public MultiTouchTrackerOmni(NuiSensor sensor)
{
this.sensor = sensor;
sensor.FrameUpdate += new EventHandler<NuiSensor.FrameUpdateEventArgs>(sensor_FrameUpdate);
width = sensor.DepthGenerator.MapOutputMode.XRes;
height = sensor.DepthGenerator.MapOutputMode.YRes;
outputImageSource = new WriteableBitmap(width, height, NuiSensor.DPI_X, NuiSensor.DPI_Y, PixelFormats.Rgb24, null);
fingersRaw = new int[MAX_FINGERS * 2];
Fingers = new List<Point3D>(MAX_FINGERS);
int bufferSize = width * height * 3;
bufferOutputColored = new byte[bufferSize];
sensor.CaptureRequested += new EventHandler<NuiSensor.CaptureEventArgs>(sensor_CaptureRequested);
double realWorldXToZ, realWorldYToZ;
hackXnConvertProjectiveToRealWorld(out realWorldXToZ, out realWorldYToZ);
unsafe
{
ImageProcessorLib.derivativeFingerDetectorInit(null, null, width, height, width, width * 3, sensor.DepthGenerator.DeviceMaxDepth, realWorldXToZ, realWorldYToZ);
}
}
public void SetSensorVideo(NuiSensor sensor, VideoType videoType)
{
this.videoType = videoType;
this.sensor = sensor;
Title = videoType.ToString();
sensor.HandTracker.HandDestroy += new EventHandler<HandDestroyEventArgs>(HandTracker_HandDestroy);
sensor.HandTracker.HandUpdate += new EventHandler<HandUpdateEventArgs>(HandTracker_HandUpdate);
refreshWorker = new BackgroundWorker();
refreshWorker.DoWork += new DoWorkEventHandler(refreshWorker_DoWork);
CompositionTarget.Rendering += new EventHandler(CompositionTarget_Rendering);
//create finger points
for (int i = 0; i < MultiTouchTracker.MAX_FINGERS; i++)
{
Ellipse ellipse = new Ellipse()
{
Width = 10,
Height = 10,
Fill = Brushes.Orange,
Stroke = Brushes.White,
StrokeThickness = 2,
Opacity = 0,
};
fingerPoints.Add(ellipse);
canvas.Children.Add(ellipse);
}
}
public MainWindow()
{
InitializeComponent();
handTrackingControlMap = new Dictionary<int, TrackingDataControl>();
nuiSensor = new NuiSensor();
nuiSensor.HandTracker.HandCreate += new EventHandler<OpenNI.HandCreateEventArgs>(HandTracker_HandCreate);
nuiSensor.HandTracker.HandDestroy += new EventHandler<OpenNI.HandDestroyEventArgs>(HandTracker_HandDestroy);
nuiSensor.HandTracker.HandUpdate += new EventHandler<OpenNI.HandUpdateEventArgs>(HandTracker_HandUpdate);
server = new Server(nuiSensor);
server.Start();
}
public MultiTouchTracker(NuiSensor sensor)
{
this.sensor = sensor;
sensor.FrameUpdate += new EventHandler<NuiSensor.FrameUpdateEventArgs>(sensor_FrameUpdate);
width = sensor.DepthGenerator.MapOutputMode.XRes;
height = sensor.DepthGenerator.MapOutputMode.YRes;
bitmap = new WriteableBitmap(width, height, NuiSensor.DPI_X, NuiSensor.DPI_Y, PixelFormats.Rgb24, null);
resultBitmap = new WriteableBitmap(width, height, NuiSensor.DPI_X, NuiSensor.DPI_Y, PixelFormats.Rgb24, null);
int bufferSize = width * height;
bufferSrc = new byte[bufferSize];
bufferSwitch = new byte[bufferSize];
bufferDst = new byte[bufferSize];
fingersRaw = new int[MAX_FINGERS * 2];
Fingers = new List<Point3D>(MAX_FINGERS);
}
void sensor_FrameUpdate(object sender, NuiSensor.FrameUpdateEventArgs e)
{
if (CalibrationState == CalibrationState.Requested)
{
calibrationStartTime = e.DepthMetaData.Timestamp;
calibrationMap = new double[e.DepthMetaData.YRes, e.DepthMetaData.XRes];
unsafe
{
ushort* pDepth = (ushort*)e.DepthMetaData.DepthMapPtr.ToPointer();
fixed (double* calibrationMapPtr = calibrationMap)
{
double* pDest = calibrationMapPtr;
for (int i = 0; i < calibrationMap.Length; ++i, ++pDepth, ++pDest)
{
*pDest = *pDepth;
}
}
}
calibratedFrame = 1;
CalibrationState = CalibrationState.FirstFrameCaptured;
}
else if (CalibrationState == CalibrationState.FirstFrameCaptured)
{
unsafe
{
ushort* pDepth = (ushort*)e.DepthMetaData.DepthMapPtr.ToPointer();
fixed (double* calibrationMapPtr = calibrationMap)
{
double* pDest = calibrationMapPtr;
for (int i = 0; i < calibrationMap.Length; ++i, ++pDepth, ++pDest)
{
*pDest = (*pDest * calibratedFrame + *pDepth) / (double)(calibratedFrame + 1);
}
}
}
if (e.DepthMetaData.Timestamp - calibrationStartTime >= calibrationDuration)
{
CalibrationState = CalibrationState.Finished;
if (calibrationFinishedHandler != null)
{
calibrationFinishedHandler();
}
}
calibratedFrame++;
}
else if (CalibrationState == CalibrationState.Finished)
{
recognizeFingers(e.DepthMetaData);
}
}
void sensor_FrameUpdate(object sender, NuiSensor.FrameUpdateEventArgs e)
{
int fingersNum = 0;
int[] handHint = new int[4];
lock (bufferOutputColored)
{
unsafe
{
fixed (byte* bufferOutputColorPtr = bufferOutputColored)
{
fixed (int* fingerRawPtr = fingersRaw, handHintPtr = handHint)
{
ushort* pDepth = (ushort*)sensor.DepthMetaData.DepthMapPtr.ToPointer();
fingersNum = ImageProcessorLib.derivativeFingerDetectorWork(pDepth, bufferOutputColorPtr, width, height, width, width * 3,
FingerWidthMin, FingerWidthMax, FingerLengthMin, FingerLengthMax,
MAX_FINGERS, fingerRawPtr, handHintPtr);
}
}
}
}
Fingers.Clear();
for (int i = 0; i < fingersNum; i++)
{
Fingers.Add(new Point3D(fingersRaw[2 * i], fingersRaw[2 * i + 1], 0));
}
if (Fingers.Count > 0 && (!sensor.HandTracker.IsTracking || handHint[3] - lastHandDetectConfidence > HAND_CHANGE_CONFIDENCE_THRESHOLD))
{
sensor.HandTracker.HandDestroy += new EventHandler<HandDestroyEventArgs>(HandTracker_HandDestroy);
sensor.HandTracker.StartTrackingAt(new Point3D(handHint[0], handHint[1], handHint[2]));
lastHandDetectConfidence = handHint[3];
Trace.WriteLine("Hand hint at " + string.Format("{0}, {1}, {2}", handHint[0], handHint[1], handHint[2]) + " with confidence" + handHint[3].ToString());
}
}
void sensor_CaptureRequested(object sender, NuiSensor.CaptureEventArgs e)
{
string fileNameH = e.Folder + e.FileNamePrefix + "derivativeH.csv";
string fileNameV = e.Folder + e.FileNamePrefix + "derivativeV.csv";
string fileNameBmp = e.Folder + e.FileNamePrefix + "derivative.bmp";
StreamWriter swH = new StreamWriter(fileNameH);
StreamWriter swV = new StreamWriter(fileNameV);
lock (bufferOutputColored)
{
unsafe
{
int* hDerivativeRes, vDerivativeRes;
ImageProcessorLib.derivativeFingerDetectorGetDerivativeFrame(&hDerivativeRes, &vDerivativeRes);
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
swH.Write(hDerivativeRes[i * width + j].ToString() + ", ");
swV.Write(vDerivativeRes[i * width + j].ToString() + ", ");
}
swH.WriteLine();
swV.WriteLine();
}
}
}
swH.Close();
swV.Close();
BmpBitmapEncoder bmpEncoder = new BmpBitmapEncoder();
bmpEncoder.Frames.Add(BitmapFrame.Create(outputImageSource));
FileStream fs = new FileStream(fileNameBmp, FileMode.Create);
bmpEncoder.Save(fs);
fs.Close();
}
