public static void Run(string[] args)
{
var camfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
if (!File.Exists(camfile))
{
Console.WriteLine("Calib file could not be found.");
return;
}
var cc = Utils.DeSerializeObject<CalibrationResult>(camfile);
var overview = new ProgramWindow(750, 50, 640, 480);
overview.Load();
overview.ResizeGraphics();
OverviewProgram program = new OverviewProgram();
overview.SetProgram(program);
RemoteKinect kinect = new RemoteKinect("localhost", 10500);
IDepthCamera depth = new RemoteDepthCamera(kinect);
ISkeletonCamera skeleton = new RemoteSkeletonCamera(kinect);
kinect.Start(Commands.Depth80 | Commands.Skeleton);
TriplexCamera triplex = new TriplexCamera(depth, skeleton);
KinectCalibrator kc = new KinectCalibrator(cc);
var coordinateMapper = KinectSensor.KinectSensors.First().CoordinateMapper;
//KinectSensor sensor = KinectSensor.KinectSensors.First();
//var format = DepthImageFormat.Resolution80x60Fps30;
//DepthCamera depthCam = new DepthCamera(sensor, format);
//SkeletonCamera skeletonCam = new SkeletonCamera(sensor);
//TriplexCamera triplex = new TriplexCamera(depthCam, skeletonCam);
//KinectCalibrator kc = new KinectCalibrator(sensor, cc);
//sensor.Start();
while (true)
{
var players = triplex.Trigger(1000);
if (players.Length > 0)
{
for (int i = 0; i < players.Length; i++)
{
program.SetPointCloud(i, players[i].DepthPoints.Select(dp =>
{
var sp = coordinateMapper.MapDepthPointToSkeletonPoint(DepthImageFormat.Resolution80x60Fps30, dp);
var gp = kc.ToGlobal(sp);
return new DynamicVertex(new Vector3(gp[0], gp[1], gp[2]));
}).ToArray());
}
}
overview.ProcessEvents();
overview.RenderFrame();
}
}
public static void Run(string[] args)
{
var camfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(camfile) || !File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var cc = Utils.DeSerializeObject<CalibrationResult>(camfile);
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new PointCloudProgram(29f);
window.SetProgram(program);
program.Draw().All((xp, yp) =>
{
var x = 0.5 - xp;
var y = 0.5 - yp;
var i = Math.Sqrt(x * x + y * y) * 2.5;
if (i > 1)
i = 1;
i = Math.Pow(1 - i, 3);
byte ii = (byte)(i * 255);
return Color.FromArgb(ii, 255, 255, 255);
}).Finish();
KinectSensor sensor = KinectSensor.KinectSensors.First();
var format = DepthImageFormat.Resolution80x60Fps30;
DepthCamera depthCam = new DepthCamera(sensor, format);
SkeletonCamera skeletonCam = new SkeletonCamera(sensor);
TriplexCamera triplex = new TriplexCamera(depthCam, skeletonCam);
KinectCalibrator kc = new KinectCalibrator(cc);
sensor.Start();
sensor.SkeletonStream.Enable();
program.SetProjection(pc, kc.GetModelView());
Rendering rend = new Rendering(program);
float dt = 0;
{
float[] hand = new float[] { 0.124f, -0.9f, 1.7f, 1f };
{
var t = program.SetLight0Pos(hand);
Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
}
window.KeyPress += (o, e) =>
{
if (e.KeyChar == 'w')
hand[1] += 0.1f;
else if (e.KeyChar == 's')
hand[1] -= 0.1f;
if (e.KeyChar == 'a')
hand[0] += 0.1f;
else if (e.KeyChar == 'd')
hand[0] -= 0.1f;
if (e.KeyChar == 'r')
hand[2] += 0.1f;
else if (e.KeyChar == 'f')
hand[2] -= 0.1f;
var t = program.SetLight0Pos(hand);
Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
};
}
while (true)
{
var players = triplex.Trigger(1000);
if (players == null)
continue;
rend.Render(players, sensor, format);
window.RenderFrame();
window.ProcessEvents();
}
//program.SetPositions(new Vector3[] { new Vector3(0.0f, -0.1f, 0) });
//window.RenderFrame();
Func<float[]> getHand = () =>
{
using (var frame = sensor.SkeletonStream.OpenNextFrame(100))
{
if (frame == null)
return null;
Skeleton[] skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
var rhand = skeletons.Where(sk => sk.TrackingState == SkeletonTrackingState.Tracked)
.SelectMany(sk => sk.Joints).Where(j => j.TrackingState != JointTrackingState.NotTracked)
.Where(j => j.JointType == JointType.HandRight)
.Select(j => j.Position).ToArray();
if (rhand.Length > 0)
return kc.ToGlobal(rhand.First());
else
return null;
}
};
while (true)
{
var test = depthCam.GetDepth(10000);
if (test == null)
continue;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
var points = test.Select(f => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, f))
.Select(p => new Vector3(p.X, p.Y, p.Z)).ToArray();
program.SetPositions(points);
window.RenderFrame();
sw.Stop();
Console.WriteLine("Time: " + sw.ElapsedMilliseconds);
window.ProcessEvents();
//System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
//sw.Start();
//var sp = test.Select(f => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, f));
//var globals = sp.Select(p => new float[] { p.X, p.Y, p.Z, 1 }).ToArray();
////var globals = kc.ToGlobal(sp).Where(g => g[2] > 0.1f).ToArray();
//sw.Stop();
//Console.WriteLine("Time: " + sw.ElapsedMilliseconds);
//program.SetLight0Pos(new float[] { 0.16f, -0.14f, 0.24f, 1 });
//var hand = getHand();
//if (hand != null)
//{
// var t = program.SetLight0Pos(hand);
// Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
// Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
// //Console.Write("Done ");
//}
//program.SetPositions(globals);
//window.RenderFrame();
//window.ProcessEvents();
//{
// var projected = pc.Transform(globals.Where(g => g[2] > -0.0f).ToArray());
// projector.DrawPoints(projected,2, Color.Gray);
//}
}
}
public static void Run(string[] args)
{
var camfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(camfile) || !File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var cc = Utils.DeSerializeObject<CalibrationResult>(camfile);
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new FastPointCloudProgram(15f);
window.SetProgram(program);
KinectSensor sensor = KinectSensor.KinectSensors.First();
Camera cam = new Camera(sensor, ColorImageFormat.RgbResolution640x480Fps30);
var format = DepthImageFormat.Resolution80x60Fps30;
DepthCamera depthCam = new DepthCamera(sensor, format);
SkeletonCamera skeletonCam = new SkeletonCamera(sensor);
TriplexCamera triplex = new TriplexCamera(depthCam, skeletonCam);
KinectCalibrator kc = new KinectCalibrator(cc);
sensor.Start();
sensor.SkeletonStream.Enable();
float[] data = Utils.DeSerializeObject<float[]>(IR2RGBFILE) ?? MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.Identity(4).ToColumnWiseArray();
MathNet.Numerics.LinearAlgebra.Generic.Matrix<float> D2C = MathNet.Numerics.LinearAlgebra.Single.DenseMatrix.OfColumnMajor(4,4, data);
program.SetProjection(pc, kc.GetModelView(D2C), OpenTK.Matrix4.CreateTranslation(0f, 0.14f, 0.06f));
TimedBlockRecorder rec = new TimedBlockRecorder();
float leastError = float.MaxValue;
MathNet.Numerics.LinearAlgebra.Generic.Matrix<float> leastErrD2C;
while (true)
{
CompositePlayer[] players;
DepthImagePoint[] depths;
using (var block = rec.GetBlock("Triplex trigger"))
players = triplex.Trigger(1000);
if (players == null)
continue;
using (var block = rec.GetBlock("Player sorting into depths"))
depths = players.Where(p => p.Skeleton != null).SelectMany(s => s.DepthPoints).ToArray();
if (depths.Count() > 0)
{
if (true)
{
using (var block = rec.GetBlock("Find Rigid transform"))
{
var points = kc.ToColorSpace(sensor.CoordinateMapper, depths, format);
var B = points.Select(p => new float[] { p.X, p.Y, p.Z }).ToArray();
var A = depths.Select(d => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, d)).Select(sp => new float[] { sp.X, sp.Y, sp.Z }).ToArray();
float error;
var res = Dynamight.ImageProcessing.CameraCalibration.Maths.RigidTransformation.FindTransform(A, B, out error);
if (error < leastError)
{
D2C = leastErrD2C = res;
Utils.SerializeObject(leastErrD2C.ToColumnWiseArray(), IR2RGBFILE);
leastError = error;
program.SetProjection(pc, kc.GetModelView(D2C));
}
}
}
Vector3[] ps;
using (var block = rec.GetBlock("Map to skeleton space"))
ps = depths.Select(d => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, d)).Select(d => new Vector3(d.X, d.Y, d.Z)).ToArray();
using (var block = rec.GetBlock("Set positions"))
program.SetPositions(ps);
}
else
program.SetPositions(new Vector3[0]);
using (var block = rec.GetBlock("Render frame"))
window.RenderFrame();
window.ProcessEvents();
Console.Clear();
Console.WriteLine(rec.ToString());
Console.WriteLine(rec.AverageAll());
Console.WriteLine("Error: " + leastError);
}
}
