner[j] = contour.Points;
}
}
}
}
}
}
}
}
if (labeledBitmap != null)
{
_form.DisplayBitmap(labeledBitmap);
labeledBitmap.Dispose();
}
if (image != null)
{
image.Dispose();
}
for (int i = 0; i < numOfHands; i++)
{
if (_form.GetContourState())
{
if (pointOuter[i] != null && pointOuter[i].Length > 0)
{
_form.DisplayContour(pointOuter[i], i);
}
if (pointInner[i] != null && pointInner[i].Length > 0)
{
_form.DisplayContour(pointInner[i], i);
}
}
}
}
catch (Exception)
{
if (labeledBitmap != null)
{
labeledBitmap.Dispose();
}
if (image != null)
{
image.Dispose();
}
}
} //end label image
//Depth Image
else
{
//collecting 3 images inside a queue and displaying the oldest image
ImageInfo info;
Image image2;
ImageData imageData = new ImageData();
info = image.Info;
image2 = Image.CreateInstance(_form.session, info, imageData);
//image2 = _form.g_session. CreateImage(info);
if (image2 == null)
{
return;
}
image2.CopyImage(image);
_mImages.Enqueue(image2);
if (_mImages.Count == NumberOfFramesToDelay)
{
System.Drawing.Bitmap depthBitmap;
try
{
depthBitmap = new System.Drawing.Bitmap(image.Info.width, image.Info.height, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
}
catch (Exception)
{
image.Dispose();
Image queImage = _mImages.Dequeue();
queImage.Dispose();
return;
}
ImageData data3;
Image image3 = _mImages.Dequeue();
if (image3.AcquireAccess(ImageAccess.ACCESS_READ, PixelFormat.PIXEL_FORMAT_DEPTH, out data3) >= Status.STATUS_NO_ERROR)
{
float fMaxValue = _maxRange;
byte cVal;
var rect = new System.Drawing.Rectangle(0, 0, image.Info.width, image.Info.height);
var bitmapdata = depthBitmap.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadWrite, depthBitmap.PixelFormat);
byte * pDst = (byte *)bitmapdata.Scan0;
short *pSrc = (short *)data3.planes[0];
int size = image.Info.width * image.Info.height;
for (int i = 0; i < size; i++, pSrc++, pDst += 4)
{
cVal = (byte)((*pSrc) / fMaxValue * 255);
if (cVal != 0)
{
cVal = (byte)(255 - cVal);
}
pDst[0] = cVal;
pDst[1] = cVal;
pDst[2] = cVal;
pDst[3] = 255;
}
try
{
depthBitmap.UnlockBits(bitmapdata);
}
catch (Exception)
{
image3.ReleaseAccess(data3);
depthBitmap.Dispose();
image3.Dispose();
return;
}
_form.DisplayBitmap(depthBitmap);
image3.ReleaseAccess(data3);
}
depthBitmap.Dispose();
image3.Dispose();
}
}
}