private void InitOpenNI()
{
// ContextとImageGeneratorの作成
ScriptNode node;
context = Context.CreateFromXmlFile( "SamplesConfig.xml", out node );
context.GlobalMirror = false;
image = context.FindExistingNode( NodeType.Image ) as ImageGenerator;
// 画像更新のためのスレッドを作成
shouldRun = true;
readerThread = new Thread( new ThreadStart( () =>
{
while ( shouldRun ) {
context.WaitAndUpdateAll();
ImageMetaData imageMD = image.GetMetaData();
// ImageMetaDataをBitmapSourceに変換する(unsafeにしなくてもOK!!)
this.Dispatcher.BeginInvoke( DispatcherPriority.Background, new Action( () =>
{
imageOpenNI.Source = BitmapSource.Create( imageMD.XRes, imageMD.YRes,
96, 96, PixelFormats.Rgb24, null, imageMD.ImageMapPtr,
imageMD.DataSize, imageMD.XRes * imageMD.BytesPerPixel );
} ) );
}
} ) );
readerThread.Start();
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// ユーザージェネレータの作成
user = context.FindExistingNode(NodeType.User) as UserGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ユーザー検出機能をサポートしているか確認
if (!user.IsCapabilitySupported("User::Skeleton")) {
throw new Exception("ユーザー検出をサポートしていません");
}
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// レコーダーの作成と記録対象の追加
recoder = new OpenNI.Recorder(context);
recoder.SetDestination(RecordMedium.File, RECORD_PATH);
recoder.AddNodeToRecording(image);
recoder.AddNodeToRecording(depth);
recoder.Record();
}
public MainWindow()
{
InitializeComponent();
try {
// ContextとImageGeneratorの作成
ScriptNode node;
context = Context.CreateFromXmlFile( "../../SamplesConfig.xml", out node );
context.GlobalMirror = false;
image = context.FindExistingNode( NodeType.Image ) as ImageGenerator;
// ユーザーの作成
user = new UserGenerator( context );
context.StartGeneratingAll();
// 画像更新のためのスレッドを作成
shouldRun = true;
readerThread = new Thread( new ThreadStart( ReaderThread ) );
readerThread.Start();
}
catch ( Exception ex ) {
MessageBox.Show( ex.Message );
}
}
private static IntPtr CreateBasedOn(ImageGenerator basedOn, string name)
{
IntPtr handle;
int status = SafeNativeMethods.xnCreateMockNodeBasedOn(basedOn.Context.InternalObject,
basedOn.InternalObject, name, out handle);
WrapperUtils.ThrowOnError(status);
return handle;
}
private static IntPtr CreateBasedOn(ImageGenerator basedOn, string name)
{
IntPtr handle;
int status = SafeNativeMethods.xnCreateMockNodeBasedOn(basedOn.Context.InternalObject,
basedOn.InternalObject, name, out handle);
WrapperUtils.ThrowOnError(status);
return(handle);
}
public MainWindow()
{
InitializeComponent();
try {
// ContextとImageGeneratorの作成
ScriptNode node;
context = Context.CreateFromXmlFile( "../../SamplesConfig.xml", out node );
context.GlobalMirror = true;
image = context.FindExistingNode( NodeType.Image ) as ImageGenerator;
depth = context.FindExistingNode( NodeType.Depth ) as DepthGenerator;
depth.AlternativeViewpointCapability.SetViewpoint( image );
// ユーザーの作成
user = context.FindExistingNode( NodeType.User ) as UserGenerator;
// ユーザー認識のコールバックを登録
user.NewUser += new EventHandler<NewUserEventArgs>( user_NewUser );
//キャリブレーションにポーズが必要か確認
if ( user.SkeletonCapability.DoesNeedPoseForCalibration ) {
// ポーズ検出のサポートチェック
if ( !user.IsCapabilitySupported( "User::PoseDetection" ) ) {
throw new Exception( "ポーズ検出をサポートしていません" );
}
// ポーズ検出のコールバックを登録
user.PoseDetectionCapability.PoseDetected +=
new EventHandler<PoseDetectedEventArgs>( poseDetect_PoseDetected );
}
// スケルトン検出機能をサポートしているか確認
if ( !user.IsCapabilitySupported( "User::Skeleton" ) ) {
throw new Exception( "ユーザー検出をサポートしていません" );
}
// キャリブレーションのコールバックを登録
user.SkeletonCapability.CalibrationEnd +=
new EventHandler<CalibrationEndEventArgs>( skelton_CalibrationEnd );
// すべてをトラッキングする
user.SkeletonCapability.SetSkeletonProfile( SkeletonProfile.HeadAndHands );
// ジェスチャーの検出開始
context.StartGeneratingAll();
// 画像更新のためのスレッドを作成
shouldRun = true;
readerThread = new Thread( new ThreadStart( ReaderThread ) );
readerThread.Start();
}
catch ( Exception ex ) {
MessageBox.Show( ex.Message );
}
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化 ... (1)
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成 ... (2)
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
}
public VideoController(Context kinectContext, ITextureController textureController)
{
this.Context = kinectContext;
this.TextureController = textureController;
_ImageGenerator = Context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (_ImageGenerator == null)
{
throw new Exception("Viewer must have an image node!");
}
_Bitmap = new Bitmap((int)_ImageGenerator.MapOutputMode.XRes, (int)_ImageGenerator.MapOutputMode.YRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image)
as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
throw new Exception("イメージジェネレータの作成に失敗");
}
cropping.Enabled= false;
cropping.XOffset = 0;
cropping.YOffset = 0;
cropping.XSize = 500;
cropping.YSize = 450;
}
public MainWindow()
{
InitializeComponent();
try {
// ContextとImageGeneratorの作成
ScriptNode node;
context = Context.CreateFromXmlFile( "../../SamplesConfig.xml", out node );
context.GlobalMirror = false;
image = context.FindExistingNode( NodeType.Image ) as ImageGenerator;
audio = context.FindExistingNode( NodeType.Audio ) as AudioGenerator;
wavePlayer = new StreamingWavePlayer( audio.WaveOutputMode.SampleRate,
audio.WaveOutputMode.BitsPerSample, audio.WaveOutputMode.Channels, 100 );
// 画像更新のためのスレッドを作成
shouldRun = true;
readerThread = new Thread( new ThreadStart( () =>
{
while ( shouldRun ) {
context.WaitAndUpdateAll();
ImageMetaData imageMD = image.GetMetaData();
// WAVEデータの出力
wavePlayer.Output( audio.AudioBufferPtr, audio.DataSize );
// ImageMetaDataをBitmapSourceに変換する(unsafeにしなくてもOK!!)
this.Dispatcher.BeginInvoke( DispatcherPriority.Background, new Action( () =>
{
image1.Source = BitmapSource.Create( imageMD.XRes, imageMD.YRes,
96, 96, PixelFormats.Rgb24, null, imageMD.ImageMapPtr,
imageMD.DataSize, imageMD.XRes * imageMD.BytesPerPixel );
} ) );
}
} ) );
readerThread.Start();
}
catch ( Exception ex ) {
MessageBox.Show( ex.Message );
}
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType?type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = SafeNativeMethods.xnNodeInfoGetDescription(pNodeInfo).Type;
}
ProductionNode node;
switch (type)
{
case NodeType.Device:
node = new Device(this, nodeHandle, true);
break;
case NodeType.Depth:
node = new DepthGenerator(this, nodeHandle, true);
break;
case NodeType.Image:
node = new ImageGenerator(this, nodeHandle, true);
break;
case NodeType.Audio:
node = new AudioGenerator(this, nodeHandle, true);
break;
case NodeType.IR:
node = new IRGenerator(this, nodeHandle, true);
break;
case NodeType.User:
node = new UserGenerator(this, nodeHandle, true);
break;
case NodeType.Recorder:
node = new Recorder(this, nodeHandle, true);
break;
case NodeType.Player:
node = new Player(this, nodeHandle, true);
break;
case NodeType.Gesture:
node = new GestureGenerator(this, nodeHandle, true);
break;
case NodeType.Scene:
node = new SceneAnalyzer(this, nodeHandle, true);
break;
case NodeType.Hands:
node = new HandsGenerator(this, nodeHandle, true);
break;
case NodeType.Codec:
node = new Codec(this, nodeHandle, true);
break;
case NodeType.ProductionNode:
node = new ProductionNode(this, nodeHandle, true);
break;
case NodeType.Generator:
node = new Generator(this, nodeHandle, true);
break;
case NodeType.MapGenerator:
node = new MapGenerator(this, nodeHandle, true);
break;
case NodeType.ScriptNode:
node = new ScriptNode(this, nodeHandle, true);
break;
default:
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return(this.allNodes[nodeHandle]);
} // lock
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// 鏡モード(反転)にしない
context.GlobalMirror = false;
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// ジェスチャージェネレータの作成
gesture = context.FindExistingNode(NodeType.Gesture) as GestureGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ジェスチャーの登録
gesture.AddGesture("RaiseHand");
// ジェスチャー用のコールバックを登録
gesture.GestureRecognized += new EventHandler<GestureRecognizedEventArgs>(gesture_GestureRecognized);
gesture.GestureProgress += new EventHandler<GestureProgressEventArgs>(gesture_GestureProgress);
// ハンドジェネレータの作成
hands = context.FindExistingNode(NodeType.Hands) as HandsGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ハンドトラッキング用のコールバックを登録する
hands.HandCreate += new EventHandler<HandCreateEventArgs>(hands_HandCreate);
hands.HandUpdate += new EventHandler<HandUpdateEventArgs>(hands_HandUpdate);
hands.HandDestroy += new EventHandler<HandDestroyEventArgs>(hands_HandDestroy);
// ジェスチャーの検出開始
context.StartGeneratingAll();
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image)
as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth)
as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// カメラ画像の
// ミラー状態が変更されたことを通知するコールバックを登録
// ミラー状態の取得
OpenNI.MirrorCapability imageMirror = image.MirrorCapability;
imageMirror.MirrorChangedEvent += new EventHandler(Form1_MirrorChangedEvent);
mirrorState.Add(image.ToString(), imageMirror.IsMirrored());
// デプスの
// ミラー状態が変更されたことを通知するコールバックを登録
// ミラー状態の取得
OpenNI.MirrorCapability depthMirror = depth.MirrorCapability;
depthMirror.MirrorChangedEvent += new EventHandler(Form1_MirrorChangedEvent);
mirrorState.Add(depth.ToString(), depthMirror.IsMirrored());
// ヒストグラムバッファの作成
histogram = new int[depth.DeviceMaxDepth];
}
public MockImageGenerator(Context context, ImageGenerator basedOn, string name) :
this(context, CreateBasedOn(basedOn, name), false)
{
}
public MockImageGenerator(Context context, ImageGenerator basedOn) :
this(context, basedOn, null)
{
}
public MockImageGenerator(Context context, ImageGenerator basedOn)
: this(context, basedOn, null)
{
}
/// <summary>
/// Throws ArgumentNullException on null context
/// locates the given nodes and executes
/// </summary>
/// <param name="c"></param>
public void InitializeCamera(Context c,ImageGenerator ig,DepthGenerator dg)
{
if (c == null) { throw new ArgumentNullException("Context empty"); }
if (ig == null) { throw new ArgumentNullException("Image generator empty"); }
if (dg == null) { throw new ArgumentNullException("Depth generator empty"); }
Context = c;
ImageGenerator = ig;
DepthGenerator = dg;
Histogram = new int[DepthGenerator.DeviceMaxDepth];
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType? type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = NodeInfo.FromNative(pNodeInfo).Description.Type;
}
ProductionNode node;
// start with concrete types
if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Device))
{
node = new Device(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Depth))
{
node = new DepthGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Image))
{
node = new ImageGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Audio))
{
node = new AudioGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.IR))
{
node = new IRGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.User))
{
node = new UserGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Recorder))
{
node = new Recorder(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Player))
{
node = new Player(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Gesture))
{
node = new GestureGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Scene))
{
node = new SceneAnalyzer(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Hands))
{
node = new HandsGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Codec))
{
node = new Codec(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ScriptNode))
{
node = new ScriptNode(this, nodeHandle, true);
}
// move on to abstract types
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.MapGenerator))
{
node = new MapGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Generator))
{
node = new Generator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ProductionNode))
{
node = new ProductionNode(this, nodeHandle, true);
}
else
{
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return this.allNodes[nodeHandle];
} // lock
}
private void Initialise()
{
try
{
FMode = FPinInMode[0];
Size size = new Size(640, 480);
if (FMode == ImageNodeMode.RGB)
{
FImageGenerator = new ImageGenerator(FState.Context);
FImageImage.Image.Initialise(size, TColourFormat.RGB8);
FState.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(FImageGenerator);
FImageGenerator.StartGenerating();
}
else
{
FIRGenerator = new IRGenerator(FState.Context);
FImageImage.Image.Initialise(size, TColourFormat.L16);
FIRGenerator.StartGenerating();
}
FImageDepth.Image.Initialise(size, TColourFormat.L16);
FImageWorld.Image.Initialise(size, TColourFormat.RGB32F);
FPinOutImageImage[0] = FImageImage.Link;
FPinOutImageDepth[0] = FImageDepth.Link;
FPinOutImageWorld[0] = FImageWorld.Link;
for (int x = 0; x < 640; x++)
for (int y = 0; y < 480; y++)
{
FProjective[x + y * 640].X = x;
FProjective[x + y * 640].Y = y;
}
FState.Update += new EventHandler(FState_Update);
FStatus = "OK";
}
catch (StatusException e)
{
FStatus = e.Message;
}
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// ジェスチャージェネレータの作成
gesture = context.FindExistingNode(NodeType.Gesture) as GestureGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ジェスチャーの作成と登録
gestures = gesture.EnumerateAllGestures();
gesture.AddGesture(gestures[gestureIndex]);
string[] activeGestures = gesture.GetAllActiveGestures();
// ジェスチャーの機能確認
foreach (string name in gestures) {
Trace.WriteLine(name + ":" +
"Available:" + gesture.IsGestureAvailable(name) +
" ProgressSupported:" + gesture.IsGestureProgressSupported(name));
}
// ジェスチャー用のコールバックを登録
gesture.GestureRecognized += new EventHandler<GestureRecognizedEventArgs>(gesture_GestureRecognized);
gesture.GestureProgress += new EventHandler<GestureProgressEventArgs>(gesture_GestureProgress);
gesture.GestureChanged += new EventHandler(gesture_GestureChanged);
// ジェスチャーの検出開始
context.StartGeneratingAll();
}
public MainWindow()
{
InitializeComponent();
trackingUser = false;
trackingUserId = 0;
stop = false;
console = new Console();
console.Show();
console.Top = 10;
console.Left = 10;
prompt = new UserPrompt();
prompt.Show();
prompt.Top = 10;
prompt.Left = 550;
this.Top = 250;
this.Left = 550;
context = new Context(CONFIG_FILE);
imageGenerator = new ImageGenerator(context);
userGenerator = new UserGenerator(context);
if (DRAW_SKELETON)
{
depthGenerator = new DepthGenerator(context);
depthBitmap = new WriteableBitmap(640, 480, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
depthData = new DepthMetaData();
Histogram = new int[depthGenerator.DeviceMaxDepth];
skeletonDraw = new SkeletonDraw();
}
poseDetectionCapability = userGenerator.PoseDetectionCapability;
skeletonCapability = userGenerator.SkeletonCapability;
imageBitmap = new WriteableBitmap(640, 480, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
imageData = new ImageMetaData();
Device.SetUp();
if (File.Exists(SpatialController.CALIBRATION_DATA_FILE))
{
spatialController = new SpatialController(ControllerStartup.FromFile, userGenerator);
}
else
{
spatialController = new SpatialController(ControllerStartup.Calibrate, userGenerator);
}
spatialController.RecalibrateCommand += new RecalibrateEventHandler(RecalibrateCommand);
userGenerator.NewUser += NewUser;
userGenerator.LostUser += LostUser;
skeletonCapability.CalibrationStart += CalibrationStart;
skeletonCapability.CalibrationEnd += CalibrationEnd;
skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
poseDetectionCapability.PoseDetected += PoseDetected;
poseDetectionCapability.PoseEnded += PoseEnded;
kinectDataThread = new Thread(new ThreadStart(ReadKinectData));
kinectDataThread.IsBackground = true;
checkGesturesThread = new Thread(new ThreadStart(CheckGestures));
checkGesturesThread.IsBackground = true;
imageTimer = new DispatcherTimer();
imageTimer.Tick += new EventHandler(ImageTick);
imageTimer.Interval = new TimeSpan(0, 0, 0, 0, 100);
kinectDataThread.Start();
checkGesturesThread.Start();
imageTimer.Start();
UserPrompt.Write("Finished loading window.");
Console.Write("Finished loading window");
UserPrompt.Write("Please assume the Psi pose and hold it until you see a skeleton overlaid"
+ " on the streaming video.");
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FPinInContext[0] != FContext)
{
FContext = FPinInContext[0];
}
if (FContext == null)
{
FRunning = false;
return;
}
if (FContext.running && !FRunning && FContext.context != null)
{
try
{
FImageGenerator = FContext.context.FindExistingNode(global::OpenNI.NodeType.Image) as ImageGenerator;
FDepthGenerator = FContext.context.FindExistingNode(global::OpenNI.NodeType.Depth) as DepthGenerator;
FDepthGenerator.AlternativeViewpointCapability.SetViewpoint(FImageGenerator);
FImageRGB = new ImageRGB();
FImageDepth = new ImageL16();
FImageWorld = new ImageRGB32F();
Size size = new Size(640, 480);
FImageRGBBuffer = new Image<Bgr, byte>(size);
FImageDepthBuffer = new Image<Gray,ushort>(size);
FImageWorldBuffer = new Image<Rgb, float>(size);
FPinOutRGB[0] = FImageRGB;
FPinOutDepth[0] = FImageDepth;
FPinOutWorld[0] = FImageWorld;
FThread = new Thread(fnThread);
FRunning = true;
FThread.Start();
FPinOutStatus[0] = "OK";
}
catch (StatusException e)
{
FRunning = false;
FPinOutStatus[0] = e.Message;
}
}
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// 鏡モード(反転)にしない
context.GlobalMirror = false;
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// ユーザージェネレータの作成
user = context.FindExistingNode(NodeType.User) as UserGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ユーザー検出機能をサポートしているか確認
if (!user.IsCapabilitySupported("User::Skeleton")) {
throw new Exception("ユーザー検出をサポートしていません");
}
// ユーザー認識のコールバックを登録
user.NewUser += new EventHandler<NewUserEventArgs>(user_NewUser);
user.LostUser += new EventHandler<UserLostEventArgs>(user_LostUser);
//キャリブレーションにポーズが必要か確認
skelton = user.SkeletonCapability;
if (skelton.DoesNeedPoseForCalibration) {
// ポーズ検出のサポートチェック
if (!user.IsCapabilitySupported("User::PoseDetection")) {
throw new Exception("ユーザー検出をサポートしていません");
}
// キャリブレーションポーズの取得
pose = skelton.CalibrationPose;
// ポーズ検出のコールバックを登録
PoseDetectionCapability poseDetect = user.PoseDetectionCapability;
poseDetect.PoseDetected += new EventHandler<PoseDetectedEventArgs>(poseDetect_PoseDetected);
poseDetect.OutOfPose += new EventHandler<OutOfPoseEventArgs>( poseDetect_OutOfPose );
}
// キャリブレーションのコールバックを登録
skelton.CalibrationStart += new EventHandler<CalibrationStartEventArgs>(skelton_CalibrationStart);
skelton.CalibrationComplete += new EventHandler<CalibrationProgressEventArgs>( skelton_CalibrationComplete );
// すべてをトラッキングする
skelton.SetSkeletonProfile(SkeletonProfile.All);
// ジェスチャーの検出開始
context.StartGeneratingAll();
}
public NuiSensor(Context c, ImageGenerator ig, DepthGenerator dg)
{
InitializeCamera(c,ig,dg);
InitializeBitmaps();
InitializeThread();
}
public Sensor(string config)
{
if (string.IsNullOrEmpty(config))
throw new ArgumentNullException();
try
{
_context = Context.CreateFromXmlFile(config, out _scriptNode);
_depthGenerator = _context.FindExistingNode(NodeType.Depth) as DepthGenerator;
_imageGenerator = _context.FindExistingNode(NodeType.Image) as ImageGenerator;
_userGenerator = _context.FindExistingNode(NodeType.User) as UserGenerator;
if (_depthGenerator == null)
throw new ApplicationException("No depth node found.");
if (_imageGenerator == null)
throw new ApplicationException("No image node found.");
if (_userGenerator == null)
throw new ApplicationException("No user node found.");
if (_depthGenerator.MapOutputMode.FPS != _imageGenerator.MapOutputMode.FPS)
throw new ApplicationException("Depth and image node must have common framerates.");
if (_depthGenerator.MapOutputMode.XRes != _imageGenerator.MapOutputMode.XRes)
throw new ApplicationException("Depth and image node must have common horizontal resolutions.");
if (_depthGenerator.MapOutputMode.YRes != _imageGenerator.MapOutputMode.YRes)
throw new ApplicationException("Depth and image node must have common vertical resolutions.");
_depthMetaData = new DepthMetaData();
_imageMetaData = new ImageMetaData();
_imageWidth = _depthGenerator.MapOutputMode.XRes;
_imageHeight = _depthGenerator.MapOutputMode.YRes;
_userGenerator.NewUser += new EventHandler<NewUserEventArgs>(_userGenerator_NewUser);
_userGenerator.LostUser += new EventHandler<UserLostEventArgs>(_userGenerator_LostUser);
_userGenerator.StartGenerating();
_bitmapGenerator = new BitmapGenerator(this);
_readerWaitHandle = new AutoResetEvent(false);
_readerThread = new Thread(delegate()
{
try
{
while (_run)
{
if (_pause)
_readerWaitHandle.WaitOne();
_context.WaitAndUpdateAll();
_depthGenerator.GetMetaData(_depthMetaData);
_imageGenerator.GetMetaData(_imageMetaData);
if (_depthMetaData.XRes != _imageWidth || _imageMetaData.XRes != _imageWidth)
throw new ApplicationException("Image width must not change.");
if (_depthMetaData.YRes != _imageHeight || _imageMetaData.YRes != _imageHeight)
throw new ApplicationException("Image height must not change.");
if (GeneratorUpdate != null)
GeneratorUpdate(this, EventArgs.Empty);
}
}
catch (ThreadInterruptedException)
{
Console.WriteLine("Reader thread interrupted.");
}
catch (Exception e)
{
throw new ApplicationException("Error while processing sensor data.", e);
}
}) { Name = "ONI Reader Thread" };
}
catch (Exception)
{
throw;
}
}
private string InitialiseImage()
{
string messages = "";
MapOutputMode imageMode = new MapOutputMode();
imageMode.XRes = FSize.Width;
imageMode.YRes = FSize.Height;
imageMode.FPS = 30;
if (Mode == ImageNodeMode.RGB)
{
if (FIRGenerator != null)
{
FIRGenerator.StopGenerating();
FIRGenerator.Dispose();
}
FRGBGenerator = new ImageGenerator(FState.Context);
FRGBGenerator.MapOutputMode = imageMode;
Image.Image.Initialise(FSize, TColorFormat.RGB8);
if (FState.DepthGenerator.AlternativeViewpointCapability.IsViewpointSupported(FRGBGenerator))
{
FState.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(FRGBGenerator);
}
else
{
messages += "AlternativeViewportCapability not supported\n";
}
FRGBGenerator.StartGenerating();
}
else
{
if (FRGBGenerator != null)
{
FRGBGenerator.StopGenerating();
FRGBGenerator.Dispose();
}
FIRGenerator = new IRGenerator(FState.Context);
FIRGenerator.MapOutputMode = imageMode;
FIRGenerator.StartGenerating();
Image.Image.Initialise(FSize, TColorFormat.L16);
}
return messages;
}
public MockImageGenerator(Context context, ImageGenerator basedOn, string name)
: this(context, CreateBasedOn(basedOn, name), false)
{
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// NITEのためのセッションマネージャを作成
sessionManager = new NITE.SessionManager(context,
"Wave,Click", "RaiseHand");
// セッションの開始と終了を通知するコールバックを登録する
sessionManager.SessionStart += new EventHandler<PositionEventArgs>(sessionManager_SessionStart);
sessionManager.SessionEnd += new EventHandler(sessionManager_SessionEnd);
sessionManager.SessionFocusProgress += new EventHandler<SessionProgressEventArgs>(sessionManager_SessionFocusProgress);
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile( CONFIG_XML_PATH, out scriptNode );
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ビューポイントが変更されたことを通知するコールバックを登録する
AlternativeViewpointCapability Viewpoint =
depth.AlternativeViewpointCapability;
Viewpoint.ViewpointChanged += new EventHandler(Viewpoint_ViewpointChanged);
// ビューポイントのサポート状態を確認する
if (!Viewpoint.IsViewpointSupported(image)) {
throw new Exception("ビューポイントをサポートしていません");
}
// 現在の状態を取得する
isViewpoint = Viewpoint.IsViewpointAs(image);
// ヒストグラムバッファの作成
histogram = new int[depth.DeviceMaxDepth];
}
public void StartViewer(Context c, ImageGenerator ig, DepthGenerator dg)
{
_sensor = new Nui.NuiSensor();
//_sensor.
//TODO
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType? type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = NodeInfo.FromNative(pNodeInfo).Description.Type;
}
ProductionNode node;
switch (type)
{
case NodeType.Device:
node = new Device(this, nodeHandle, true);
break;
case NodeType.Depth:
node = new DepthGenerator(this, nodeHandle, true);
break;
case NodeType.Image:
node = new ImageGenerator(this, nodeHandle, true);
break;
case NodeType.Audio:
node = new AudioGenerator(this, nodeHandle, true);
break;
case NodeType.IR:
node = new IRGenerator(this, nodeHandle, true);
break;
case NodeType.User:
node = new UserGenerator(this, nodeHandle, true);
break;
case NodeType.Recorder:
node = new Recorder(this, nodeHandle, true);
break;
case NodeType.Player:
node = new Player(this, nodeHandle, true);
break;
case NodeType.Gesture:
node = new GestureGenerator(this, nodeHandle, true);
break;
case NodeType.Scene:
node = new SceneAnalyzer(this, nodeHandle, true);
break;
case NodeType.Hands:
node = new HandsGenerator(this, nodeHandle, true);
break;
case NodeType.Codec:
node = new Codec(this, nodeHandle, true);
break;
case NodeType.ProductionNode:
node = new ProductionNode(this, nodeHandle, true);
break;
case NodeType.Generator:
node = new Generator(this, nodeHandle, true);
break;
case NodeType.MapGenerator:
node = new MapGenerator(this, nodeHandle, true);
break;
case NodeType.ScriptNode:
node = new ScriptNode(this, nodeHandle, true);
break;
default:
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return this.allNodes[nodeHandle];
} // lock
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
context = new Context(CONFIG_XML_PATH);
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// NITEのためのセッションマネージャを作成
sessionManager = new SessionManager(context, "Wave,Click", "RaiseHand");
// セッションの開始と終了を通知するコールバックを登録する
sessionManager.SessionStart += new EventHandler<PositionEventArgs>(sessionManager_SessionStart);
sessionManager.SessionEnd += new EventHandler(sessionManager_SessionEnd);
sessionManager.SessionFocusProgress += new EventHandler<SessionProgressEventArgs>(sessionManager_SessionFocusProgress);
// Push(前後運動の検出器)
pushDetector = new NITE.PushDetector();
pushDetector.Push += new EventHandler<VelocityAngleEventArgs>(pushDetector_Push);
// リスナーに追加する
sessionManager.AddListener(pushDetector);
// ジェネレータの動作を開始する
context.StartGeneratingAll();
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
context = new Context();
// OpenFileRecordingExを使うように促されるが、使用するとアクセスバイオレーションになる
context.OpenFileRecording(RECORD_PATH);
// プレーヤーの作成
player = context.FindExistingNode(NodeType.Player) as OpenNI.Player;
if (player == null) {
throw new Exception(context.GlobalErrorState);
}
// 終端に達したら通知するコールバックを登録する
player.EndOfFileReached += new EventHandler(player_EndOfFileReached);
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null) {
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null) {
throw new Exception(context.GlobalErrorState);
}
// ヒストグラムバッファの作成
histogram = new int[depth.DeviceMaxDepth];
}
private ProductionNode CreateProductionNodeObject(IntPtr nodeHandle, NodeType?type)
{
lock (this)
{
if (!this.allNodes.ContainsKey(nodeHandle))
{
if (type == null)
{
IntPtr pNodeInfo = SafeNativeMethods.xnGetNodeInfo(nodeHandle);
type = NodeInfo.FromNative(pNodeInfo).Description.Type;
}
ProductionNode node;
// start with concrete types
if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Device))
{
node = new Device(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Depth))
{
node = new DepthGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Image))
{
node = new ImageGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Audio))
{
node = new AudioGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.IR))
{
node = new IRGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.User))
{
node = new UserGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Recorder))
{
node = new Recorder(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Player))
{
node = new Player(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Gesture))
{
node = new GestureGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Scene))
{
node = new SceneAnalyzer(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Hands))
{
node = new HandsGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Codec))
{
node = new Codec(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ScriptNode))
{
node = new ScriptNode(this, nodeHandle, true);
}
// move on to abstract types
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.MapGenerator))
{
node = new MapGenerator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.Generator))
{
node = new Generator(this, nodeHandle, true);
}
else if (SafeNativeMethods.xnIsTypeDerivedFrom(type.Value, NodeType.ProductionNode))
{
node = new ProductionNode(this, nodeHandle, true);
}
else
{
throw new NotImplementedException("C# wrapper: Unknown generator type!");
}
this.allNodes[nodeHandle] = node;
}
return(this.allNodes[nodeHandle]);
} // lock
}
