public KinectFaceTracker(FSDKFacePipeline facePipeline, IKinect kinect, CancellationTokenSource cts)
{
_kinect = kinect;
FacePipeline = facePipeline;
_cancellationTokenSource = cts;
_coordinateMapper = _kinect.CoordinateMapper;
}
public void RetrieveMesh(CVMesh m)
{
LastMesh = m;
((IDisposable)fusionizer).Dispose();
fusionizer = null;
MeshFinished?.Invoke(this, EventArgs.Empty);
}
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public MainWindow()
{
_iKinect = new Kinect();
InitializeComponent();
this._kinect = _iKinect.DiscoverKinectSensor();
Initialize();
KinectPoint[,] pic1 = _iKinect.GetColorImage(); // 1st Pic: strange area
pic1 = _iKinect.GetColorImage(); //2nd Pic: too dark
pic1 = _iKinect.GetColorImage(); //3rd Pic: not the same brightness as "real" image
pic1 = _iKinect.GetColorImage(); //4th Pic: okay!
MessageBox.Show("Please display the playground", "Display Playground", MessageBoxButton.OK,
MessageBoxImage.Information);
KinectPoint[,] pic2 = _iKinect.GetColorImage();
KinectPoint[,] newPic = _iKinect.GetDifferenceImage(pic2, pic1, 200); //0x64, 0x1E, 0x32
//newPic = CalculateKMeans(newPic);
short[] depthPic = _iKinect.GetDepthImage();
KinectPoint[,] depthAndColorPic = _iKinect.CreateKinectPointArray();
this._colorImageBitmap.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(newPic, 640, 480), this._colorImageStride, 0);
this._colorImageBitmap2.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(depthAndColorPic, 640, 480), this._colorImageStride, 0);
this._colorImageBitmap3.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(pic1, 640, 480), this._colorImageStride,0);
this._colorImageBitmap4.WritePixels(this._colorImageBitmapRect, PrintKinectPointArray(pic2, 640, 480), this._colorImageStride, 0);
this._rawDepthImage.WritePixels(this._rawDepthImageRect, PrintKinectPointArray(depthAndColorPic, 640, 480), this._rawDepthImageStride,0);
this._rawDepthImage2.WritePixels(this._rawDepthImageRect, depthPic, this._rawDepthImageStride, 0);
}
public KinectSequencer()
{
kinect = new RealKinect();
kinect.NewData += new NewDataEventHandler(kinect_NewData);
stopwatch.Start();
SequenceAvailable = false;
}
public Dictionary<KinectPoint, RealWorldPoint> TransformKinectToRealWorld(IKinect kinect, List<KinectPoint> kinectPoints)
{
RealWorldPoint rOrigin = Calibration.Points.Find(x => x.PointType == PointType.Origin).RealWorldPoint;
RealWorldPoint rXAxisPoint = Calibration.Points.Find(x => x.PointType == PointType.xAxis).RealWorldPoint;
RealWorldPoint rYAxisPoint = Calibration.Points.Find(x => x.PointType == PointType.yAxis).RealWorldPoint;
return kinect.CreateRealWorldCoordinates(kinectPoints, rXAxisPoint, rOrigin, rYAxisPoint);
}
public Dictionary<BeamerPoint, KinectPoint> CalibrateBeamerToKinect(IBeamerWindow beamerWindow, IKinect kinect)
{
RunSimpleStrategy(beamerWindow, kinect);
CalculateNewPoints();
return new Dictionary<BeamerPoint, KinectPoint>();
//TODO Implement
//throw new NotImplementedException();
}
Boolean IDevice.Init()
{
LoadLogger();
Log.Info("Starting Kinect automation environment...");
_kinect = new KinectData(0);
_kHandler = new KinectHandler(_kinect, this);
_kHandler.Init();
if (_kinect.GetSensor() == null)
{
Log.Error("Kinect could not be instantiated. Terminating.");
return(false);
}
return(true);
}
public Dictionary<KinectPoint, RealWorldPoint> TransformKinectToRealWorld(IKinect kinect, List<KinectPoint> kinectPoints)
{
var rwCornerPoints = kinect.CreateRealWorldCoordinates(kinectPoints);
foreach (var point in Calibration.Points)
{
foreach (var realWorldPoint in rwCornerPoints)
{
if (point.KinectPoint.Equals(realWorldPoint.Key))
{
point.RealWorldPoint = realWorldPoint.Value;
}
}
}
return rwCornerPoints;
}
public GestureProcessor(IKinect kinectHandler, KinectData kinect)
{
_pointer = new ObjectPointer();
Log.Debug("objectPointer loaded");
_pointer.SetObjects(FileLoader.LoadObj("livingRoom.obj", FileLoader.Units.cm));
Log.Debug("objects loaded");
_kinectHandler = kinectHandler;
_kinect = kinect;
_seqCoords = new ArrayList();
if (kinect != null) kinect.attachSkeletonHandler(SkeletonDataReadyHandler);
_dtw = new DtwGestureRecognizer(12, 0.6, 2, 2, 10);
Skeleton2DDataExtract.Skeleton2DdataCoordReady += NuiSkeleton2DdataCoordReady;
_pointer.ContextSelected += PointerContextSelected;
}
protected Calibration()
{
Points = new List<Point>();
beamerToKinect = new Dictionary<BeamerPoint, KinectPoint>();
kinectToRealWorld = new Dictionary<KinectPoint, RealWorldPoint>();
realWorldToArea = new Dictionary<RealWorldPoint, AreaPoint>();
KinectSpace = new List<BeamerPoint>[640,480];
try
{
beamerWindow = new BeamerWindow();
kinect = new Kinect.Kinect();
}
catch (Exception ex)
{
// TODO Exception Handling
}
}
public Dictionary<BeamerPoint, KinectPoint> CalibrateBeamerToKinect(IBeamerWindow beamerWindow, IKinect kinect)
{
var beamerToKinect = new Dictionary<BeamerPoint, KinectPoint>();
var kinectPoints = kinect.CreateKinectPointArray();
for (var i = 0; i < CALIBRATION_POINTS; i++)
{
var beamerPoint = beamerWindow.DisplayCalibrationImageEdge(true, i);
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
var picture1 = kinect.GetColorImage();
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
beamerWindow.DisplayCalibrationImageEdge(false, i);
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
var picture2 = kinect.GetColorImage();
var diffKinectPoints = kinect.GetDifferenceImage(picture1, picture2, KinectBeamerCalibration.THRESHOLD);
//TODO Refactoring
var initPoints = new List<Vector2D>() { new Vector2D { X = 0, Y = 0 } };
var centroids = KMeans.DoKMeans(KinectPointArrayHelper.ExtractBlackPointsAs2dVector(diffKinectPoints), initPoints);
var kinectPoint = kinectPoints[(int)centroids[0].X, (int)centroids[0].Y];
beamerToKinect.Add(beamerPoint, kinectPoint);
var name = "";
switch (i + 1)
{
case 1:
name = "A";
break;
case 2:
name = "B";
break;
case 3:
name = "C";
break;
case 4:
name = "D";
break;
}
Calibration.Points.Add(new Point { Name = name, BeamerPoint = beamerPoint, KinectPoint = kinectPoint });
}
return beamerToKinect;
}
public KinectBeamerOperation()
{
CalculateAreaDimensions();
area = new AreaPoint[areaWidth, areaHeight];
try
{
beamerWindow = new BeamerWindow();
kinect = new Kinect.Kinect();
}
catch (Exception ex)
{
// TODO Exception Handling
}
beamerWindow.DisplayBlank();
Thread.Sleep(KinectBeamerCalibration.THREAD_SLEEP);
blankImage = kinect.GetColorImage();
kinectPoints = kinect.CreateKinectPointArray();
}
public GestureProcessor(IKinect kinectHandler, KinectData kinect)
{
_pointer = new ObjectPointer();
Log.Debug("objectPointer loaded");
_pointer.SetObjects(FileLoader.LoadObj("livingRoom.obj", FileLoader.Units.cm));
Log.Debug("objects loaded");
_kinectHandler = kinectHandler;
_kinect = kinect;
_seqCoords = new ArrayList();
if (kinect != null)
{
kinect.attachSkeletonHandler(SkeletonDataReadyHandler);
}
_dtw = new DtwGestureRecognizer(12, 0.6, 2, 2, 10);
Skeleton2DDataExtract.Skeleton2DdataCoordReady += NuiSkeleton2DdataCoordReady;
_pointer.ContextSelected += PointerContextSelected;
}
Boolean IDevice.Init()
{
LoadLogger();
Log.Info("Starting Kinect automation environment...");
_kinect = new KinectData(0);
_kHandler = new KinectHandler(_kinect, this);
_kHandler.Init();
if(_kinect.GetSensor() == null)
{
Log.Error("Kinect could not be instantiated. Terminating.");
return false;
}
return true;
}
private void RunSimpleStrategy(IBeamerWindow beamerWindow, IKinect kinect)
{
var simpleStrategy = new CalibrateEdgePoints();
simpleStrategy.CalibrateBeamerToKinect(beamerWindow, kinect);
var edgePoints = Calibration.GetEdgePoints();
pointA = edgePoints.Find((e) => e.Name == "A");
pointB = edgePoints.Find((e) => e.Name == "B");
pointC = edgePoints.Find((e) => e.Name == "C");
pointD = edgePoints.Find((e) => e.Name == "D");
}
public KinectWrapper(IKinect kinect)
{
_kinect = kinect;
_kinect.NewData += new NewDataEventHandler(newKinectData);
}
