private void InitializeKinectFusion()
{
// KinecFusionの初期化
var volParam = new ReconstructionParameters( VoxelsPerMeter, VoxelResolutionX, VoxelResolutionY, VoxelResolutionZ );
volume = Reconstruction.FusionCreateReconstruction( volParam, ReconstructionProcessor.Amp, -1, Matrix4.Identity );
// 変換バッファの作成
depthFloatBuffer = new FusionFloatImageFrame( DepthWidth, DepthHeight );
pointCloudBuffer = new FusionPointCloudImageFrame( DepthWidth, DepthHeight );
shadedSurfaceColorFrame = new FusionColorImageFrame( DepthWidth, DepthHeight );
// リセット
volume.ResetReconstruction( Matrix4.Identity );
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null == this.sensor)
{
this.statusBarText.Text = Properties.Resources.NoKinectReady;
return;
}
// Turn on the depth stream to receive depth frames
this.sensor.DepthStream.Enable(DepthImageResolution);
this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
this.frameDataLength = this.sensor.DepthStream.FramePixelDataLength;
// Allocate space to put the color pixels we'll create
this.colorPixels = new int[this.frameDataLength];
// This is the bitmap we'll display on-screen
this.colorBitmap = new WriteableBitmap(
(int)ImageSize.Width,
(int)ImageSize.Height,
96.0,
96.0,
PixelFormats.Bgr32,
null);
// Set the image we display to point to the bitmap where we'll put the image data
this.Image.Source = this.colorBitmap;
// Add an event handler to be called whenever there is new depth frame data
this.sensor.DepthFrameReady += this.SensorDepthFrameReady;
this.sensor.ColorFrameReady += this.kinect_colorframe_ready;
var volParam = new ReconstructionParameters(VoxelsPerMeter, VoxelResolutionX, VoxelResolutionY, VoxelResolutionZ);
// Set the world-view transform to identity, so the world origin is the initial camera location.
this.worldToCameraTransform = Matrix4.Identity;
try
{
// This creates a volume cube with the Kinect at center of near plane, and volume directly
// in front of Kinect.
this.volume = Reconstruction.FusionCreateReconstruction(volParam, ProcessorType, DeviceToUse, this.worldToCameraTransform);
this.defaultWorldToVolumeTransform = this.volume.GetCurrentWorldToVolumeTransform();
if (this.translateResetPoseByMinDepthThreshold)
{
this.ResetReconstruction();
}
}
catch (InvalidOperationException ex)
{
this.statusBarText.Text = ex.Message;
return;
}
catch (DllNotFoundException)
{
this.statusBarText.Text = this.statusBarText.Text = Properties.Resources.MissingPrerequisite;
return;
}
// Depth frames generated from the depth input
this.depthFloatBuffer = new FusionFloatImageFrame((int)ImageSize.Width, (int)ImageSize.Height);
// Point cloud frames generated from the depth float input
this.pointCloudBuffer = new FusionPointCloudImageFrame((int)ImageSize.Width, (int)ImageSize.Height);
// Create images to raycast the Reconstruction Volume
this.shadedSurfaceColorFrame = new FusionColorImageFrame((int)ImageSize.Width, (int)ImageSize.Height);
// Start the sensor!
try
{
this.sensor.Start();
}
catch (IOException ex)
{
// Device is in use
this.sensor = null;
this.statusBarText.Text = ex.Message;
return;
}
catch (InvalidOperationException ex)
{
// Device is not valid, not supported or hardware feature unavailable
this.sensor = null;
this.statusBarText.Text = ex.Message;
return;
}
// Set Near Mode by default
try
{
this.sensor.DepthStream.Range = DepthRange.Near;
checkBoxNearMode.IsChecked = true;
}
catch
{
// device not near mode capable
}
// Initialize and start the FPS timer
this.fpsTimer = new DispatcherTimer();
this.fpsTimer.Tick += new EventHandler(this.FpsTimerTick);
this.fpsTimer.Interval = new TimeSpan(0, 0, FpsInterval);
this.fpsTimer.Start();
// Reset the reconstruction
this.ResetReconstruction();
}
protected virtual void Dispose( bool disposing )
{
if ( !disposed ) {
if ( depthFloatBuffer != null ) {
depthFloatBuffer.Dispose();
depthFloatBuffer = null;
}
if ( pointCloudBuffer != null ) {
pointCloudBuffer.Dispose();
pointCloudBuffer = null;
}
if ( shadedSurfaceColorFrame != null ) {
shadedSurfaceColorFrame.Dispose();
shadedSurfaceColorFrame = null;
}
if ( volume != null ) {
volume.Dispose();
volume = null;
}
disposed = true;
}
}
/// <summary>
/// Re-create the reconstruction object
/// </summary>
/// <returns>Indicate success or failure</returns>
private bool RecreateReconstruction()
{
// Check if sensor has been initialized
if (null == this.sensor)
{
return false;
}
if (null != this.volume)
{
this.volume.Dispose();
}
try
{
// The zero-based GPU index to choose for reconstruction processing if the
// ReconstructionProcessor AMP options are selected.
// Here we automatically choose a device to use for processing by passing -1,
int deviceIndex = -1;
ReconstructionParameters volParam = new ReconstructionParameters(this.voxelsPerMeter, this.voxelsX, this.voxelsY, this.voxelsZ);
// Set the world-view transform to identity, so the world origin is the initial camera location.
this.worldToCameraTransform = Matrix4.Identity;
this.volume = Reconstruction.FusionCreateReconstruction(volParam, ProcessorType, deviceIndex, this.worldToCameraTransform);
this.defaultWorldToVolumeTransform = this.volume.GetCurrentWorldToVolumeTransform();
if (this.translateResetPoseByMinDepthThreshold)
{
this.ResetReconstruction();
}
// Reset "Pause Integration"
if (this.PauseIntegration)
{
this.PauseIntegration = false;
}
return true;
}
catch (ArgumentException)
{
this.volume = null;
this.ShowStatusMessage(Properties.Resources.VolumeResolution);
}
catch (InvalidOperationException ex)
{
this.volume = null;
this.ShowStatusMessage(ex.Message);
}
catch (DllNotFoundException)
{
this.volume = null;
this.ShowStatusMessage(Properties.Resources.MissingPrerequisite);
}
catch (OutOfMemoryException)
{
this.volume = null;
this.ShowStatusMessage(Properties.Resources.OutOfMemory);
}
return false;
}
