public KinectManager()
{
try
{
_context = new Context(@"..\..\Data\openniconfig.xml");
_depth_generator = _context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (_depth_generator == null)
throw new Exception(@"Error in Data\openniconfig.xml - No depth node found.");
_user_generator = new UserGenerator(_context);
_skeleton_caps = _user_generator.SkeletonCapability;
_pose_detect_caps = _user_generator.PoseDetectionCapability;
_calibration_pose = _skeleton_caps.CalibrationPose;
// event handler for detection
_user_generator.NewUser += (_user_generator_NewUser);
_user_generator.LostUser += (_user_generator_LostUser);
_pose_detect_caps.PoseDetected += (_pose_detect_caps_PoseDetected);
_skeleton_caps.CalibrationEnd += (_skeleton_caps_CalibrationEnd);
_skeleton_caps.SetSkeletonProfile(SkeletonProfile.All);
// initialize joints
_joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
_joint_orientation = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointOrientation>>();
// start generating data
_user_generator.StartGenerating();
}catch(Exception ex)
{
Console.WriteLine("Error initializing OpenNi.");
Console.WriteLine(ex.Message);
}
// update timer for the depth image
DispatcherTimer dispatcher_timer = new DispatcherTimer();
dispatcher_timer.Tick += new EventHandler(dispatcher_timer_Tick);
dispatcher_timer.Interval = new TimeSpan(0, 0, 0, 0, 10); // update every 10 ms
dispatcher_timer.Start();
Console.WriteLine("Finished loading");
}
public UserController(Context context, string calibrationPath)
{
this.Context = context;
this.CalibrationPath = calibrationPath;
this.Users = new Dictionary<int, KinectUser>();
_UserLock = new object();
_SkeletonLock = new object();
_UserGenerator = new UserGenerator(Context);
_SkeletonCapability = _UserGenerator.SkeletonCapability;
_PoseDetectionCapability = _UserGenerator.PoseDetectionCapability;
_CalibrationPose = _SkeletonCapability.CalibrationPose;
_UserGenerator.NewUser += new EventHandler<NewUserEventArgs>(_UserGenerator_NewUser);
_UserGenerator.LostUser += new EventHandler<UserLostEventArgs>(_UserGenerator_LostUser);
_PoseDetectionCapability.PoseDetected += new EventHandler<PoseDetectedEventArgs>(PoseDetectionCapability_PoseDetected);
_SkeletonCapability.CalibrationComplete += new EventHandler<CalibrationProgressEventArgs>(_SkeletonCapability_CalibrationComplete);
_SkeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
_UserGenerator.StartGenerating();
}
void FState_Initialised(object sender, EventArgs e)
{
try
{
//initialise
FUserGenerator = new UserGenerator(FState.Context);
FUserGenerator.NewUser += new EventHandler<NewUserEventArgs>(FUserGenerator_NewUser);
FUserGenerator.LostUser += new EventHandler<UserLostEventArgs>(FUserGenerator_LostUser);
FUserGenerator.UserReEnter += new EventHandler<UserReEnterEventArgs>(FUserGenerator_UserReEnter);
FUserGenerator.UserExit += new EventHandler<UserExitEventArgs>(FUserGenerator_UserExit);
FUserGenerator.StartGenerating();
FPinOutMask[0] = FImageMask.Link;
FImageMask.Image.Initialise(new Size(640, 480), TColorFormat.L16);
FState.Update += new EventHandler(FState_Update);
FStarted = true;
FPinOutStatus[0] = "OK";
}
catch (StatusException err)
{
Close();
FPinOutStatus[0] = err.Message;
}
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FContextChanged)
{
if (FContextIn.PluginIO.IsConnected)
{
if (FContextIn[0] != null)
{
try
{
FUserGenerator = new UserGenerator(FContextIn[0]);
FSkeletonCapability = FUserGenerator.SkeletonCapability;
FPoseDetectionCapability = FUserGenerator.PoseDetectionCapability;
FCalibPose = FSkeletonCapability.CalibrationPose;
FUserGenerator.NewUser += userGenerator_NewUser;
FUserGenerator.LostUser += userGenerator_LostUser;
FPoseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
FSkeletonCapability.CalibrationComplete += skeletonCapbility_CalibrationComplete;
FSkeletonCapability.SetSkeletonProfile(FSkeletonProfileIn[0]);
FJoints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointTransformation>>();
FUserGenerator.StartGenerating();
FContextChanged = false;
}
catch (Exception ex)
{
FLogger.Log(ex);
}
}
}
else
{
CleanUp();
FContextChanged = false;
}
}
if ( (FUserGenerator != null) && (FUserIdIn != null) )
{
if (FEnabledIn.IsChanged)
if (FEnabledIn[0])
FUserGenerator.StartGenerating();
else
FUserGenerator.StopGenerating();
if (FUserGenerator.IsDataNew)
{
if (FSkeletonProfileIn.IsChanged)
FSkeletonCapability.SetSkeletonProfile(FSkeletonProfileIn[0]);
if (FSmoothingIn.IsChanged)
FSkeletonCapability.SetSmoothing(FSmoothingIn[0]);
FUserIdOut.SliceCount = 0;
FStatusOut.SliceCount = 0;
FJointPositionOut.SliceCount = 0;
FJointOrientationXOut.SliceCount = 0;
FJointOrientationYOut.SliceCount = 0;
FJointOrientationZOut.SliceCount = 0;
if (FUserGenerator.NumberOfUsers > 0)
{
//get all Users and sort them
int[] users = FUserGenerator.GetUsers();
FUserIdOut.SliceCount = users.Length;
FStatusOut.SliceCount = users.Length;
Array.Sort(users);
for (int i = 0; i<users.Length; i++) {
int userId = users[i];
bool userIsTracked = FSkeletonCapability.IsTracking(userId);
bool userIsCalibrated = FSkeletonCapability.IsCalibrated(userId);
bool userIsCalibrating = FSkeletonCapability.IsCalibrating(userId);
if(userIsTracked) FStatusOut[i] = "Tracking user ";
else if(userIsCalibrating) FStatusOut[i] = "Calibrating user ";
else FStatusOut[i] = "Looking for pose on user ";
FStatusOut[i] += userId.ToString();
FUserIdOut[i] = userId;
//if((userId != FUserIdIn[0]) && (!userIsTracked)) FSkeletonCapability.StopTracking(userId);
if(FUserIdIn.IsChanged && (userId != FUserIdIn[0]))
{
//if(!userIsTracked) FSkeletonCapability.StartTracking(userId);
}
} //for
if(FSkeletonCapability.IsTracking(FUserIdIn[0]))
{
int binSize = FJointIn.SliceCount;
FJointPositionOut.SliceCount = binSize;
FJointOrientationXOut.SliceCount = FJointOrientationYOut.SliceCount = FJointOrientationZOut.SliceCount = binSize;
for (int i = 0; i < binSize; i++)
{
var j = GetJoint(FUserIdIn[0], FJointIn[i]);
var p = j.Position.Position;
if (j.Position.Confidence >= FConfidenceIn[0])
FJointPositionOut[i] = new Vector3D(p.X, p.Y, p.Z) / 1000;
var o = j.Orientation;
if (o.Confidence > FConfidenceIn[0])
{
FJointOrientationXOut[i] = new Vector3D(o.X1, o.Y1, o.Z1);
FJointOrientationYOut[i] = new Vector3D(o.X2, o.Y2, o.Z2);
FJointOrientationZOut[i] = new Vector3D(o.X3, o.Y3, o.Z3);
}
}
}
}
}
}
else
{
FUserIdOut.SliceCount = 0;
FStatusOut.SliceCount = 0;
FJointPositionOut.SliceCount = 0;
FJointOrientationXOut.SliceCount = 0;
FJointOrientationYOut.SliceCount = 0;
FJointOrientationZOut.SliceCount = 0;
}
}
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;
}
}
void Start()
{
InitializeCharacter ();
context = new Context (XML_SETUP_FILE);
sessionManager = new SessionManager(context, "Wave", "RaiseHand");
depthGenerator = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
handsGenerator = context.FindExistingNode(NodeType.Hands) as HandsGenerator;
//image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
//gesture = context.FindExistingNode(NodeType.Gesture) as GestureGenerator;
if (depthGenerator == null) throw new Exception("Viewer must have a depth node!");
//if (gesture == null) throw new Exception("Viewer must have a gesture node!");
//if (image == null) throw new Exception("Viewer must have a image node!");
userGenerator = new UserGenerator (context);
skeletonCapability = userGenerator.SkeletonCapability;
poseDetectionCapability = userGenerator.PoseDetectionCapability;
calibPose = skeletonCapability.CalibrationPose;
//gestureGenerator = new GestureGenerator(context);
foreach (String s in poseDetectionCapability.GetAllAvailablePoses())
Debug.LogWarning("available pose found: " +s);
//foreach (String s in gestureGenerator.EnumerateAllGestures())
// Debug.LogWarning("available gesture found: " + s);
//gestureGenerator.GestureRecognized += HandleGestureGestureRecognized;
//gesture.AddGesture("Click");
//gestureGenerator.AddGesture("RaiseHand"); //seems buggy
//gestureGenerator.AddGesture("Wave");
swipeDetector = new SwipeDetector();
//steadyDetector = new SteadyDetector();//(3, 1f);
//swipeDetector.SwipeLeft += HandleSwipeDetectorSwipeLeft;
//Session Managment
sessionManager.SessionStart += HandleSessionManagerSessionStart;
sessionManager.SessionEnd += HandleSessionManagerSessionEnd;
//User Generator
userGenerator.NewUser += HandleUserGeneratorNewUser;
userGenerator.LostUser += HandleUserGeneratorLostUser;
poseDetectionCapability.PoseDetected += HandlePoseDetectionCapabilityPoseDetected;
skeletonCapability.CalibrationEnd += HandleSkeletonCapabilityCalibrationEnd;
skeletonCapability.SetSkeletonProfile (SkeletonProfile.All);
skeletonCapability.SetSmoothing(.5f); // give us some smooothing
//Start generating
userGenerator.StartGenerating();
//handsGenerator.MirrorCapability.SetMirror(true); // TODO: should this be true?
handsGenerator.StartGenerating();
//gestureGenerator.StartGenerating();
//slider selector
//selectableSlider2D = new SelectableSlider2D(Screen.width, Screen.height);
//selectableSlider2D.ValueChange += HandleSelectableSlider2DValueChange;
//selectableSlider2D.ItemHover += HandleSelectableSlider2DItemHover;
//selectableSlider2D.ItemSelect += HandleSelectableSlider2DItemSelect;
pointDenoiser = new PointDenoiser();
pointDenoiser.AddListener(swipeDetector);
//pointDenoiser.AddListener(steadyDetector);
//pointDenoiser.AddListener(selectableSlider2D);
//flowRouter = new FlowRouter();
//flowRouter.ActiveListener = pointDenoiser;
sessionManager.AddListener(pointDenoiser);
MapOutputMode mapMode = depthGenerator.MapOutputMode;
// Init depth & label map related stuff
usersMapSize = mapMode.XRes * mapMode.YRes;
//usersLabelTexture = new Texture2D(mapMode.XRes, mapMode.YRes); //nonPOT slow
usersLabelTexture = new Texture2D(1024,512);
//speed up by using power of two and then setpixel() with blockwidth (640) and blockheight (480)
usersMapColors = new Color[usersMapSize];
usersMapRect = new Rect(Screen.width - usersLabelTexture.width / 2, Screen.height - usersLabelTexture.height / 2, usersLabelTexture.width / 2, usersLabelTexture.height / 2);
usersLabelMap = new short[usersMapSize];
usersDepthMap = new short[usersMapSize];
usersHistogramMap = new float[5000];
this.shouldRun = true;
if (NiteInitializingEvent != null) //notify others that we're done initializing
NiteInitializingEvent(this, EventArgs.Empty);
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FPinInContext[0] != FState)
FState = FPinInContext[0];
if (FState == null)
{
Close();
return;
}
if (FState.Running && !FStarted && FState.Context != null)
{
try
{
//initialise
FUserGenerator = new UserGenerator(FState.Context);
FUserGenerator.NewUser += new EventHandler<NewUserEventArgs>(FUserGenerator_NewUser);
FUserGenerator.LostUser += new EventHandler<UserLostEventArgs>(FUserGenerator_LostUser);
FUserGenerator.UserReEnter += new EventHandler<UserReEnterEventArgs>(FUserGenerator_UserReEnter);
FUserGenerator.UserExit += new EventHandler<UserExitEventArgs>(FUserGenerator_UserExit);
FUserGenerator.StartGenerating();
FPinOutMask[0] = FImageMask.Link;
FImageMask.Image.Initialise(new Size(640, 480), TColourFormat.L16);
FState.Update += new EventHandler(FState_Update);
FStarted = true;
FPinOutStatus[0] = "OK";
}
catch (StatusException e)
{
Close();
FPinOutStatus[0] = e.Message;
}
}
if (FStarted)
GiveOutputs();
else
{
FPinOutID.SliceCount = 0;
FPinOutPresent.SliceCount = 0;
}
}
