/// <summary>
/// Loads the 3D data for a specific skeleton joint.
/// </summary>
private void GetJoint3D(SkeletonCapability source,
int user, SkeletonJoint joint,
JointDictionary target)
{
SkeletonJointPosition pos;
if (joint == SkeletonJoint.Waist)
{
// Calculate the joint position as arithmetic mean of right
// and left hip joints, as it is not possible to poll it
// directly.
pos = new SkeletonJointPosition();
SkeletonJointPosition posLeft = source.GetSkeletonJointPosition(user, SkeletonJoint.LeftHip);
SkeletonJointPosition posRight = source.GetSkeletonJointPosition(user, SkeletonJoint.RightHip);
if (posLeft.Position.Z == 0 || posRight.Position.Z == 0)
{
pos.Confidence = 0;
pos.Position = new Point3D(
(posLeft.Position.X + posRight.Position.X) / 2,
(posLeft.Position.Y + posRight.Position.Y) / 2,
0);
}
else
{
pos.Confidence = Math.Min(posLeft.Confidence, posRight.Confidence);
pos.Position = new Point3D(
(posLeft.Position.X + posRight.Position.X) / 2,
(posLeft.Position.Y + posRight.Position.Y) / 2,
(posLeft.Position.Z + posRight.Position.Z) / 2);
}
}
else
{
pos = source.GetSkeletonJointPosition(user, joint);
if (pos.Position.Z == 0)
{
pos.Confidence = 0;
}
}
target[joint] = pos;
}
private void Window_Initialized(object sender, EventArgs e)
{
string configPath = Properties.Settings.Default.ONIConfig;
Title += " - " + configPath;
try
{
if (!File.Exists(configPath))
throw new ApplicationException("Config file '" + configPath + "' does not exist.");
_labelDataBrush = Resources["labelData"] as ImageBrush;
_skeletonDrawer = new SkeletonDrawer(depthGrid);
_skeleton = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
_sensor = new Sensor(configPath);
Console.WriteLine("Sensor initialized successfully.");
_skeletonCapability = _sensor.UserGenerator.SkeletonCapability;
_skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
_skeletonCapability.SetSmoothing(Properties.Settings.Default.SkeletonSmoothing);
_sensor.GeneratorUpdate += delegate(object s, EventArgs args)
{
Action action = () =>
{
_labelDataBrush.ImageSource = _sensor.LabelBitmap;
depthImage.Source = _sensor.DepthBitmap;
rgbImage.Source = _sensor.RGBBitmap;
if (Properties.Settings.Default.DisplaySkeleton && _skeleton.Count > 0)
{
var users = _skeleton.Keys;
Func<int, SkeletonJoint, SkeletonJointPosition> jointPosition = (int user, SkeletonJoint joint) =>
{
SkeletonJointPosition position = _skeletonCapability.GetSkeletonJointPosition(user, joint);
if (position.Position.Z == 0)
position.Confidence = 0;
else
position.Position = _sensor.DepthGenerator.ConvertRealWorldToProjective(position.Position);
return position;
};
foreach (int user in users)
{
_skeleton[user][SkeletonJoint.Head] = jointPosition(user, SkeletonJoint.Head);
_skeleton[user][SkeletonJoint.Neck] = jointPosition(user, SkeletonJoint.Neck);
_skeleton[user][SkeletonJoint.Torso] = jointPosition(user, SkeletonJoint.Torso);
_skeleton[user][SkeletonJoint.LeftShoulder] = jointPosition(user, SkeletonJoint.LeftShoulder);
_skeleton[user][SkeletonJoint.LeftElbow] = jointPosition(user, SkeletonJoint.LeftElbow);
_skeleton[user][SkeletonJoint.LeftHand] = jointPosition(user, SkeletonJoint.LeftHand);
_skeleton[user][SkeletonJoint.RightShoulder] = jointPosition(user, SkeletonJoint.RightShoulder);
_skeleton[user][SkeletonJoint.RightElbow] = jointPosition(user, SkeletonJoint.RightElbow);
_skeleton[user][SkeletonJoint.RightHand] = jointPosition(user, SkeletonJoint.RightHand);
_skeleton[user][SkeletonJoint.LeftHip] = jointPosition(user, SkeletonJoint.LeftHip);
_skeleton[user][SkeletonJoint.LeftKnee] = jointPosition(user, SkeletonJoint.LeftKnee);
_skeleton[user][SkeletonJoint.LeftFoot] = jointPosition(user, SkeletonJoint.LeftFoot);
_skeleton[user][SkeletonJoint.RightHip] = jointPosition(user, SkeletonJoint.RightHip);
_skeleton[user][SkeletonJoint.RightKnee] = jointPosition(user, SkeletonJoint.RightKnee);
_skeleton[user][SkeletonJoint.RightFoot] = jointPosition(user, SkeletonJoint.RightFoot);
}
_skeletonDrawer.Draw(_skeleton);
}
};
Dispatcher.Invoke(action);
};
_sensor.NewUser += delegate(object s, NewUserEventArgs args)
{
Console.WriteLine("[" + args.ID + "] Found");
if(Properties.Settings.Default.DisplaySkeleton)
_skeletonCapability.RequestCalibration(args.ID, true);
};
_sensor.LostUser += delegate(object s, UserLostEventArgs args)
{
Console.WriteLine("[" + args.ID + "] Lost");
_skeleton.Remove(args.ID);
Action action = () =>
{
_skeletonDrawer.UserLost(args.ID);
};
Dispatcher.Invoke(action);
};
_skeletonCapability.CalibrationComplete += delegate(object s, CalibrationProgressEventArgs args)
{
Console.WriteLine("[" + args.ID + "] Calibration status: " + args.Status);
if (args.Status == CalibrationStatus.OK)
{
_skeletonCapability.StartTracking(args.ID);
Dictionary<SkeletonJoint, SkeletonJointPosition> jointPositions = new Dictionary<SkeletonJoint, SkeletonJointPosition>();
jointPositions.Add(SkeletonJoint.Head, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.Neck, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.Torso, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftShoulder, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftElbow, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftHand, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightShoulder, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightElbow, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightHand, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftHip, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftKnee, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftFoot, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightHip, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightKnee, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightFoot, new SkeletonJointPosition());
_skeleton.Add(args.ID, jointPositions);
}
else if (args.Status != CalibrationStatus.ManualAbort)
_skeletonCapability.RequestCalibration(args.ID, true);
};
}
catch (Exception ex)
{
Console.Error.WriteLine(ex);
MessageBox.Show(ex.Message, "Error while initializing OpenNI", MessageBoxButton.OK, MessageBoxImage.Error);
Application.Current.Shutdown();
}
}