private void ButtonClick(object sender, EventArgs e)
{
handTracker = HandTracker.Create();
btn_start.Enabled = false;
HandleError(handTracker.StartGestureDetection(GestureData.GestureType.HandRaise));
handTracker.OnNewData += HandTrackerOnNewData;
}
private void ButtonClick(object sender, EventArgs e)
{
this.handTracker = HandTracker.Create();
this.btn_start.Enabled = false;
HandleError(this.handTracker.StartGestureDetection(GestureData.GestureType.HandRaise));
this.handTracker.OnNewData += this.HandTrackerOnNewData;
// FIXED Jun 2013
// * Because of incompatibility between current version of OpenNI and NiTE,
// * we can't use event based reading. So we put our sample in a loop.
// * You can copy OpenNI.dll from version 2.0 to solve this problem.
// * Then you can uncomment above line of code and comment below ones.
// */
// while (this.IsHandleCreated)
// {
// hTracker_onNewData(hTracker);
// Application.DoEvents();
// }
}
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。");
}
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。");
}
_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。");
}
}
private bool Start()
{
RegisterFilter();
if (_isIdle && _broadcaster.HasServer())
{
MessageBox.Show(
@"Only one server is allowed.",
@"Multi-Server",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return(false);
}
var isSameDevice = _currentDevice != null &&
_currentDevice.IsValid &&
_currentDevice.DeviceInfo.Uri == Settings.Default.DeviceURI;
var isSameSensor = isSameDevice &&
_currentSensor != null &&
_currentSensor.IsValid &&
_currentSensor.SensorInfo.GetSensorType() ==
(Device.SensorType)Settings.Default.CameraType;
if (!isSameDevice)
{
if (Settings.Default.DeviceURI == string.Empty)
{
_currentDevice = null;
MessageBox.Show(
@"Please select a device to open and then click Apply.",
@"Device Open",
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
return(false);
}
}
if (!isSameSensor)
{
if (Settings.Default.CameraType == -1)
{
_currentDevice = null;
MessageBox.Show(
@"Please select a sensor to open and then click Apply.",
@"Sensor Create",
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
return(false);
}
}
if (!isSameDevice)
{
try
{
_currentDevice = Device.Open(Settings.Default.DeviceURI);
}
catch (Exception ex)
{
_currentDevice = null;
MessageBox.Show(
string.Format("Can not open selected Device. {0}", ex.Message),
@"Device Open",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return(false);
}
}
if (!isSameSensor)
{
try
{
_currentSensor =
_currentDevice.CreateVideoStream((Device.SensorType)Settings.Default.CameraType);
_currentSensor.OnNewFrame += CurrentSensorOnNewFrame;
}
catch (Exception ex)
{
_currentSensor = null;
MessageBox.Show(
string.Format("Can not open selected Sensor from selected Device. {0}", ex.Message),
@"Sensor Create",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return(false);
}
}
else
{
_currentSensor.Stop();
}
var videoModes = _currentSensor.SensorInfo.GetSupportedVideoModes().ToArray();
VideoMode selectedVideoMode = null;
switch (_currentSensor.SensorInfo.GetSensorType())
{
case Device.SensorType.Color:
_renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb;
if (Settings.Default.Color_HD)
{
foreach (var vm in videoModes)
{
if (vm.Resolution.Width == 1280 &&
(vm.Resolution.Height == 960 || vm.Resolution.Height == 1024))
{
if ((selectedVideoMode == null ||
selectedVideoMode.Fps < vm.Fps &&
vm.DataPixelFormat < selectedVideoMode.DataPixelFormat) &&
vm.DataPixelFormat != VideoMode.PixelFormat.Jpeg &&
vm.DataPixelFormat != VideoMode.PixelFormat.Yuv422)
{
selectedVideoMode = vm;
}
}
}
_isHd = selectedVideoMode != null;
if (!_isHd)
{
MessageBox.Show(
@"This device doesn't support ~1.3MP resolution.",
@"HD Resolution",
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
}
}
if (selectedVideoMode == null)
{
foreach (var vm in videoModes)
{
if (vm.Resolution.Width == 640 && vm.Resolution.Height == 480)
{
if ((selectedVideoMode == null ||
selectedVideoMode.Fps < vm.Fps &&
vm.DataPixelFormat < selectedVideoMode.DataPixelFormat) &&
vm.DataPixelFormat != VideoMode.PixelFormat.Jpeg &&
vm.DataPixelFormat != VideoMode.PixelFormat.Yuv422)
{
selectedVideoMode = vm;
}
}
}
}
break;
case Device.SensorType.Depth:
_renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb |
VideoFrameRef.CopyBitmapOptions.DepthFillShadow;
if (Settings.Default.Depth_Fill)
{
if (cb_mirror.Enabled && cb_mirror.Checked)
{
_renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthFillRigthBlack;
}
else
{
_renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthFillLeftBlack;
}
}
if (Settings.Default.Depth_Invert)
{
_renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthInvert;
}
if (Settings.Default.Depth_Histogram)
{
_renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthHistogramEqualize;
}
foreach (var vm in videoModes)
{
if (vm.Resolution.Width == 640 && vm.Resolution.Height == 480)
{
if ((selectedVideoMode == null || selectedVideoMode.Fps < vm.Fps) &&
(vm.DataPixelFormat == VideoMode.PixelFormat.Depth1Mm ||
vm.DataPixelFormat == VideoMode.PixelFormat.Depth100Um))
{
selectedVideoMode = vm;
}
}
}
break;
case Device.SensorType.Ir:
_renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb;
foreach (var vm in videoModes)
{
if (vm.Resolution.Width == 640 && vm.Resolution.Height == 480)
{
if ((selectedVideoMode == null ||
selectedVideoMode.Fps < vm.Fps &&
vm.DataPixelFormat < selectedVideoMode.DataPixelFormat) &&
vm.DataPixelFormat != VideoMode.PixelFormat.Jpeg &&
vm.DataPixelFormat != VideoMode.PixelFormat.Yuv422)
{
selectedVideoMode = vm;
}
}
}
break;
}
if (selectedVideoMode != null)
{
try
{
if (_currentSensor.VideoMode.Fps != selectedVideoMode.Fps ||
_currentSensor.VideoMode.DataPixelFormat != selectedVideoMode.DataPixelFormat ||
_currentSensor.VideoMode.Resolution.Width != selectedVideoMode.Resolution.Width ||
_currentSensor.VideoMode.Resolution.Height != selectedVideoMode.Resolution.Height)
{
_currentSensor.VideoMode = selectedVideoMode;
}
}
catch (Exception ex)
{
MessageBox.Show(
string.Format("Can not set active video mode to {0}. {1}", selectedVideoMode, ex.Message),
@"Sensor Config",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return(false);
}
}
else
{
MessageBox.Show(
@"No acceptable video mode found.",
@"Sensor Config",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return(false);
}
_softMirror = Settings.Default.Mirroring;
if (Settings.Default.SmartCam)
{
try
{
if (!isSameDevice || _userTracker == null || _handTracker == null || !_userTracker.IsValid || !_handTracker.IsValid)
{
_userTracker = UserTracker.Create(_currentDevice);
_handTracker = HandTracker.Create(_currentDevice);
_handTracker.StartGestureDetection(GestureData.GestureType.HandRaise);
_handTracker.OnNewData += NiTeOnNewData;
}
}
catch
{
// ignored
}
}
if (!HandleError(_currentSensor.Start()))
{
Stop(false);
return(false);
}
btn_stopstart.Text = @"Stop Streaming";
_isIdle = false;
notify.Visible = true;
return(true);
}
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));
}
}
}
