public static UserTracker Create(Device device = null)
{
IntPtr deviceHandle = IntPtr.Zero;
if (device != null && device.isValid)
deviceHandle = device.Handle;
IntPtr handle;
NiTE.throwIfError(UserTracker_create(out handle, deviceHandle));
UserTracker ut = new UserTracker(handle);
ut.handler_events = UserTracker_RegisterListener(handle, ut.internal_listener);
return ut;
}
void uTracker_onNewData(UserTracker uTracker)
{
if (!uTracker.isValid)
return;
using (UserTrackerFrameRef frame = uTracker.readFrame())
{
if (!frame.isValid)
return;
lock (image)
{
if (image.Width != frame.UserMap.FrameSize.Width || image.Height != frame.UserMap.FrameSize.Height)
image = new Bitmap(frame.UserMap.FrameSize.Width, frame.UserMap.FrameSize.Height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
using (Graphics g = Graphics.FromImage(image))
{
g.FillRectangle(Brushes.Black, new Rectangle(new Point(0, 0), image.Size));
foreach (UserData user in frame.Users)
{
if (user.isNew && user.isVisible)
uTracker.StartSkeletonTracking(user.UserId);
if (user.isVisible && user.Skeleton.State == Skeleton.SkeletonState.TRACKED)
{
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.RIGHT_HAND, SkeletonJoint.JointType.RIGHT_ELBOW);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.LEFT_HAND, SkeletonJoint.JointType.LEFT_ELBOW);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.RIGHT_ELBOW, SkeletonJoint.JointType.RIGHT_SHOULDER);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.LEFT_ELBOW, SkeletonJoint.JointType.LEFT_SHOULDER);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.RIGHT_FOOT, SkeletonJoint.JointType.RIGHT_KNEE);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.LEFT_FOOT, SkeletonJoint.JointType.LEFT_KNEE);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.RIGHT_KNEE, SkeletonJoint.JointType.RIGHT_HIP);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.LEFT_KNEE, SkeletonJoint.JointType.LEFT_HIP);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.RIGHT_SHOULDER, SkeletonJoint.JointType.LEFT_SHOULDER);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.RIGHT_HIP, SkeletonJoint.JointType.LEFT_HIP);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.RIGHT_SHOULDER, SkeletonJoint.JointType.RIGHT_HIP);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.LEFT_SHOULDER, SkeletonJoint.JointType.LEFT_HIP);
DrawLineBetweenJoints(g, user.Skeleton, SkeletonJoint.JointType.HEAD, SkeletonJoint.JointType.NECK);
}
}
g.Save();
}
}
this.Invoke(new MethodInvoker(delegate()
{
fps = ((1000000 / (frame.Timestamp - lastTime)) + (fps * 4)) / 5;
lastTime = frame.Timestamp;
this.Text = "Frame #" + frame.FrameIndex.ToString() + " - Time: " + frame.Timestamp.ToString() + " - FPS: " + fps.ToString();
pb_preview.Image = image.Clone(new Rectangle(new Point(0, 0), image.Size), System.Drawing.Imaging.PixelFormat.Format24bppRgb);
}));
}
}
public static UserTracker Create(Device device = null)
{
IntPtr deviceHandle = IntPtr.Zero;
if (device != null && device.isValid)
{
deviceHandle = device.Handle;
}
IntPtr handle;
NiTE.throwIfError(UserTracker_create(out handle, deviceHandle));
UserTracker ut = new UserTracker(handle);
ut.handler_events = UserTracker_RegisterListener(handle, ut.internal_listener);
return(ut);
}
private void button1_Click(object sender, EventArgs e)
{
uTracker = UserTracker.Create();
btn_start.Enabled = false;
uTracker.onNewData += new UserTracker.UserTrackerListener(uTracker_onNewData);
// 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)
//{
// uTracker_onNewData(uTracker);
// Application.DoEvents();
//}
}
void uTracker_onNewData(UserTracker uTracker)
{
if (!uTracker.isValid)
return;
using (UserTrackerFrameRef frame = uTracker.readFrame())
{
if (!frame.isValid)
return;
UserMap um = frame.UserMap;
FillImageFromUserMap(frame.UserMap);
UserData[] ud = frame.Users;
using (Graphics g = Graphics.FromImage(image))
{
foreach (UserData user in frame.Users)
{
if (user.CenterOfMass.Z > 0)
{
Point p = new Point();
PointF pf = uTracker.ConvertJointCoordinatesToDepth(user.CenterOfMass);
p.X = (int)pf.X - 5;
p.Y = (int)pf.Y - 5;
g.DrawEllipse(new Pen(Brushes.White, 5), new Rectangle(p, new Size(5, 5)));
g.DrawString("Center Of Mass", SystemFonts.DefaultFont, Brushes.White, p.X - 40, p.Y - 20);
}
}
g.Save();
}
this.Invoke(new MethodInvoker(delegate()
{
fps = ((1000000 / (frame.Timestamp - lastTime)) + (fps * 4)) / 5;
lastTime = frame.Timestamp;
this.Text = "Frame #" + frame.FrameIndex.ToString() + " - Time: " + frame.Timestamp.ToString() + " - FPS: " + fps.ToString();
pb_preview.Image = image.Clone(new Rectangle(new Point(0,0), image.Size), System.Drawing.Imaging.PixelFormat.Format24bppRgb);
}));
}
}
// ReSharper disable once ParameterHidesMember
private void UserTrackerOnNewData(UserTracker userTracker)
{
if (!userTracker.IsValid)
{
return;
}
UserTrackerFrameRef frame = userTracker.ReadFrame();
if (frame == null || !frame.IsValid)
{
return;
}
this.FillImageFromUserMap(frame.UserMap);
using (Graphics g = Graphics.FromImage(this.image))
{
foreach (UserData user in frame.Users)
{
if (user.CenterOfMass.Z > 0)
{
Point p = new Point();
PointF pf = userTracker.ConvertJointCoordinatesToDepth(user.CenterOfMass);
p.X = (int)pf.X - 5;
p.Y = (int)pf.Y - 5;
g.DrawEllipse(new Pen(Brushes.White, 5), new Rectangle(p, new Size(5, 5)));
g.DrawString("Center Of Mass", SystemFonts.DefaultFont, Brushes.White, p.X - 40, p.Y - 20);
}
}
g.Save();
}
this.Invoke(
new MethodInvoker(
delegate
{
this.fps = ((1000000 / (frame.Timestamp - this.lastTime)) + (this.fps * 4)) / 5;
this.lastTime = frame.Timestamp;
this.Text = string.Format(
"Frame #{0} - Time: {1} - FPS: {2}",
frame.FrameIndex,
frame.Timestamp,
this.fps);
this.pb_preview.Image = this.image.Clone(
new Rectangle(new Point(0, 0), this.image.Size),
PixelFormat.Format24bppRgb);
frame.Release();
}));
}
public SkeletonDrawer(UserTracker userTracker)
{
this.userTracker = userTracker;
}
// ReSharper disable once ParameterHidesMember
private void UserTrackerOnNewData(UserTracker userTracker)
{
if (!userTracker.IsValid)
{
return;
}
UserTrackerFrameRef frame = userTracker.ReadFrame();
if (frame == null || !frame.IsValid)
{
return;
}
lock (this.image)
{
if (this.image.Width != frame.UserMap.FrameSize.Width
|| this.image.Height != frame.UserMap.FrameSize.Height)
{
this.image = new Bitmap(
frame.UserMap.FrameSize.Width,
frame.UserMap.FrameSize.Height,
PixelFormat.Format24bppRgb);
}
using (Graphics g = Graphics.FromImage(this.image))
{
g.FillRectangle(Brushes.Black, new Rectangle(new Point(0, 0), this.image.Size));
foreach (UserData user in frame.Users)
{
if (user.IsNew && user.IsVisible)
{
userTracker.StartSkeletonTracking(user.UserId);
}
if (user.IsVisible && user.Skeleton.State == Skeleton.SkeletonState.Tracked)
{
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.RightHand,
SkeletonJoint.JointType.RightElbow);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.LeftHand,
SkeletonJoint.JointType.LeftElbow);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.RightElbow,
SkeletonJoint.JointType.RightShoulder);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.LeftElbow,
SkeletonJoint.JointType.LeftShoulder);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.RightFoot,
SkeletonJoint.JointType.RightKnee);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.LeftFoot,
SkeletonJoint.JointType.LeftKnee);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.RightKnee,
SkeletonJoint.JointType.RightHip);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.LeftKnee,
SkeletonJoint.JointType.LeftHip);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.RightShoulder,
SkeletonJoint.JointType.LeftShoulder);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.RightHip,
SkeletonJoint.JointType.LeftHip);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.RightShoulder,
SkeletonJoint.JointType.RightHip);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.LeftShoulder,
SkeletonJoint.JointType.LeftHip);
this.DrawLineBetweenJoints(
g,
user.Skeleton,
SkeletonJoint.JointType.Head,
SkeletonJoint.JointType.Neck);
}
}
g.Save();
}
}
this.Invoke(
new MethodInvoker(
delegate
{
this.fps = ((1000000 / (frame.Timestamp - this.lastTime)) + (this.fps * 4)) / 5;
this.lastTime = frame.Timestamp;
this.Text = string.Format(
"Frame #{0} - Time: {1} - FPS: {2}",
frame.FrameIndex,
frame.Timestamp,
this.fps);
this.pb_preview.Image = this.image.Clone(
new Rectangle(new Point(0, 0), this.image.Size),
PixelFormat.Format24bppRgb);
frame.Release();
}));
}
private bool Start()
{
RegisterFilter();
if (this.isIdle && this.broadcaster.HasServer())
{
MessageBox.Show(
@"Only one server is allowed.",
@"Multi-Server",
MessageBoxButtons.OK,
MessageBoxIcon.Error);
return false;
}
bool isSameDevice = this.currentDevice != null && this.currentDevice.IsValid
&& this.currentDevice.DeviceInfo.Uri == Settings.Default.DeviceURI;
bool isSameSensor = isSameDevice && this.currentSensor != null && this.currentSensor.IsValid
&& this.currentSensor.SensorInfo.GetSensorType()
== (Device.SensorType)Settings.Default.CameraType;
if (!isSameDevice)
{
if (Settings.Default.DeviceURI == string.Empty)
{
this.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)
{
this.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
{
this.currentDevice = Device.Open(Settings.Default.DeviceURI);
}
catch (Exception ex)
{
this.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
{
this.currentSensor =
this.currentDevice.CreateVideoStream((Device.SensorType)Settings.Default.CameraType);
this.currentSensor.OnNewFrame += this.CurrentSensorOnNewFrame;
}
catch (Exception ex)
{
this.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
{
this.currentSensor.Stop();
}
VideoMode[] vmodes = this.currentSensor.SensorInfo.GetSupportedVideoModes().ToArray();
VideoMode selectedVideoMode = null;
switch (this.currentSensor.SensorInfo.GetSensorType())
{
case Device.SensorType.Color:
this.renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb;
if (Settings.Default.Color_HD)
{
foreach (VideoMode vm in vmodes)
{
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;
}
}
}
this.isHd = selectedVideoMode != null;
if (!this.isHd)
{
MessageBox.Show(
@"This device doesn't support ~1.3MP resolution.",
@"HD Resolution",
MessageBoxButtons.OK,
MessageBoxIcon.Warning);
}
}
if (selectedVideoMode == null)
{
foreach (VideoMode vm in vmodes)
{
if (vm.Resolution == new Size(640, 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:
this.renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb
| VideoFrameRef.CopyBitmapOptions.DepthFillShadow;
if (Settings.Default.Depth_Fill)
{
if (this.cb_mirror.Enabled && this.cb_mirror.Checked)
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthFillRigthBlack;
}
else
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthFillLeftBlack;
}
}
if (Settings.Default.Depth_Invert)
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthInvert;
}
if (Settings.Default.Depth_Histogram)
{
this.renderOptions |= VideoFrameRef.CopyBitmapOptions.DepthHistogramEqualize;
}
foreach (VideoMode vm in vmodes)
{
if (vm.Resolution == new Size(640, 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:
this.renderOptions = VideoFrameRef.CopyBitmapOptions.Force24BitRgb;
foreach (VideoMode vm in vmodes)
{
if (vm.Resolution == new Size(640, 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 (this.currentSensor.VideoMode.Fps != selectedVideoMode.Fps
|| this.currentSensor.VideoMode.DataPixelFormat != selectedVideoMode.DataPixelFormat
|| this.currentSensor.VideoMode.Resolution != selectedVideoMode.Resolution)
{
this.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;
}
this.softMirror = Settings.Default.Mirroring;
if (Settings.Default.SmartCam)
{
try
{
if (!isSameDevice
|| (this.uTracker == null || this.hTracker == null || !this.uTracker.IsValid
|| !this.hTracker.IsValid))
{
this.uTracker = UserTracker.Create(this.currentDevice);
this.hTracker = HandTracker.Create(this.currentDevice);
this.hTracker.StartGestureDetection(GestureData.GestureType.HandRaise);
this.hTracker.OnNewData += this.NiTeOnNewData;
}
}
catch (Exception)
{
}
}
if (!HandleError(this.currentSensor.Start()))
{
this.Stop(false);
return false;
}
this.btn_stopstart.Text = @"Stop Streaming";
this.isIdle = false;
this.notify.Visible = true;
return true;
}
private void SkeletonSensor_OnNewData(UserTracker userTracker)
{
if (!userTracker.IsValid)
return;
ulong currentTimeTicks = 0;
Skeleton validSkeleton = null;
using (UserTrackerFrameRef frame = userTracker.ReadFrame())
{
if (frame == null || !frame.IsValid)
return;
foreach (UserData user in frame.Users)
{
if (user.IsNew && user.IsVisible)
{
userTracker.StartSkeletonTracking(user.UserId);
}
if (user.IsVisible && user.Skeleton.State == Skeleton.SkeletonState.Tracked)
{
validSkeleton = user.Skeleton;
break;
}
}
currentTimeTicks = frame.Timestamp;
}
if (validSkeleton != null && IsEngineStart)
{
double deltaTimeTicks = (currentTimeTicks - lastUpdate);
if (lastUpdate == 0)
deltaTimeTicks = 0;
lastUpdate = currentTimeTicks;
RunFatigueEngine(validSkeleton, deltaTimeTicks / 1000000);
}
Dispatcher.Invoke((Action)delegate
{
iKinectCapture.Source = kinectSensor.RawImageSource;
if (validSkeleton != null)
iSkeleton.Source = DrawSkeleton(validSkeleton, Brushes.Transparent);
else
iSkeleton.Source = null;
});
}
