/// <summary>
/// Construtor padrão.
/// </summary>
private Controller()
{
context = new Context();
while (true) // espera que o Kinect esteja corretamente conectado
{
try {
userManager = new UserManager(context);
depthSensor = new DepthSensor(context);
rgbCamera = new RGBCamera(context);
}
catch (Exception) {
if (MessageBox.Show("Kinect is not connected. Connect and retry.", "Error", MessageBoxButton.OKCancel) == MessageBoxResult.OK)
{
continue;
}
Application.Current.Shutdown();
}
break;
}
depthImage = new DepthImage();
rgbImage = new RGBImage();
drawDepthImage = false;
drawRGBImage = false;
time = DateTime.Now;
windowManager = new WindowManager();
observer = new Observer(new GestureManager(), Parameterization.Extractor, Parameterization.Filter);
recorder = new Recorder();
realtime = true;
}
public Form1()
{
try
{
Nuitrack.Init("");
}
catch (System.Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
}
catch (System.Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
throw exception;
}
_depthSensor.SetMirror(false);
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
mode = _depthSensor.GetOutputMode();
colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, Color.FromKnownColor(KnownColor.Aqua));
}
}
InitializeComponent();
}
public DepthSensorThread() : base("depth-sensor-thread")
{
DisableThreadSleep = true;
Update += new EventHandler <ThreadService>((obj, service) =>
{
_depthSensor = new DepthSensor();
_depthSensor.Run();
Thread.Sleep(100);
});
}
public override int GetHashCode()
{
int hash = 7;
hash = (hash * 7) ^ RGB.GetHashCode();
hash = (hash * 7) ^ Depth.GetHashCode();
hash = (hash * 7) ^ Audio.GetHashCode();
hash = (hash * 7) ^ DepthSensor.GetHashCode();
hash = (hash * 7) ^ FirmwareBuild.GetHashCode();
hash = (hash * 7) ^ FirmwareSignature.GetHashCode();
return(hash);
}
// Use this for initialization
void Start()
{
Nuitrack.Init();
depthSensor = DepthSensor.Create();
depthSensor.OnUpdateEvent += DepthSensor_OnUpdateEvent;
skeletonTracker = SkeletonTracker.Create();
skeletonTracker.OnSkeletonUpdateEvent += SkeletonTracker_OnSkeletonUpdateEvent;
Nuitrack.Run();
}
public static SpreadBuilder <ColoredPoint> AddPoints(
SpreadBuilder <ColoredPoint> builder,
DepthSensor sensor,
ColorFrame colorFrame,
DepthFrame depthFrame,
int minZ = 100,
int maxZ = ushort.MaxValue,
int decimation = 1)
{
if (builder is null)
{
throw new ArgumentNullException(nameof(builder));
}
if (sensor is null)
{
throw new ArgumentNullException(nameof(sensor));
}
if (colorFrame is null)
{
throw new ArgumentNullException(nameof(colorFrame));
}
if (depthFrame is null)
{
throw new ArgumentNullException(nameof(depthFrame));
}
if (colorFrame.Cols < depthFrame.Cols || colorFrame.Rows < depthFrame.Rows)
{
throw new ArgumentException("The color image must have at least the same size as the depth image.");
}
var width = depthFrame.Cols;
var height = depthFrame.Rows;
var strideX = colorFrame.Cols / depthFrame.Cols;
var strideY = colorFrame.Rows / depthFrame.Rows;
var step = Math.Max(1, decimation);
for (var y = 0; y < height; y += step)
{
for (var x = 0; x < width; x += step)
{
var z = depthFrame[y, x];
if (z >= minZ && z <= maxZ)
{
var c = colorFrame[y * strideY, x *strideX];
var p = sensor.ConvertProjToRealCoords(x, y, z);
builder.Add(new ColoredPoint(AsVector3(ref p), ToColor(in c)));
}
}
}
return(builder);
}
/* Initialize the Nuitrack Environment */
private void Initialize()
{
try {
Nuitrack.Init("");
}
catch (nuitrack.Exception exception) {
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
// Select the device
_device = SelectDevice();
// Select video configurations
_configVideo = SelectVideoMode();
// Activate the license
ActivateDevice();
Nuitrack.SetDevice(_device);
// Add modules Sensors
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
// Add modules Events Handlers
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_userTracker.OnNewUserEvent += onUserTrackerNewUser;
_userTracker.OnLostUserEvent += onUserTrackerLostUser;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
// Connect to remote
_streamer = SelectStreamer();
// Run Nuitrack
Nuitrack.Run();
_running = true;
Console.WriteLine("Nuitrack is Running...");
}
void Start()
{
Debug.Log(Directory.GetCurrentDirectory());
GameObject agent = transform.parent.gameObject;
annotations = agent.GetComponent <TargetAnnotation>();
initializer = agent.GetComponent <RandomInit>();
positionDrawer = agent.GetComponent <RandomPosition>();
positionDrawer.agent = transform.gameObject;
rbody = GetComponent <Rigidbody>();
engine = transform.Find("Engine").GetComponent <Engine>();
accelerometer = transform.Find("Accelerometer").GetComponent <Accelerometer>();
depthSensor = transform.Find("DepthSensor").GetComponent <DepthSensor>();
// calculate max velocity with set parameters
maxVelocity = new Vector3(engine.maxForceLateral / (rbody.drag * rbody.mass),
engine.maxForceVertical / (rbody.drag * rbody.mass),
engine.maxForceLongitudinal / (rbody.drag * rbody.mass));
maxYawVelocity = engine.maxTorqueYaw / (rbody.inertiaTensor.y * rbody.angularDrag);
}
public static IObservable <DepthFrameEventArgs> DepthFrameArrived(DepthSensor sensor)
{
if (sensor is null)
{
return(Observable.Empty <DepthFrameEventArgs>());
}
return(Observable.FromEvent <DepthSensor.OnUpdate, DepthFrameEventArgs>(handler =>
{
DepthSensor.OnUpdate cfaHandler = (x) =>
{
handler(new DepthFrameEventArgs(x));
};
return cfaHandler;
},
cfaHandler => sensor.OnUpdateEvent += cfaHandler,
cfaHandler => sensor.OnUpdateEvent -= cfaHandler));
}
public GUI()
{
InitializeComponent();
portInfoLabel.Text = string.Format("{0}@{1}kbaud",
ControlStation.Properties.Settings.Default.PortName,
ControlStation.Properties.Settings.Default.BaudRate / 1000);
//setup serial port
BetterSerialPort port = new BetterSerialPort(ControlStation.Properties.Settings.Default.PortName,
ControlStation.Properties.Settings.Default.BaudRate);
//handles communication thread
comms = new SerialCommunication(port);
//displays port info and connect/disconnect button
comms.CommunicationException += OnCommunicationException;
comms.Started += OnCommunicationStarted;
comms.Stopped += OnCommunicationStopped;
comms.TenElapsed += OnTenElapsed;
comms.FiftyElapsed += OnHundredElapsed;
comms.ThousandElapsed += OnThousandElapsed;
//construct sensor and actuator objects
depth = new DepthSensor(new DepthData());
imu = new OrientationSensor(new OrientationData());
List <ToolData> toolList = new List <ToolData>();
for (int i = 0; i < 3; i++)
{
toolList.Add(new ToolData());
}
tools = new ToolsActuator(toolList);
List <ESCData> escList = new List <ESCData>();
for (int i = 0; i < 6; i++)
{
escList.Add(new ESCData());
}
escs = new PropulsionSensor(escList);
thrusters = new PropulsionActuator(escList);
StatusData state = new StatusData();
status = new StatusSensor(state);
statusControl = new StatusActuator(state);
versioning = new DiagnosticsSensor(new VersionData());
//put them in the list
devices = new List <GenericAbstractDevice>();
devices.Add(depth);
devices.Add(imu);
devices.Add(escs);
devices.Add(thrusters);
devices.Add(tools);
devices.Add(status);
devices.Add(statusControl);
devices.Add(versioning);
statusPanel.Controls.Add(status, 0, 0);
statusPanel.Controls.Add(statusControl, 0, 1);
statusPanel.Controls.Add(versioning, 0, 2);
statusPanel.Controls.Add(escs, 1, 0);
statusPanel.SetRowSpan(escs, 3);
toolsPanel.Controls.Add(tools);
thrustersPanel.Controls.Add(thrusters);
depthBox.Controls.Add(depth);
attitudeBox.Controls.Add(imu);
//disable all devices to start off
foreach (GenericAbstractDevice device in devices)
{
device.Enabled = false;
}
}
public MainForm()
{
// Initialize Nuitrack. This should be called before using any Nuitrack module.
// By passing the default arguments we specify that Nuitrack must determine
// the location automatically.
try
{
Nuitrack.Init("");
}
catch (Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
_handTracker = HandTracker.Create();
_gestureRecognizer = GestureRecognizer.Create();
}
catch (Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
throw exception;
}
//_depthSensor.SetMirror(false);
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_userTracker.OnNewUserEvent += onUserTrackerNewUser;
_userTracker.OnLostUserEvent += onUserTrackerLostUser;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
_handTracker.OnUpdateEvent += onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent += onNewGestures;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
// Create and configure the Bitmap object according to the depth sensor output mode
OutputMode mode = _depthSensor.GetOutputMode();
OutputMode colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, Color.FromKnownColor(KnownColor.Aqua));
}
}
// Set fixed form size
this.MinimumSize = this.MaximumSize = new Size(mode.XRes, mode.YRes);
// Disable unnecessary caption bar buttons
this.MinimizeBox = this.MaximizeBox = false;
// Enable double buffering to prevent flicker
this.DoubleBuffered = true;
// Run Nuitrack. This starts sensor data processing.
try
{
Nuitrack.Run();
}
catch (Exception exception)
{
Console.WriteLine("Cannot start Nuitrack.");
throw exception;
}
this.Show();
}
/// <summary>
///3D扫描的构造函数 -byCQZ 2019.6.16
///
/// </summary>
private void NuitrackCreate()
{
try
{
Nuitrack.Init("");
Console.WriteLine("Initialize succneed.");
}
catch (nuitrack.Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
//throw exception;
MessageBoxX.Warning("3D摄像头初始化失败，请检查SDK配置和是否进行密钥认证。");
Application.Current.Shutdown();
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
//_handTracker = HandTracker.Create();
_gestureRecognizer = GestureRecognizer.Create();
}
catch (nuitrack.Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
//throw exception;
MessageBoxX.Warning("3D摄像头初始化失败，请检查SDK配置和是否进行密钥认证。");
Application.Current.Shutdown();
}
_depthSensor.SetMirror(false);
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
//_handTracker.OnUpdateEvent += onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent += onNewGestures;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
// Create and configure the Bitmap object according to the depth sensor output mode
OutputMode mode = _depthSensor.GetOutputMode();
OutputMode colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
Console.WriteLine(mode.XRes + "=====================" + mode.YRes);
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, Color.FromKnownColor(KnownColor.Aqua));
}
}
try
{
Nuitrack.Run();
Console.WriteLine("Start Nuitrack.");
}
catch (nuitrack.Exception exception)
{
Console.WriteLine("Cannot start Nuitrack.");
//throw exception;
MessageBoxX.Warning("3D摄像头启动失败，请检查SDK配置和是否进行密钥认证。");
Application.Current.Shutdown();
}
}
static void Main(string[] args)
{//UDP writer for OSC
UdpWriter udpWrite = new UdpWriter("127.0.0.1", 7000);
try
{
Nuitrack.Init("");
}
catch (Exception exception)
{
Console.WriteLine("Cannot initialize Nuitrack.");
throw exception;
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
}
catch (Exception exception)
{
Console.WriteLine("Cannot create Nuitrack module.");
Console.WriteLine(exception.Message);
throw exception;
}
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += OnDepthSensorUpdate;
_userTracker.OnNewUserEvent += OnUserTrackerNewUser;
_userTracker.OnLostUserEvent += OnUserTrackerLostUser;
_skeletonTracker.OnSkeletonUpdateEvent += OnSkeletonUpdate;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += OnIssueDataUpdate;
try
{
Nuitrack.Run();
Console.WriteLine(DateTime.Now.ToString());
}
catch (Exception exception)
{
Console.WriteLine("Cannot start Nuitrack.");
throw exception;
}
bool a = true;
while (a)
{
int start = (int)DateTime.Now.TimeOfDay.TotalMilliseconds;
// Update Nuitrack data. Data will be synchronized with skeleton time stamps.
try
{
Nuitrack.Update(_skeletonTracker);
}
catch (LicenseNotAcquiredException exception)
{
Console.WriteLine(DateTime.Now.ToString());
Console.WriteLine("LicenseNotAcquired exception. Exception: {0}", exception);
throw exception;
}
catch (Exception exception)
{
Console.WriteLine("Nuitrack update failed. Exception: ", exception);
}
if (_skeletonData != null)
{
//Create new bundle for each time skeleton data is refreshed
OscBundle bundle = new OscBundle();
//const int jointSize = 10;
foreach (var skeleton in _skeletonData.Skeletons)
{
foreach (var joint in skeleton.Joints)
{
float[] rotationMatrix = joint.Orient.Matrix;
//Ignore joints that are not currently used by Nuitrack
if (joint.Type == JointType.None || joint.Type == JointType.LeftFingertip || joint.Type == JointType.RightFingertip || joint.Type == JointType.LeftFoot || joint.Type == JointType.RightFoot)
{
continue;
}
//Create new message element for joint containing joint type and rotation matrix
OscElement jointMessage = new OscElement("/" + joint.Type, joint.Real.X, joint.Real.Y, joint.Real.Z, rotationMatrix[0], rotationMatrix[1], -1 * rotationMatrix[2], rotationMatrix[3], rotationMatrix[4], -1 * rotationMatrix[5], -1 * rotationMatrix[6], -1 * rotationMatrix[7], rotationMatrix[8]);
Console.WriteLine(joint.Real.X + " " + joint.Real.Y + " " + joint.Real.Z);
bundle.AddElement(jointMessage);
}
//Send the message bundle with the data
udpWrite.Send(bundle);
int difference = delay - start - (int)DateTime.Now.TimeOfDay.TotalMilliseconds;
System.Threading.Thread.Sleep(delay);
}
}
}
Nuitrack.Release();
Console.ReadLine();
}
static public void Main()
{
Console.CancelKeyPress += new ConsoleCancelEventHandler(consoleEventHandler);
try
{
Nuitrack.Init("");
// get devices list
List <NuitrackDevice> devices = Nuitrack.GetDeviceList();
if (devices.Count == 0)
{
throw new nuitrack.Exception("No devices found.");
}
// print available devices
Console.Write("\nAvailable devices:\n");
for (int i = 0; i < devices.Count; i++)
{
Console.WriteLine(" [{0}] {1} ({2}), License: {3}",
i,
devices[i].GetInfo(DeviceInfoType.SERIAL_NUMBER),
devices[i].GetInfo(DeviceInfoType.DEVICE_NAME),
ToString(devices[i].GetActivationStatus()));
}
// select a device
int devIndex = UserInteraction.AskInt("\nSelect the device number: ", 0, devices.Count);
NuitrackDevice device = devices[devIndex];
// select video modes
selectDeviceVideoMode(device, StreamType.DEPTH);
selectDeviceVideoMode(device, StreamType.COLOR);
// activate selected device
bool isActivated = Convert.ToBoolean(device.GetActivationStatus());
if (isActivated)
{
isActivated = !UserInteraction.Confirm("The device is already activated. Do you want to reactivate it?");
}
if (!isActivated)
{
string activationKey = UserInteraction.AskString("Enter the activation key: ");
device.Activate(activationKey);
Console.WriteLine("Activation status: {0}", ToString(device.GetActivationStatus()));
}
// set device and run Nuitrack
if (UserInteraction.Confirm("Do you want to run Nuitrack with the selected device?"))
{
Nuitrack.SetDevice(device);
DepthSensor depthSensor = DepthSensor.Create();
ColorSensor colorSensor = ColorSensor.Create();
depthSensor.OnUpdateEvent += onDepthSensorUpdate;
colorSensor.OnUpdateEvent += onColorSensorUpdate;
Nuitrack.Run();
_run = true;
while (!_finished)
{
Nuitrack.WaitUpdate(depthSensor);
}
colorSensor.OnUpdateEvent -= onColorSensorUpdate;
depthSensor.OnUpdateEvent -= onDepthSensorUpdate;
}
Nuitrack.Release();
}
catch (nuitrack.Exception exception)
{
Console.WriteLine("Error: " + exception.ToString());
}
}
public MainWindow()
{
InitializeComponent();
try
{
Nuitrack.Init();
}
catch (nuitrack.Exception exception)
{
Debug.WriteLine("Can not initialize Nuitrack. Exception: ", exception);
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
_handTracker = HandTracker.Create();
_gestureRecognizer = GestureRecognizer.Create();
}
catch (nuitrack.Exception exception)
{
Debug.WriteLine("Cannot create Nuitrack module.");
throw exception;
}
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
_handTracker.OnUpdateEvent += onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent += onNewGestures;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
// Create and configure the Bitmap object according to the depth sensor output mode
OutputMode mode = _depthSensor.GetOutputMode();
OutputMode colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
{
mode.XRes = colorMode.XRes;
}
if (mode.YRes < colorMode.YRes)
{
mode.YRes = colorMode.YRes;
}
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
{
_bitmap.SetPixel(x, y, System.Drawing.Color.FromKnownColor(KnownColor.Aqua));
}
}
}
