private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
{
// Enque Capture
tracker.EnqueueCapture(capture);
// Pop Result
using (K4ABT.Frame frame = tracker.PopResult())
// Get Color Image
using (K4A.Image color_image = frame.Capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Clear All Ellipse from Canvas
Canvas_Body.Children.Clear();
// Draw Skeleton
for (uint body_index = 0; body_index < frame.NumberOfBodies; body_index++)
{
// Get Skeleton and ID
K4ABT.Skeleton skeleton = frame.GetBodySkeleton(body_index);
uint id = frame.GetBodyId(body_index);
// Draw Joints
for (int joint_index = 0; joint_index < (int)K4ABT.JointId.Count; joint_index++)
{
// Get Joint and Position
K4ABT.Joint joint = skeleton.GetJoint(joint_index);
Vector2? position = calibration.TransformTo2D(joint.Position, K4A.CalibrationDeviceType.Depth, K4A.CalibrationDeviceType.Color);
if (!position.HasValue)
{
continue;
}
// Create Ellipse
const int radius = 10;
SolidColorBrush stroke_color = new SolidColorBrush(colors[id % colors.Length]);
SolidColorBrush fill_color = new SolidColorBrush((joint.ConfidenceLevel >= K4ABT.JointConfidenceLevel.Medium) ? colors[id % colors.Length] : Colors.Transparent);
Ellipse ellipse = new Ellipse()
{
Width = radius, Height = radius, StrokeThickness = 1, Stroke = stroke_color, Fill = fill_color
};
// Add Ellipse to Canvas
Canvas.SetLeft(ellipse, position.Value.X - (radius / 2));
Canvas.SetTop(ellipse, position.Value.Y - (radius / 2));
Canvas_Body.Children.Add(ellipse);
}
}
}
}
}
}
private WriteableBitmap CreateNewBitmap(
Microsoft.Azure.Kinect.Sensor.Image image,
int xLeft, int yLeft,
int xRight, int yRight)
{
WriteableBitmap wb = new WriteableBitmap(
image.WidthPixels + 30,
image.HeightPixels + 30,
96,
96,
PixelFormats.Bgra32, null);
var region = new Int32Rect(0, 0, image.WidthPixels, image.HeightPixels);
unsafe
{
using (var pin = image.Memory.Pin())
{
wb.WritePixels(region, (IntPtr)pin.Pointer, (int)image.Size, image.StrideBytes);
}
}
using (wb.GetBitmapContext())
{
wb.FillEllipse(xLeft, yLeft, xLeft + 40, yLeft + 40, Colors.Red);
wb.FillEllipse(xRight, yRight, xRight + 40, yRight + 40, Colors.Blue);
}
return(wb);
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image and Transformed Image
#if TO_COLOR
using (K4A.Image color_image = capture.Color)
using (K4A.Image depth_image = transformation.DepthImageToColorCamera(capture))
#else
using (K4A.Image color_image = transformation.ColorImageToDepthCamera(capture))
using (K4A.Image depth_image = capture.Depth)
#endif
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Get Depth Buffer, and Write Bitmap
ushort[] depth_buffer = depth_image.GetPixels <ushort>().ToArray();
depth_bitmap.WritePixels(depth_rect, Array.ConvertAll(depth_buffer, i => (byte)(i * (255.0 / 5000.0))), depth_stride, 0, 0);
}
}
}
//Kinectからデータを取得し、描画するメソッド
private async Task KinectLoop()
{
//while文でkinectからデータを取り続ける
while (true)
{
//GetCaptureでKinectのデータを取得
using (Capture capture = await Task.Run(() => kinect.GetCapture()).ConfigureAwait(true))
{
//Depth画像との位置・サイズ合わせ済みの画像を取得
// Image colorImage = transformation.ColorImageToDepthCamera(capture);
Image colorImage = capture.Color;
//色情報のみの配列を取得
// BGRA[] colorArray = colorImage.GetPixels<BGRA>().ToArray();
using (MemoryHandle pin = colorImage.Memory.Pin())
{
//Bitmap画像を作成
colorBitmap = new Bitmap(
colorImage.WidthPixels, //カラー画像の横幅
colorImage.HeightPixels, //カラー画像の縦幅
colorImage.StrideBytes, //横一列のバイト数(width*4)
PixelFormat.Format32bppArgb, //カラーフォーマット(RGBA)
(IntPtr)pin.Pointer); //各ピクセルの色情報
}
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
{
// Enqueue Tracker
tracker.EnqueueCapture(capture);
// Pop Result
using (K4ABT.Frame frame = tracker.PopResult())
// Get Color Image
using (K4A.Image color_image = frame.Capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Transform Body Index Map to Color Camera
(K4A.Image _, K4A.Image body_index_map)reult =
transformation.DepthImageToColorCameraCustom(
frame.Capture.Depth,
frame.BodyIndexMap,
K4A.TransformationInterpolationType.Nearest,
K4ABT.Frame.BodyIndexMapBackground
);
//Get Body Index Map Buffer
byte[] body_index_map_buffer = reult.body_index_map.Memory.ToArray();
// Draw Body Index Map and Write Bitmap
Parallel.For(0, body_index_map_buffer.Length, i =>
{
uint index = (uint)body_index_map_buffer[i];
if (index != K4ABT.Frame.BodyIndexMapBackground)
{
Color color = colors[index % colors.Length];
colorized_body_index_map_buffer[i * 4 + 0] = color.B;
colorized_body_index_map_buffer[i * 4 + 1] = color.G;
colorized_body_index_map_buffer[i * 4 + 2] = color.R;
colorized_body_index_map_buffer[i * 4 + 3] = color.A;
}
else
{
colorized_body_index_map_buffer[i * 4 + 0] = 0;
colorized_body_index_map_buffer[i * 4 + 1] = 0;
colorized_body_index_map_buffer[i * 4 + 2] = 0;
colorized_body_index_map_buffer[i * 4 + 3] = 255;
}
});
body_index_map_bitmap.WritePixels(body_index_map_rect, colorized_body_index_map_buffer, body_index_map_stride, 0, 0);
// Clear Body Index Map
reult.body_index_map.Dispose();
}
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image
using (K4A.Image color_image = capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image
using (K4A.Image infrared_image = capture.IR)
{
// Get Infrared Buffer, and Write Bitmap
ushort[] infrared_buffer = infrared_image.GetPixels <ushort>().ToArray();
infrared_bitmap.WritePixels(infrared_rect, Array.ConvertAll(infrared_buffer, i => (byte)(i * 0.5)), infrared_stride, 0, 0);
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image
using (K4A.Image depth_image = capture.Depth)
{
// Get Depth Buffer, and Write Bitmap
ushort[] depth_buffer = depth_image.GetPixels <ushort>().ToArray();
depth_bitmap.WritePixels(depth_rect, Array.ConvertAll(depth_buffer, i => (byte)(i * (255.0 / 5000.0))), depth_stride, 0, 0);
}
}
}
private void CreateColorImage(Capture capture)
{
unsafe
{
//Getting color image of kinect.
Image colorImage = capture.Color;
//Geting the pointer of color image
using (MemoryHandle pin = colorImage.Memory.Pin())
{
//creating bitmap image
colorBitmap = new Bitmap(
colorImage.WidthPixels, //width of color image
colorImage.HeightPixels, //height of color image
colorImage.StrideBytes, //data size of a stride (width*4)
PixelFormat.Format32bppArgb, //format (RGBA)
(IntPtr)pin.Pointer); //pointer of each pixel
}
}
}
public static Bitmap CreateBitmap(this Microsoft.Azure.Kinect.Sensor.Image image)
{
if (image is null)
{
throw new ArgumentNullException(nameof(image));
}
System.Drawing.Imaging.PixelFormat pixelFormat;
using (Microsoft.Azure.Kinect.Sensor.Image reference = image.Reference())
{
unsafe
{
switch (reference.Format)
{
case ImageFormat.ColorBGRA32:
pixelFormat = System.Drawing.Imaging.PixelFormat.Format32bppArgb;
break;
case ImageFormat.Depth16:
case ImageFormat.IR16:
pixelFormat = System.Drawing.Imaging.PixelFormat.Format16bppGrayScale;
break;
default:
throw new AzureKinectException($"Pixel format {reference.Format} cannot be converted to a BitmapSource");
}
using (MemoryHandle pin = image.Memory.Pin())
{
return(new Bitmap(
image.WidthPixels,
image.HeightPixels,
image.StrideBytes,
pixelFormat,
(IntPtr)pin.Pointer));
}
}
}
}
async private void WindowLoaded(object sender, RoutedEventArgs e)
{
Device device;
try
{
using (device = Device.Open(0))
{
device.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.NFOV_Unbinned,
SynchronizedImagesOnly = true,
CameraFPS = FPS.FPS30,
});
int colorWidth = device.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int colorHeight = device.GetCalibration().ColorCameraCalibration.ResolutionHeight;
var callibration = device.GetCalibration(DepthMode.NFOV_Unbinned, ColorResolution.R720p);
var trackerConfig = new TrackerConfiguration();
trackerConfig.ProcessingMode = TrackerProcessingMode.Gpu;
trackerConfig.SensorOrientation = SensorOrientation.Default;
using (var tracker = Tracker.Create(callibration, trackerConfig))
{
using (Transformation transform = device.GetCalibration().CreateTransformation())
{
while (true)
{
using (Capture capture = await Task.Run(() => { return(device.GetCapture()); }).ConfigureAwait(true))
{
Task <BitmapSource> createInputColorBitmapTask = Task.Run(() =>
{
Image color = capture.Color;
BitmapSource source = BitmapSource.Create(color.WidthPixels, color.HeightPixels, 96, 96, PixelFormats.Bgra32, null, color.Memory.ToArray(), color.StrideBytes);
source.Freeze();
return(source);
});
this.inputColorBitmap = await createInputColorBitmapTask.ConfigureAwait(true);
this.InputColorImageViewPane.Source = inputColorBitmap;
tracker.EnqueueCapture(capture);
using (Microsoft.Azure.Kinect.BodyTracking.Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (frame != null)
{
Console.WriteLine("Number Body: " + frame.NumberOfBodies);
if (frame.NumberOfBodies > 0)
{
await SaveFile(this.inputColorBitmap);
if (await callDetectDarknessServices().ConfigureAwait(true))
{
speech("The room is too dark please turn on the light.");
this.DarknessAlertCount = this.DarknessAlertCount + 1;;
}
else if (await callDetectionObjectServices().ConfigureAwait(true))
{
speech("Please Beware of Object On the Floor. Please Beware of Object On the Floor.");
this.ObjectAlertCount = this.ObjectAlertCount + 1;;
}
}
}
}
}
switch ((DateTime.Now.ToString("HH:mm", System.Globalization.DateTimeFormatInfo.InvariantInfo)))
{
case "00:00":
case "00:01":
case "00:02": this.ObjectAlertCount = 0; this.DarknessAlertCount = 0; break;
default: break;
}
await CallLineApiService().ConfigureAwait(true);
}
}
}
}
}
catch (Exception err)
{
Console.WriteLine(err);
}
}
private async void StartCamera()
{
//body track
using (Tracker tracker = Tracker.Create(this.kinect.GetCalibration(), new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
// sensor camera
using (Microsoft.Azure.Kinect.Sensor.Image transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(
Microsoft.Azure.Kinect.Sensor.ImageFormat.Depth16, colorWidth, colorHeight, colorWidth * sizeof(UInt16)))
{
//local variables
// photo for prediction
float[,] lastImage;
// for show lastImage
Bitmap bm = null;
// Image camera
uint trackedBodyId = 0;
JointConfidenceLevel conf = JointConfidenceLevel.Low;
while (running)
{
using (Capture capture = await Task.Run(() => { return(this.kinect.GetCapture()); }))
{
bm = new Bitmap(30, 30);
// for final image
uint[,] foto = new uint[300, 300];
lastImage = new float[30, 30];
for (int i = 0; i < 30; i++)
{
for (int j = 0; j < 30; j++)
{
lastImage[i, j] = 1;
bm.SetPixel(i, j, System.Drawing.Color.Red);
}
}
// get depth
this.transform.DepthImageToColorCamera(capture, transformedDepth);
//this.StatusText = "Received Capture: " + capture.Depth.DeviceTimestamp;
this.bitmapColorCamera.Lock();
// show normal camera
var color = capture.Color;
var region = new Int32Rect(0, 0, color.WidthPixels, color.HeightPixels);
var region1 = new Int32Rect(0, 0, 30, 30);
// Queue latest frame from the sensor.
tracker.EnqueueCapture(capture);
//get position of the hand
using (Microsoft.Azure.Kinect.BodyTracking.Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
//get hand position
if (frame != null && frame.NumberOfBodies >= 1)
{
if (trackedBodyId <= 0)
{
trackedBodyId = frame.GetBody(0).Id;
}
var numOfSkeletos = frame.NumberOfBodies;
var body = frame.GetBodySkeleton(0);
var pos = body.GetJoint(JointId.HandRight).Position;
conf = body.GetJoint(JointId.HandRight).ConfidenceLevel;
var handposition = kinect.GetCalibration().TransformTo2D(pos, CalibrationDeviceType.Depth, CalibrationDeviceType.Color);
handpositionGlobal.X = handposition.Value.X;
handpositionGlobal.Y = handposition.Value.Y;
// z is the same
handpositionGlobal.Z = pos.Z;
}
}
unsafe
{
using (var pin = color.Memory.Pin())
{
// put color camera in bitmap
this.bitmapColorCamera.WritePixels(region, (IntPtr)pin.Pointer, (int)color.Size, color.StrideBytes);
//get pixel from color camera
uint * colorPixels = (uint *)this.bitmapColorCamera.BackBuffer;
ushort *depthPixels = (ushort *)transformedDepth.Memory.Pin().Pointer;
int closest = 501;
int x = 0;
int y = 0;
int cx = 0;
int cy = 0;
// Debug.WriteLine(pos.X);
bool isFirst = true;
int xref = 0, yref = 0;
int finalcount = 0;
for (int i = 0; i < this.colorHeight * this.colorWidth; i++)
{
//if (i > 512000)
//{
// colorPixels[i] = 0;
// continue;
//}
x++;
if (i % 1280 == 0)
{
x = 0;
y++;
}
//draw square around hand
int color_data = 255 << 16; // R
color_data |= 128 << 8; // G
color_data |= 255 << 0; // B
int ss = 150;
if (x - ss == ((int)handpositionGlobal.X) && (y - ss) < ((int)handpositionGlobal.Y) && (y + ss) > ((int)handpositionGlobal.Y))
{
colorPixels[i] = (uint)color_data;
}
if (x + ss == ((int)handpositionGlobal.X) && (y - ss) < ((int)handpositionGlobal.Y) && (y + ss) > ((int)handpositionGlobal.Y))
{
colorPixels[i] = (uint)color_data;
}
if (y + ss == ((int)handpositionGlobal.Y) && (x - ss) < ((int)handpositionGlobal.X) && (x + ss) > ((int)handpositionGlobal.X))
{
colorPixels[i] = (uint)color_data;
}
if (y - ss == ((int)handpositionGlobal.Y) && (x - ss) < ((int)handpositionGlobal.X) && (x + ss) > ((int)handpositionGlobal.X))
{
colorPixels[i] = (uint)color_data;
}
//insede the square
if ((y - ss) < ((int)handpositionGlobal.Y) && (y + ss) > ((int)handpositionGlobal.Y) && (x - ss) < ((int)handpositionGlobal.X) && (x + ss) > ((int)handpositionGlobal.X))
{
if (isFirst)
{
xref = x;
yref = y;
isFirst = false;
}
//select pixels insede the selected deep
if (depthPixels[i] < handpositionGlobal.Z + 50 && depthPixels[i] > handpositionGlobal.Z - 150 && depthPixels[i] != 0)
{
//scale actual depth
float deep = (((int)depthPixels[i] - ((int)handpositionGlobal.Z - 150)) * 250) / 200;
float deepF = deep / 255.0f;
foto[y - yref, x - xref] = (uint)deep;
uint xs = (uint)((x - xref) / 10);
uint ys = (uint)((y - yref) / 10);
if (deepF > lastImage[ys, xs] || lastImage[ys, xs] == 1)
{
lastImage[ys, xs] = deepF;
var temp = System.Drawing.Color.FromArgb((int)deep, (int)deep, (int)deep);
bm.SetPixel((int)ys, (int)xs, temp);
}
}
else
{
foto[y - yref, x - xref] = 1;
uint xs = (uint)((x - xref) / 10);
uint ys = (uint)((y - yref) / 10);
// bm.SetPixel(x - xref, y - yref, System.Drawing.Color.FromArgb((int)(depthPixels[i] / 100), (int)(depthPixels[i] / 100), (int)(depthPixels[i]) / 100));
}
}
}
}
}
this.bitmapColorCamera.AddDirtyRect(region);
this.bitmapColorCamera.Unlock();
//this.bitmapFinal = System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(bm.GetHbitmap(), IntPtr.Zero, Int32Rect.Empty, BitmapSizeOptions.FromEmptyOptions());
if (saveNext && actual > 0 && conf != JointConfidenceLevel.Low)
{
WriteToFile(lastImage, status);
if (actual == 1)
{
saveNext = false;
_main.RecordFedbackFill = new SolidColorBrush(Colors.Green);
}
actual--;
}
}
}
}
}
//Show initial image
private async Task <BitmapSource> ShowInitImage(Capture capture, Transformation transform)
{
BitmapSource initImageBitmap = null;
// Create a BitmapSource for the unmodified color image.
// Creating the BitmapSource is slow, so do it asynchronously on another thread
Task <BitmapSource> createColorBitmapTask = new Task <BitmapSource>(() =>
{
BitmapSource source = capture.Color.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Compute the colorized output bitmap on a thread pool thread
Task <BitmapSource> createDepthBitmapTask = new Task <BitmapSource>(() =>
{
int colorWidth = this.KinectDevice.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int colorHeight = this.KinectDevice.GetCalibration().ColorCameraCalibration.ResolutionHeight;
// Allocate image buffers for us to manipulate
var transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.Depth16, colorWidth, colorHeight);
var outputColorImage = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight);
// Transform the depth image to the perspective of the color camera
transform.DepthImageToColorCamera(capture, transformedDepth);
// Get Span<T> references to the pixel buffers for fast pixel access.
Span <ushort> depthBuffer = transformedDepth.GetPixels <ushort>().Span;
Span <BGRA> colorBuffer = capture.Color.GetPixels <BGRA>().Span;
Span <BGRA> outputColorBuffer = outputColorImage.GetPixels <BGRA>().Span;
// Create an output color image with data from the depth image
for (int i = 0; i < colorBuffer.Length; i++)
{
// The output image will be the same as the input color image,
// but colorized with Red where there is no depth data, and Green
// where there is depth data at more than 1.5 meters
outputColorBuffer[i] = colorBuffer[i];
if (depthBuffer[i] == 0)
{
outputColorBuffer[i].R = 255;
}
else if (depthBuffer[i] > 1500)
{
outputColorBuffer[i].G = 255;
}
}
BitmapSource source = outputColorImage.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
if (this.sysState.DeviceDepthMode)
{
createDepthBitmapTask.Start();
initImageBitmap = await createDepthBitmapTask.ConfigureAwait(false);
}
else
{
createColorBitmapTask.Start();
initImageBitmap = await createColorBitmapTask.ConfigureAwait(false);
}
return(initImageBitmap);
}
private async void PictureRecorder_Loaded(object sender, RoutedEventArgs e)
{
using (Tracker tracker = Tracker.Create(this.kinect.GetCalibration(), new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
{
while (true)
{
uint[,] foto = new uint[300, 300];
bm = new Bitmap(300, 300);
using (Microsoft.Azure.Kinect.Sensor.Image transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(
Microsoft.Azure.Kinect.Sensor.ImageFormat.Depth16, colorWidth, colorHeight, colorWidth * sizeof(UInt16)))
using (Capture capture = await Task.Run(() => { return(this.kinect.GetCapture()); }))
{
Text.Content = this.StatusText;
this.transform.DepthImageToColorCamera(capture, transformedDepth);
this.bitmap.Lock();
var color = capture.Color;
var region = new Int32Rect(0, 0, color.WidthPixels, (int)(color.HeightPixels / 1));
// Queue latest frame from the sensor.
tracker.EnqueueCapture(capture);
unsafe
{
using (Microsoft.Azure.Kinect.BodyTracking.Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
using (var pin = color.Memory.Pin())
{
//get hand position
if (frame != null && frame.NumberOfBodies >= 1)
{
var body = frame.GetBodySkeleton(0);
var pos = body.GetJoint(JointId.HandRight).Position;
// var temp = kinect.GetCalibration().TransformTo2D(new Vector2(pos.X,pos.Y),-pos.Z ,CalibrationDeviceType.,CalibrationDeviceType.Color);
var temp = kinect.GetCalibration().TransformTo2D(pos, CalibrationDeviceType.Depth, CalibrationDeviceType.Color);
if (temp != null)
{
//Debug.WriteLine(temp.Value.X);
this.bitmap.WritePixels(region, (IntPtr)pin.Pointer, (int)color.Size, color.StrideBytes);
}
uint * colorPixels = (uint *)this.bitmap.BackBuffer;
ushort *depthPixels = (ushort *)transformedDepth.Memory.Pin().Pointer;
int closest = 501;
int x = 0;
int y = 0;
int cx = 0;
int cy = 0;
// Debug.WriteLine(pos.X);
bool isFirst = true;
int xref = 0, yref = 0;
for (int i = 0; i < this.colorHeight * this.colorWidth; i++)
{
//if (i > 512000)
//{
// colorPixels[i] = 0;
// continue;
//}
x++;
if (i % 1280 == 0)
{
x = 0;
y++;
}
//colorPixels[i] = 0;
//// Compute the pixel's color.
int color_data = 255 << 16; // R
color_data |= 128 << 8; // G
color_data |= 255 << 0; // B
int ss = 150;
if (x - ss == ((int)temp.Value.X) && (y - ss) < ((int)temp.Value.Y) && (y + ss) > ((int)temp.Value.Y))
{
colorPixels[i] = (uint)color_data;
}
if (x + ss == ((int)temp.Value.X) && (y - ss) < ((int)temp.Value.Y) && (y + ss) > ((int)temp.Value.Y))
{
colorPixels[i] = (uint)color_data;
}
if (y + ss == ((int)temp.Value.Y) && (x - ss) < ((int)temp.Value.X) && (x + ss) > ((int)temp.Value.X))
{
colorPixels[i] = (uint)color_data;
}
if (y - ss == ((int)temp.Value.Y) && (x - ss) < ((int)temp.Value.X) && (x + ss) > ((int)temp.Value.X))
{
colorPixels[i] = (uint)color_data;
}
//insede the square
if ((y - ss) < ((int)temp.Value.Y) && (y + ss) > ((int)temp.Value.Y) && (x - ss) < ((int)temp.Value.X) && (x + ss) > ((int)temp.Value.X))
{
if (isFirst)
{
xref = x;
yref = y;
isFirst = false;
}
if (depthPixels[i] < pos.Z + 100 && depthPixels[i] > pos.Z - 100 && depthPixels[i] != 0)
{
foto[y - yref, x - xref] = colorPixels[i];
int deep = (((int)depthPixels[i] - ((int)pos.Z - 100)) * 250) / 200;
//Debug.WriteLine(deep);
bm.SetPixel(x - xref, y - yref, System.Drawing.Color.FromArgb(deep, deep, deep));
}
else
{
foto[y - yref, x - xref] = 0;
// bm.SetPixel(x - xref, y - yref, System.Drawing.Color.FromArgb((int)(depthPixels[i] / 100), (int)(depthPixels[i] / 100), (int)(depthPixels[i]) / 100));
bm.SetPixel(x - xref, y - yref, System.Drawing.Color.White);
}
}
if (depthPixels[i] < pos.Z + 100 && depthPixels[i] > pos.Z - 100 && depthPixels[i] != 0)
{
if (depthPixels[i] < closest)
{
if (ox == 0)
{
ox = cx;
oy = cy;
}
closest = depthPixels[i];
cx = x;
cy = y;
}
continue;
}
//colorPixels[i] = 0;
}
// Debug.WriteLine("x: " + cx);
// Debug.WriteLine("y: " + cy);
MoveEllipse(cx, cy);
// Debug.WriteLine(closest);
if (closest == 701)
{
//mouse_event((uint)MouseEventFlags.LEFTDOWN, 0, 0, 0, 0);
// mouse_event((uint)MouseEventFlags.LEFTUP, 0, 0, 0, 0);
}
}
}
}
//Bitmap btm = new Bitmap(this.colorWidth, this.colorHeight);
this.bitmap.AddDirtyRect(region);
this.bitmap.Unlock();
Bitmap bitmap1;
unsafe
{
fixed(uint *intPtr = &foto[0, 0])
{
bitmap1 = new Bitmap(300, 300, 300 * 4, System.Drawing.Imaging.PixelFormat.Format32bppRgb, new IntPtr(intPtr));
}
MyIm.Source = this.bitmap;
var bitmapSource = System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(bitmap1.GetHbitmap(), IntPtr.Zero, Int32Rect.Empty, BitmapSizeOptions.FromEmptyOptions());
MyIm1.Source = bitmapSource;
var bitmapSource1 = System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(bm.GetHbitmap(), IntPtr.Zero, Int32Rect.Empty, BitmapSizeOptions.FromEmptyOptions());
MyIm2.Source = bitmapSource1;
// CreateThumbnail("file.png", this.bitmap.Clone());
// System.Windows.Application.Current.Shutdown();
}
}
}
}
}
public PoseData GetNextPose()
{
switch (CurrentPoseInputSource)
{
case PoseInputSource.WEBSOCKET:
#if !UNITY_WEBGL || UNITY_EDITOR
websocket.DispatchMessageQueue();
#endif
// poseLiveWS is non-null if alternative is sending pose data over websocket
if (poseLiveWS != null)
{
// Assign last pose from websocket
CurrentPose = poseLiveWS;
}
else
{
Debug.Log("No pose recieved from WebSocket!");
}
break;
case PoseInputSource.FILE:
if (SequenceEnum != null && SequenceEnum.MoveNext())
{
_CurrentFilePoseNumber++;
}
else
{
// Quick and dirty way to loop (by reloading file)
if (SequenceEnum != null && !loop)
{
break;
}
LoadData();
SequenceEnum.MoveNext();
_CurrentFilePoseNumber = 1;
}
string frame_json = SequenceEnum.Current;
PoseData fake_live_data = PoseDataUtils.JSONstring2PoseData(frame_json);
CurrentPose = fake_live_data;
if (recording) // recording
{
File.AppendAllText(WriteDataPath, frame_json + Environment.NewLine);
}
break;
case PoseInputSource.KINECT:
if (device != null)
{
using (Capture capture = device.GetCapture())
{
// Make tracker estimate body
tracker.EnqueueCapture(capture);
// Code for getting RGB image from camera
Microsoft.Azure.Kinect.Sensor.Image color = capture.Color;
if (color != null && color.WidthPixels > 0 && (streamCanvas != null || videoRenderer != null))
{
UnityEngine.Object.Destroy(tex); // required to not keep old images in memory
tex = new Texture2D(color.WidthPixels, color.HeightPixels, TextureFormat.BGRA32, false);
tex.LoadRawTextureData(color.Memory.ToArray());
tex.Apply();
//Fetch the RawImage component from the GameObject
if (tex != null)
{
if (streamCanvas != null)
{
m_RawImage = streamCanvas.GetComponent <RawImage>();
m_RawImage.texture = tex;
}
if (videoRenderer != null)
{
videoRenderer.material.mainTexture = tex;
}
}
}
}
// Get pose estimate from tracker
using (Frame frame = tracker.PopResult())
{
//Debug.LogFormat("{0} bodies found.", frame.NumberOfBodies);
// At least one body found by Body Tracking
if (frame.NumberOfBodies > 0)
{
// Use first estimated person, if mutiple are in the image
// !!! There are (probably) no guarantees on consisitent ordering between estimates
//var bodies = frame.Bodies;
var body = frame.GetBody(0);
// Apply pose to user avatar(s)
PoseData live_data = PoseDataUtils.Body2PoseData(body);
if (recording) // recording
{
PoseDataJSON jdl = PoseDataUtils.Body2PoseDataJSON(body);
AppendRecordedFrame(jdl);
}
CurrentPose = live_data;
}
}
}
else
{
Debug.Log("device is null!");
}
break;
}
return(CurrentPose);
}
private async void Recorder_Loaded()
{
//body track
using (Tracker tracker = Tracker.Create(this.kinect.GetCalibration(), new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
// sensor camera
using (Microsoft.Azure.Kinect.Sensor.Image transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(Microsoft.Azure.Kinect.Sensor.ImageFormat.Depth16, colorWidth, colorHeight, colorWidth * sizeof(UInt16)))
{
uint trackedBodyId = 0;
JointConfidenceLevel conf = JointConfidenceLevel.Low;
while (running)
{
//get capture
using (Capture capture = await Task.Run(() => { return(this.kinect.GetCapture()); }))
{
//create output array that represent the image
float[,] actualPhoto = new float[30, 30];
for (int i = 0; i < 30; i++)
{
for (int j = 0; j < 30; j++)
{
actualPhoto[i, j] = 255;
}
}
this.transform.DepthImageToColorCamera(capture, transformedDepth);
// Queue latest frame from the sensor.
tracker.EnqueueCapture(capture);
//get position of the hand
using (Microsoft.Azure.Kinect.BodyTracking.Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
//get hand position
if (frame != null && frame.NumberOfBodies >= 1)
{
if (trackedBodyId <= 0)
{
trackedBodyId = frame.GetBody(0).Id;
}
var numOfSkeletos = frame.NumberOfBodies;
// Debug.WriteLine("num of bodies: " + numOfSkeletos);
var body = frame.GetBodySkeleton(0);
var pos = body.GetJoint(JointId.HandRight).Position;
var fpos = body.GetJoint(JointId.HandTipRight).Position;
var rpost = body.GetJoint(JointId.WristRight).Position;
conf = body.GetJoint(JointId.HandRight).ConfidenceLevel;
Quaternion orin = body.GetJoint(JointId.HandTipRight).Quaternion;
//Debug.WriteLine(orin);
// Debug.WriteLine(pos);
/*
* if (conf == JointConfidenceLevel.Low)
* {
* this.bitmapMain.AddDirtyRect(region);
* this.bitmapMain.Unlock();
*
* this.Crop.Source = System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(bm.GetHbitmap(), IntPtr.Zero, Int32Rect.Empty, BitmapSizeOptions.FromEmptyOptions());
* continue;
* }*/
// Debug.WriteLine("confidende level : " + conf);
// transfor position to capture camera
var oldHand = HandPositionColor;
//set hand for prediction square
var handposition = kinect.GetCalibration().TransformTo2D(pos, CalibrationDeviceType.Depth, CalibrationDeviceType.Color);
HandPositionColor.X = handposition.Value.X;
HandPositionColor.Y = handposition.Value.Y;
// z is the same
HandPositionColor.Z = pos.Z;
if (conf == JointConfidenceLevel.Medium || conf == JointConfidenceLevel.High)
{
manager.SetPosition(pos);
}
// }
}
}
// show normal camera
var color = capture.Color;
unsafe
{
using (var pin = color.Memory.Pin())
{
// we only using deep now
ushort *depthPixels = (ushort *)transformedDepth.Memory.Pin().Pointer;
int closest = 501;
int x = 0;
int y = 0;
int cx = 0;
int cy = 0;
// Debug.WriteLine(pos.X);
bool isFirst = true;
int xref = 0, yref = 0;
int squareRadious = 150;
for (int i = 0; i < this.colorHeight * this.colorWidth; i++)
{
x++;
if (i % 1280 == 0)
{
x = 0;
y++;
}
//insede the square
if ((y - squareRadious) < ((int)HandPositionColor.Y) && (y + squareRadious) > ((int)HandPositionColor.Y) && (x - squareRadious) < ((int)HandPositionColor.X) && (x + squareRadious) > ((int)HandPositionColor.X))
{
if (isFirst)
{
xref = x;
yref = y;
isFirst = false;
}
if (depthPixels[i] < closest)
{
if (ox == 0)
{
ox = cx;
oy = cy;
}
closest = depthPixels[i];
cx = x;
cy = y;
}
//select pixels insede the selected deep
if (depthPixels[i] < HandPositionColor.Z + 50 && depthPixels[i] > HandPositionColor.Z - 150 && depthPixels[i] != 0)
{
float deep = (((int)depthPixels[i] - ((int)HandPositionColor.Z - 150)) * 250) / 200;
// Debug.WriteLine("deep" + (uint)deep);
uint xs = (uint)((x - xref) / 10);
uint ys = (uint)((y - yref) / 10);
if ((uint)deep > actualPhoto[ys, xs] || actualPhoto[ys, xs] == 255)
{
actualPhoto[ys, xs] = deep;
}
}
}
}
// manager.SetPosition(new Vector3(cx, cy, 0));
}
}
if (conf != JointConfidenceLevel.Low)
{
images.Add(actualPhoto);
// Debug.WriteLine("add from queue");
if (images.Count > 10)
{
}
}
// Debug.WriteLine(fotoS);
}
}
}
}
/// <summary>
/// This will capture a Depth enabled Color Image and save it as <see cref="Bitmap"/>
/// Picture will be colorized with Red where there is no depth data, and Green
/// where there is depth data at more than 1.5 meters
/// </summary>
/// <param name="kinectSensor">The initialized Kinect Sensor object</param>
/// <returns>Returns the Picture from the Color Camera as <see cref="Bitmap"/></returns>
public static async Task <Bitmap> CreateDepthColorBitmapAsync(this Device kinectSensor)
{
try
{
//Declare calibration settings
int colorWidth;
int colorHeight;
//Check for initialized Camera
try
{
colorWidth = kinectSensor.GetCalibration().ColorCameraCalibration.ResolutionWidth;
colorHeight = kinectSensor.GetCalibration().ColorCameraCalibration.ResolutionHeight;
}
catch (Exception e)
{
//Camera not initialized
throw new CameraNotInitializedException("The Camera was not initialized correctly.", e);
}
// Configure transformation module in order to transform depth enabled picture as bitmap
using (Microsoft.Azure.Kinect.Sensor.Image transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.Depth16, colorWidth, colorHeight))
using (Microsoft.Azure.Kinect.Sensor.Image outputColorImage = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight))
using (Transformation transform = kinectSensor.GetCalibration().CreateTransformation())
{
// Wait for a capture on a thread pool thread
using (Capture capture = await Task.Run(() => { return(kinectSensor.GetCapture()); }).ConfigureAwait(true))
{
// Compute the colorized output bitmap on a thread pool thread
Task <System.Drawing.Bitmap> createDepthColorBitmapTask = Task.Run(() =>
{
// Transform the depth image to the perspective of the color camera
transform.DepthImageToColorCamera(capture, transformedDepth);
// Get Span<T> references to the pixel buffers for fast pixel access.
Span <ushort> depthBuffer = transformedDepth.GetPixels <ushort>().Span;
Span <BGRA> colorBuffer = capture.Color.GetPixels <BGRA>().Span;
Span <BGRA> outputColorBuffer = outputColorImage.GetPixels <BGRA>().Span;
// Create an output color image with data from the depth image
for (int i = 0; i < colorBuffer.Length; i++)
{
// The output image will be the same as the input color image,
// but colorized with Red where there is no depth data, and Green
// where there is depth data at more than 1.5 meters
outputColorBuffer[i] = colorBuffer[i];
if (depthBuffer[i] == 0)
{
outputColorBuffer[i].R = 255;
}
else if (depthBuffer[i] > 1500)
{
outputColorBuffer[i].G = 255;
}
}
return(outputColorImage.CreateBitmap());
});
// Wait for bitmap and return
var depthColorBitmap = await createDepthColorBitmapTask.ConfigureAwait(true);
return(depthColorBitmap);
}
}
}
catch (Exception e)
{
throw e;
}
}
static async Task Main()
{
using (var visualizerData = new VisualizerData())
{
var renderer = new PosSaver(visualizerData);
renderer.StartVisualizationThread();
// Open device.
using (Device device = Device.Open())
{
device.StartCameras(new DeviceConfiguration()
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.NFOV_Unbinned,
SynchronizedImagesOnly = true,
WiredSyncMode = WiredSyncMode.Standalone,
CameraFPS = FPS.FPS15
});
var deviceCalibration = device.GetCalibration();
var transformation = deviceCalibration.CreateTransformation();
PointCloud.ComputePointCloudCache(deviceCalibration);
using (Tracker tracker = Tracker.Create(deviceCalibration, new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
{
while (renderer.IsActive)
{
using (Capture sensorCapture = await Task.Run(() => device.GetCapture()).ConfigureAwait(true))
{
// Queue latest frame from the sensor.
tracker.EnqueueCapture(sensorCapture);
if (renderer.IsHuman)
{
unsafe
{
//Depth画像の横幅(width)と縦幅(height)を取得
int depth_width = device.GetCalibration().DepthCameraCalibration.ResolutionWidth;
int depth_height = device.GetCalibration().DepthCameraCalibration.ResolutionHeight;
// Bitmap depthBitmap = new Bitmap(depth_width, depth_height, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
Bitmap colorBitmap = new Bitmap(depth_width, depth_height, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
// Image depthImage = sensorCapture.Depth;
Image colorImage = transformation.ColorImageToDepthCamera(sensorCapture);
// ushort[] depthArray = depthImage.GetPixels<ushort>().ToArray();
BGRA[] colorArray = colorImage.GetPixels <BGRA>().ToArray();
// BitmapData bitmapData = depthBitmap.LockBits(new Rectangle(0, 0, depthBitmap.Width, depthBitmap.Height), System.Drawing.Imaging.ImageLockMode.WriteOnly, PixelFormat.Format32bppArgb);
BitmapData bitmapData = colorBitmap.LockBits(new Rectangle(0, 0, colorBitmap.Width, colorBitmap.Height), System.Drawing.Imaging.ImageLockMode.WriteOnly, PixelFormat.Format32bppArgb);
//各ピクセルの値へのポインタ
byte *pixels = (byte *)bitmapData.Scan0;
int index = 0;
//一ピクセルずつ処理
for (int i = 0; i < colorArray.Length; i++)
{
pixels[index++] = colorArray[i].B;
pixels[index++] = colorArray[i].G;
pixels[index++] = colorArray[i].R;
pixels[index++] = 255;//Alpha値を固定して不透過に
}
//書き込み終了
colorBitmap.UnlockBits(bitmapData);
string string_now = renderer.now.ToString("HHmmssfff");
colorBitmap.Save($@"{PosSaver.path}\{renderer.day}\{renderer.scene}\depth\{string_now}.png", System.Drawing.Imaging.ImageFormat.Png);
}
}
}
// Try getting latest tracker frame.
using (Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (frame != null)
{
// Save this frame for visualization in Renderer.
// One can access frame data here and extract e.g. tracked bodies from it for the needed purpose.
// Instead, for simplicity, we transfer the frame object to the rendering background thread.
// This example shows that frame popped from tracker should be disposed. Since here it is used
// in a different thread, we use Reference method to prolong the lifetime of the frame object.
// For reference on how to read frame data, please take a look at Renderer.NativeWindow_Render().
visualizerData.Frame = frame.Reference();
}
}
}
}
}
}
}
private async void StartCamera()
{
//Start body track and sensor camera
using (Tracker tracker = Tracker.Create(this.kinect.GetCalibration(), new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
using (Microsoft.Azure.Kinect.Sensor.Image transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(Microsoft.Azure.Kinect.Sensor.ImageFormat.Depth16, colorWidth, colorHeight, colorWidth * sizeof(UInt16)))
{
// Local variables
//
// photo for prediction
float[,] actualPhoto;
// hand position in color camera
Vector3 handPositionColor = new Vector3();
//hand position in deepth camera
Vector3 HandPositionDepth = Vector3.Zero;
//Elbow depth position
Vector3 ElbowPositionDepth = Vector3.Zero;
//tracked body id
uint trackedBodyId = 0;
// hand reading confidence level
JointConfidenceLevel handConf = JointConfidenceLevel.Low;
// elbow reading confindence level
JointConfidenceLevel elbowConf = JointConfidenceLevel.Low;
int x, y;
//body skeleton
Skeleton body;
while (running)
{
// create reset prediction photo
actualPhoto = new float[actualPhotoWidht, actualPhotoHeight];
for (int i = 0; i < 30; i++)
{
for (int j = 0; j < 30; j++)
{
actualPhoto[i, j] = 255;
}
}
//get capture
using (Capture capture = await Task.Run(() => { return(this.kinect.GetCapture()); }))
{
//get depth transform
this.transform.DepthImageToColorCamera(capture, transformedDepth);
// Queue latest frame from the sensor.
tracker.EnqueueCapture(capture);
//get position of the hand
using (Microsoft.Azure.Kinect.BodyTracking.Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
//check if we have bodies
if (frame != null && frame.NumberOfBodies >= 1)
{
if (trackedBodyId <= 0)
{
trackedBodyId = frame.GetBody(0).Id;
}
//get body
body = frame.GetBodySkeleton(0);
//check confidence
// we will use data only of confidence is medium or high
handConf = body.GetJoint(JointId.HandRight).ConfidenceLevel;
//skip if confidnece is not high or medium
if (handConf == JointConfidenceLevel.Low || handConf == JointConfidenceLevel.None)
{
continue;
}
// get hand position
HandPositionDepth = body.GetJoint(JointId.HandRight).Position;
// elbow confidence and position
ElbowPositionDepth = body.GetJoint(JointId.ElbowRight).Position;
elbowConf = body.GetJoint(JointId.ElbowRight).ConfidenceLevel;
// get hand position in color camera
var handPositionColorQ = kinect.GetCalibration().TransformTo2D(HandPositionDepth, CalibrationDeviceType.Depth, CalibrationDeviceType.Color);
handPositionColor.X = handPositionColorQ.Value.X;
handPositionColor.Y = handPositionColorQ.Value.Y;
handPositionColor.Z = HandPositionDepth.Z;
// loop thorugh all color, and select depth that are insede the requerid square
// show normal camera
var color = capture.Color;
// we need unsafe for use pointer to array
unsafe
{
// get memory handler
using (var pin = color.Memory.Pin())
{
// get pointer to depth capture, this is basically a array
ushort *depthPixels = (ushort *)transformedDepth.Memory.Pin().Pointer;
// staring point of the hand square
bool isFirst = true;
int xref = 0, yref = 0;
x = 0; y = 0;
//loop through the depht pixel arrat
for (int i = 0; i < this.colorHeight * this.colorWidth; i++)
{
//kepp coubnt of x and y for 2d array
x++;
if (i % 1280 == 0)
{
x = 0;
y++;
}
//insede the square
if ((y - squareRadious) < ((int)handPositionColor.Y) && (y + squareRadious) > ((int)handPositionColor.Y) && (x - squareRadious) < ((int)handPositionColor.X) && (x + squareRadious) > ((int)handPositionColor.X))
{
//get corner of the square if is the first
if (isFirst)
{
xref = x;
yref = y;
isFirst = false;
}
//select pixels insede the selected deep
if (depthPixels[i] < handPositionColor.Z + d2 && depthPixels[i] > handPositionColor.Z - d1 && depthPixels[i] != 0)
{
//scale actual depth
float deep = (((int)depthPixels[i] - ((int)handPositionColor.Z - d1)) * 250) / 200;
uint xs = (uint)((x - xref) / 10);
uint ys = (uint)((y - yref) / 10);
// we only add the max or the first, is first when is 255
if ((uint)deep > actualPhoto[ys, xs] || actualPhoto[ys, xs] == 255)
{
actualPhoto[ys, xs] = deep;
}
}
}
}
}
}//unsafe
}
}
}
//add to queues
images.Add(actualPhoto);
bodyData.Add(new BodyData()
{
HandConfidence = handConf,
HandPosition = HandPositionDepth,
ElvowPosition = ElbowPositionDepth
});
}//while (running)
}
}
private async void CameraImage()
{
try {
device = Device.Open();
DeviceConfiguration config = new DeviceConfiguration();
config.ColorFormat = ImageFormat.ColorBGRA32;
config.ColorResolution = ColorResolution.R1080p;
config.DepthMode = DepthMode.WFOV_2x2Binned;
config.SynchronizedImagesOnly = true;
config.CameraFPS = FPS.FPS30;
device.StartCameras(config);
int colorWidth = device.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int colorHeight = device.GetCalibration().ColorCameraCalibration.ResolutionHeight;
using (Microsoft.Azure.Kinect.Sensor.Image transformedDepth = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.Depth16, colorWidth, colorHeight))
using (Microsoft.Azure.Kinect.Sensor.Image outputColorImage = new Microsoft.Azure.Kinect.Sensor.Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight))
using (Transformation transform = device.GetCalibration().CreateTransformation())
while (running)
{
using (Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }).ConfigureAwait(true))
{
Task <BitmapSource> createInputColorBitmapTask = Task.Run(() =>
{
Microsoft.Azure.Kinect.Sensor.Image color = capture.Color;
BitmapSource source = BitmapSource.Create(color.WidthPixels, color.HeightPixels, 96, 96, PixelFormats.Bgra32, null, color.Memory.ToArray(), color.StrideBytes);
source.Freeze();
return(source);
});
Task <BitmapSource> createOutputColorBitmapTask = Task.Run(() =>
{
transform.DepthImageToColorCamera(capture, transformedDepth);
Span <ushort> depthBuffer = transformedDepth.GetPixels <ushort>().Span;
Span <BGRA> colorBuffer = capture.Color.GetPixels <BGRA>().Span;
Span <BGRA> outputColorBuffer = outputColorImage.GetPixels <BGRA>().Span;
for (int i = 0; i < colorBuffer.Length; i++)
{
outputColorBuffer[i] = colorBuffer[i];
if (depthBuffer[i] == 0)
{
outputColorBuffer[i].R = 200;
outputColorBuffer[i].G = 200;
outputColorBuffer[i].B = 200;
}
else if (depthBuffer[i] > 10 && depthBuffer[i] <= 500)
{
outputColorBuffer[i].R = 100;
outputColorBuffer[i].G = 100;
outputColorBuffer[i].B = 100;
}
else if (depthBuffer[i] > 500)
{
outputColorBuffer[i].R = 10;
outputColorBuffer[i].G = 10;
outputColorBuffer[i].B = 10;
}
}
BitmapSource source = BitmapSource.Create(outputColorImage.WidthPixels, outputColorImage.HeightPixels, 96, 96, PixelFormats.Bgra32, null, outputColorImage.Memory.ToArray(), outputColorImage.StrideBytes);
source.Freeze();
return(source);
});
BitmapSource inputColorBitmap = await createInputColorBitmapTask.ConfigureAwait(true);
BitmapSource outputColorBitmap = await createOutputColorBitmapTask.ConfigureAwait(true);
if (!depthmapActivated)
{
this.displayImg.Source = inputColorBitmap;
}
else
{
this.displayImg.Source = outputColorBitmap;
}
}
}
device.Dispose();
} catch (Exception ex)
{
Console.WriteLine(ex);
}
}
