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();
}
}
}
}
}
}
}
static void Main()
{
using (var visualizerData = new VisualizerData())
{
var renderer = new Renderer(visualizerData);
renderer.StartVisualizationThread();
// Open device.
using (Device device = Device.Open())
{
var fileName = $"bt-dump-{DateTime.Now:yyyy-MM-dd_hh-mm-ss}.btd";
using (BinaryWriter file = new BinaryWriter(new FileStream(fileName, FileMode.Create, FileAccess.Write)))
{
file.Write(Encoding.ASCII.GetBytes("BT-DUMP\nV: 1\n"));
WriteVersion(file, device.Version);
file.Write(Encoding.ASCII.GetBytes($"device-sn: {device.SerialNum}\n"));
device.StartCameras(new DeviceConfiguration()
{
CameraFPS = FPS.FPS30,
ColorResolution = ColorResolution.Off,
DepthMode = DepthMode.NFOV_Unbinned,
WiredSyncMode = WiredSyncMode.Standalone,
});
file.Write(Encoding.ASCII.GetBytes($"device-color-resolution: {device.CurrentColorResolution}\n"));
file.Write(Encoding.ASCII.GetBytes($"device-depth-mode: {device.CurrentDepthMode}\n"));
var deviceCalibration = device.GetCalibration();
PointCloud.ComputePointCloudCache(deviceCalibration);
WriteCalibration(file, "depth", deviceCalibration.DepthCameraCalibration);
WriteCalibration(file, "color", deviceCalibration.ColorCameraCalibration);
using (Tracker tracker = Tracker.Create(deviceCalibration, new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
}))
{
file.Write(Encoding.ASCII.GetBytes($"joint-count: {Skeleton.JointCount}\n"));
file.Write(Encoding.ASCII.GetBytes("data:\n"));
while (renderer.IsActive)
{
using (Capture sensorCapture = device.GetCapture())
{
// Queue latest frame from the sensor.
tracker.EnqueueCapture(sensorCapture);
}
// Try getting latest tracker frame.
using (Frame frame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (frame != null)
{
// Save to recording file.
file.Write(frame.DeviceTimestamp.Ticks); // long = Int64
file.Write(frame.NumberOfBodies); // uint = Int32
for (uint i = 0; i < frame.NumberOfBodies; i++)
{
var person = frame.GetBodyId(i);
file.Write(person); // uint = Int32
var s = frame.GetBodySkeleton(i);
for (uint j = 0; j < Skeleton.JointCount; j++)
{
var joint = s.GetJoint((JointId)j);
var c = joint.ConfidenceLevel;
var p = joint.Position;
var r = joint.Quaternion;
file.Write((byte)c); // byte = 8-bit unsigned
file.Write(p.X); file.Write(p.Y); file.Write(p.Z); // float = 32-bit floating point.
file.Write(r.X); file.Write(r.Y); file.Write(r.Z); file.Write(r.W);
}
}
// 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 void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
using (var lastFrame = visualizerData.TakeFrameWithOwnership())
{
if (lastFrame == null)
{
return;
}
NativeWindow nativeWindow = (NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
// Update model/view/projective matrices in shader
var proj = Matrix4x4.CreatePerspectiveFieldOfView(ToRadians(65.0f), (float)nativeWindow.Width / nativeWindow.Height, 0.1f, 150.0f);
var view = Matrix4x4.CreateLookAt(Vector3.Zero, Vector3.UnitZ, -Vector3.UnitY);
SphereRenderer.View = view;
SphereRenderer.Projection = proj;
CylinderRenderer.View = view;
CylinderRenderer.Projection = proj;
PointCloudRenderer.View = view;
PointCloudRenderer.Projection = proj;
PointCloud.ComputePointCloud(lastFrame.Capture.Depth, ref pointCloud);
PointCloudRenderer.Render(pointCloud, new Vector4(1, 1, 1, 1));
Vector3 rightHand = Vector3.Zero;
for (uint i = 0; i < lastFrame.NumberOfBodies; ++i)
{
var skeleton = lastFrame.GetBodySkeleton(i);
var bodyId = lastFrame.GetBodyId(i);
var bodyColor = BodyColors.GetColorAsVector(bodyId);
for (int jointId = 0; jointId < (int)JointId.Count; ++jointId)
{
var joint = skeleton.GetJoint(jointId);
if (jointId == (int)JointId.HandRight)
{
if (pullPoint)
{
if (rightHand == Vector3.Zero)
{
rightHand = joint.Position;
}
else
{
if (Math.Abs(Vector3.Distance(rightHand, Vector3.Zero)) > Math.Abs(Vector3.Distance(joint.Position, Vector3.Zero)))
{
rightHand = joint.Position;
}
}
}
// Console.WriteLine($"Right Hand Found X:{joint.Position.X} Y:{joint.Position.Y} Z:{joint.Position.Z} ");
}
// Render the joint as a sphere.
const float radius = 0.024f;
SphereRenderer.Render(joint.Position / 1000, radius, bodyColor);
if (JointConnections.JointParent.TryGetValue((JointId)jointId, out JointId parentId))
{
// Render a bone connecting this joint and its parent as a cylinder.
CylinderRenderer.Render(joint.Position / 1000, skeleton.GetJoint((int)parentId).Position / 1000, bodyColor);
}
}
}
if (rightHand != Vector3.Zero)
{
thePoint = rightHand;
}
}
}
