static void Main(string[] args)
{
Console.WriteLine("------------------------------------------");
Console.WriteLine("MetriCam 2 Minimal Sample.");
Console.WriteLine("Get MetriCam 2 at http://www.metricam.net/");
Console.WriteLine("------------------------------------------");
// Create camera object
Camera camera;
try
{
camera = new Kinect2();
}
catch (Exception e)
{
Console.WriteLine(Environment.NewLine + "Error: Could not create a PrimeSense camera object.");
Console.WriteLine((e.InnerException == null) ? e.Message : e.InnerException.Message);
Console.WriteLine("Press any key to exit.");
Console.ReadKey();
return;
}
// Connect, get one frame, disconnect
Console.WriteLine("Connecting camera");
camera.Connect();
Console.WriteLine("Fetching one frame");
camera.Update();
try
{
Console.WriteLine("Accessing color data");
ColorCameraImage img = (ColorCameraImage)camera.CalcChannel(ChannelNames.Color);
Bitmap rgbBitmapData = img.ToBitmap();
}
catch (ArgumentException ex)
{
Console.WriteLine(String.Format("Error getting channel {0}: {1}.", ChannelNames.Color, ex.Message));
}
try
{
Console.WriteLine("Accessing distance data");
FloatCameraImage distancesData = (FloatCameraImage)camera.CalcChannel(ChannelNames.Distance);
}
catch (ArgumentException ex)
{
Console.WriteLine(String.Format("Error getting channel {0}: {1}.", ChannelNames.Distance, ex.Message));
}
Console.WriteLine("Disconnecting camera");
camera.Disconnect();
Console.WriteLine("Finished. Press any key to exit.");
Console.ReadKey();
}
static void Main(string[] args)
{
MetriLog log = new MetriLog();
Kinect2 cam = new Kinect2();
try
{
cam.Connect();
}
catch (MetriCam2.Exceptions.ConnectionFailedException)
{
log.Error("Connection failed. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
return;
}
cam.ActivateChannel(ChannelNames.Color);
bool running = false;
while (running)
{
cam.Update();
}
ProjectiveTransformationZhang pt;
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
pt = (ProjectiveTransformationZhang)cam.GetIntrinsics(ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No PT found.");
}
try
{
RigidBodyTransformation rbt = cam.GetExtrinsics(ChannelNames.Color, ChannelNames.ZImage);
}
catch (FileNotFoundException)
{
log.Warn("No fwd RBT found.");
}
try
{
RigidBodyTransformation rbtInverse = cam.GetExtrinsics(ChannelNames.ZImage, ChannelNames.Color);
}
catch (FileNotFoundException)
{
log.Warn("No inverse RBT found.");
}
cam.Disconnect();
log.Info("Program ended. Closing window in 5 sec.");
Thread.Sleep(5 * 1000);
}
public unsafe void SetConstants(DeviceContext deviceContext, Kinect2.Kinect2Calibration kinect2Calibration, SharpDX.Matrix projection)
{
// hlsl matrices are default column order
var constants = new ConstantBuffer();
for (int i = 0, col = 0; col < 4; col++)
for (int row = 0; row < 4; row++)
{
constants.projection[i] = projection[row, col];
constants.depthToColorTransform[i] = (float)kinect2Calibration.depthToColorTransform[row, col];
i++;
}
constants.f[0] = (float)kinect2Calibration.colorCameraMatrix[0, 0];
constants.f[1] = (float)kinect2Calibration.colorCameraMatrix[1, 1];
constants.c[0] = (float)kinect2Calibration.colorCameraMatrix[0, 2];
constants.c[1] = (float)kinect2Calibration.colorCameraMatrix[1, 2];
constants.k1 = (float)kinect2Calibration.colorLensDistortion[0];
constants.k2 = (float)kinect2Calibration.colorLensDistortion[1];
DataStream dataStream;
deviceContext.MapSubresource(constantBuffer, MapMode.WriteDiscard, SharpDX.Direct3D11.MapFlags.None, out dataStream);
dataStream.Write<ConstantBuffer>(constants);
deviceContext.UnmapSubresource(constantBuffer, 0);
}
public static SharpDX.Direct3D11.Buffer CreateVertexBuffer(Device device, Kinect2.Kinect2Calibration kinect2Calibration)
{
// generate depthFrameToCameraSpace table
var depthFrameToCameraSpaceTable = kinect2Calibration.ComputeDepthFrameToCameraSpaceTable(depthImageWidth, depthImageHeight);
int numVertices = 6 * (depthImageWidth - 1) * (depthImageHeight - 1);
var vertices = new VertexPosition[numVertices];
Int3[] quadOffsets = new Int3[]
{
new Int3(0, 0, 0),
new Int3(1, 0, 0),
new Int3(0, 1, 0),
new Int3(1, 0, 0),
new Int3(1, 1, 0),
new Int3(0, 1, 0),
};
int vertexIndex = 0;
for (int y = 0; y < depthImageHeight - 1; y++)
for (int x = 0; x < depthImageWidth - 1; x++)
for (int i = 0; i < 6; i++)
{
int vertexX = x + quadOffsets[i].X;
int vertexY = y + quadOffsets[i].Y;
var point = depthFrameToCameraSpaceTable[depthImageWidth * vertexY + vertexX];
var vertex = new VertexPosition();
vertex.position = new SharpDX.Vector4(point.X, point.Y, vertexX, vertexY);
vertices[vertexIndex++] = vertex;
}
var stream = new DataStream(numVertices * VertexPosition.SizeInBytes, true, true);
stream.WriteRange(vertices);
stream.Position = 0;
var vertexBufferDesc = new BufferDescription()
{
BindFlags = BindFlags.VertexBuffer,
CpuAccessFlags = CpuAccessFlags.None,
Usage = ResourceUsage.Default,
SizeInBytes = numVertices * VertexPosition.SizeInBytes,
};
var vertexBuffer = new SharpDX.Direct3D11.Buffer(device, stream, vertexBufferDesc);
stream.Dispose();
return vertexBuffer;
}
/// <summary>
/// Converts an HBP.SkeletonBone array to Vcl.Utilities.IHumanoid
/// </summary>
/// <returns>The humanoid.</returns>
/// <param name="humanoid_name">The selected name of the humanoid.</param>
/// <param name="bones">The HBP.Skeleton bones.</param>
/// <param name="frameNumber">The number of the frame.</param>
public static IHumanoid From_HBP(string humanoid_name, Kinect2.IO.Skeleton bones, int frameNumber)
{
var hum = new K2Skeleton(humanoid_name, new string[]
{
string.Format("version={0}", "1.2"),
string.Format("frameNumber={0}", frameNumber),
string.Format("timestamp={0}", (frameNumber * 32).ToString("X11")),
string.Format("userCount={0}", 1),
string.Format("userID={0}", bones.ID),
string.Format("state={0}", bones.State)
});
for (int i = 0; i < 25; i++)
{
hum[i].Center = new Vec3f(bones[i][1], bones[i][2], bones[i][3]);
hum[i].Rotation = new Orientation(bones[i][4], bones[i][5], bones[i][6], bones[i][7]);
}
return hum;
}
