public static void getImage(byte[] outputImage, FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
uint userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS)
{
if (outputImage != null)
{
int size = outputImage.Length + 1;
// allocate memory for resource data
IntPtr ptr = Marshal.AllocHGlobal(size);
// load resource
FubiInternal.getImage(ptr, type, numChannels, depth, renderOptions, depthModifications, userId, jointOfInterest);
// copy byte data into allocated memory
Marshal.Copy(ptr, outputImage, 0, outputImage.Length);
Marshal.WriteByte(ptr, size, 0x00);
// free previously allocated memory
Marshal.FreeHGlobal(ptr);
return;
}
}
public static bool saveImage(string fileName, int jpegQuality /*0-100*/,
FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS)
{
IntPtr namePtr = Marshal.StringToHGlobalAnsi(fileName);
bool ret = FubiInternal.saveImage(namePtr, jpegQuality, type, numChannels, depth, renderOptions, depthModifications, userId, jointOfInterest);
Marshal.FreeHGlobal(namePtr);
return(ret);
}
private void fubiMain(object filterOptions)
{
m_renderOptions = 0;
m_renderOptions |= (int)FubiUtils.RenderOptions.Shapes;
//m_renderOptions |= (int)FubiUtils.RenderOptions.Skeletons;
//m_renderOptions |= (int)FubiUtils.RenderOptions.UserCaptions;
//m_renderOptions |= (int)FubiUtils.RenderOptions.Background;
//m_renderOptions |= (int)FubiUtils.RenderOptions.SwapRAndB;
// m_renderOptions |= (int)FubiUtils.RenderOptions.DetailedFaceShapes;
//m_renderOptions |= (int)FubiUtils.RenderOptions.BodyMeasurements;
// m_renderOptions |= (int)FubiUtils.RenderOptions.GlobalOrientCaptions; // or
//m_renderOptions |= (int)FubiUtils.RenderOptions.LocalOrientCaptions;
// m_renderOptions |= (int)FubiUtils.RenderOptions.GlobalPosCaptions; // or
//m_renderOptions |= (int)FubiUtils.RenderOptions.LocalPosCaptions;
m_renderOptions |= (int)FubiUtils.RenderOptions.UseFilteredValues;
var rgbOptions = new FubiUtils.StreamOptions();
var irOptions = new FubiUtils.StreamOptions();
var depthOptions = new FubiUtils.StreamOptions();
var invalidOptions = new FubiUtils.StreamOptions(-1);
lock (LockFubiUpdate)
{
if (!Fubi.init(new FubiUtils.SensorOptions(depthOptions, rgbOptions, irOptions, m_selectedSensor),
(FubiUtils.FilterOptions)filterOptions))
{ // the following for when the init fails
m_selectedSensor = FubiUtils.SensorType.NONE;
Fubi.init(new FubiUtils.SensorOptions(depthOptions, invalidOptions, invalidOptions, m_selectedSensor),
(FubiUtils.FilterOptions)filterOptions);
Dispatcher.BeginInvoke(new TwoStringDelegate(showWarnMsg),
new object[]
{
"Error starting sensor! \nDid you connect the sensor and install the correct driver? \nTry selecting a different sensor.",
"Error starting sensor"
});
return;
}
Fubi.getDepthResolution(out m_width, out m_height);
m_numChannels = FubiUtils.ImageNumChannels.C4;
// All known combination recognizers will be started automatically for new users
Fubi.setAutoStartCombinationRecognition(true);
// Load XML with sample mouse control gestures
if (Fubi.loadRecognizersFromXML("TutorialRecognizers.xml"))
{
// // This requires to update the gesture list used for selecting key/button bindings and for xml generation
// Dispatcher.BeginInvoke(new NoArgDelegate(refreshGestureList), null);
// // Now we can load the default bindings using the above recognizers
// Dispatcher.BeginInvoke(new OneStringDelegate(m_fubiMouseKeyboard.Bindings.loadFromXML), "KeyMouseBindings.xml");
}
}
Fubi.RecognitionStart += new Fubi.RecognitionHandler(recognitionStart);
Fubi.RecognitionEnd += new Fubi.RecognitionHandler(recognitionEnd);
DispatcherOperation currentOp = null;
videoFile.fileName = "trainingData/tempRecord2.vid";
videoFile.startPlayback();
while (m_running)
{
lock (LockFubiUpdate)
{
// Now update the sensors
Fubi.updateSensor();
Fubi.getImage(s_buffer2, FubiUtils.ImageType.Depth, m_numChannels, FubiUtils.ImageDepth.D8, m_renderOptions,
(int)FubiUtils.JointsToRender.ALL_JOINTS, m_selectedDepthMod);
}
// And trigger a GUI update event
currentOp = Dispatcher.BeginInvoke(new NoArgDelegate(updateGUI), null);
// Wait for the GUI update to finish
while (currentOp.Status != DispatcherOperationStatus.Completed &&
currentOp.Status != DispatcherOperationStatus.Aborted)
{
Thread.Sleep(5);
}
}
// Wait for the last GUI update to really have finished
while (currentOp != null && currentOp.Status != DispatcherOperationStatus.Completed &&
currentOp.Status != DispatcherOperationStatus.Aborted)
{
Thread.Sleep(2);
}
// Now we can release Fubi safely
Fubi.release();
}
private void updateFubi()
{
if (clearRecognizersOnNextUpdate)
{
Fubi.clearUserDefinedRecognizers();
if (Fubi.getNumUserDefinedCombinationRecognizers() == 0 && Fubi.getNumUserDefinedRecognizers() == 0)
{
button3.IsEnabled = false;
}
clearRecognizersOnNextUpdate = false;
}
if (switchSensorOnNextUpdate)
{
Fubi.switchSensor(new FubiUtils.SensorOptions(new FubiUtils.StreamOptions(), new FubiUtils.StreamOptions(), new FubiUtils.StreamOptions(-1, -1, -1),
(FubiUtils.SensorType)Enum.Parse(typeof(FubiUtils.SensorType), sensorSelectionComboBox.SelectedItem.ToString())));
switchSensorOnNextUpdate = false;
}
label1.Content = "User Count : " + Fubi.getNumUsers().ToString();
// Update Fubi and get the debug image
int width = 0, height = 0;
FubiUtils.ImageNumChannels channels = FubiUtils.ImageNumChannels.C4;
FubiUtils.ImageType type = FubiUtils.ImageType.Depth;
uint renderOptions = 0;
if (shapeCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.Shapes;
}
if (skeletonCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.Skeletons;
}
if (userCaptionscheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.UserCaptions;
}
if (localOrientCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.LocalOrientCaptions;
}
if (globalOrientCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.GlobalOrientCaptions;
}
if (localPosCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.LocalPosCaptions;
}
if (globalPosCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.GlobalPosCaptions;
}
if (backgroundCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.Background;
}
if (swapRAndBcheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.SwapRAndB;
}
if (fingerShapecheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.FingerShapes;
}
if (detailedFaceCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.DetailedFaceShapes;
}
if (bodyMeasuresCheckBox.IsChecked == true)
{
renderOptions |= (uint)FubiUtils.RenderOptions.BodyMeasurements;
}
FubiUtils.DepthImageModification depthMods = (FubiUtils.DepthImageModification)Enum.Parse(typeof(FubiUtils.DepthImageModification), comboBox1.SelectedItem.ToString(), true);
if (checkBox3.IsChecked == true)
{
Fubi.getRgbResolution(out width, out height);
channels = FubiUtils.ImageNumChannels.C3;
type = FubiUtils.ImageType.Color;
}
else
{
Fubi.getDepthResolution(out width, out height);
channels = FubiUtils.ImageNumChannels.C4;
type = FubiUtils.ImageType.Depth;
}
// Display the debug image
if (width > 0 && height > 0)
{
WriteableBitmap wb = image1.Source as WriteableBitmap;
if (wb != null && (wb.Width != width || wb.Height != height || wb.Format.BitsPerPixel != (int)channels * 8))
{
wb = null;
image1.Width = width;
image1.Height = height;
buffer = new byte[(int)channels * width * height];
}
if (wb == null)
{
PixelFormat format = PixelFormats.Bgra32;
if (channels == FubiUtils.ImageNumChannels.C3)
{
format = PixelFormats.Rgb24;
}
else if (channels == FubiUtils.ImageNumChannels.C1)
{
format = PixelFormats.Gray8;
}
wb = new WriteableBitmap(width, height, 0, 0, format, BitmapPalettes.Gray256);
image1.Source = wb;
}
Fubi.updateSensor();
Fubi.getImage(buffer, type, channels, FubiUtils.ImageDepth.D8, renderOptions, depthMods);
int stride = wb.PixelWidth * (wb.Format.BitsPerPixel / 8);
wb.WritePixels(new Int32Rect(0, 0, wb.PixelWidth, wb.PixelHeight), buffer, stride, 0);
}
//Check postures for all users
for (uint i = 0; i < Fubi.getNumUsers(); i++)
{
uint id = Fubi.getUserID(i);
if (id > 0)
{
bool changedSomething = false;
// Print postures
if (checkBox1.IsChecked == true)
{
// Only user defined postures
for (uint p = 0; p < Fubi.getNumUserDefinedRecognizers(); ++p)
{
if (Fubi.recognizeGestureOn(p, id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
// Posture recognized
if (!currentPostures.ContainsKey(p) || !currentPostures[p])
{
// Posture start
textBox1.Text += "User" + id + ": START OF " + Fubi.getUserDefinedRecognizerName(p) + " -->\n";
currentPostures[p] = true;
changedSomething = true;
}
}
else if (currentPostures.ContainsKey(p) && currentPostures[p])
{
// Posture end
textBox1.Text += "User" + id + ": --> END OF " + Fubi.getUserDefinedRecognizerName(p) + "\n";
currentPostures[p] = false;
changedSomething = true;
}
}
if (PredefinedCheckBox.IsChecked == true)
{
for (int p = 0; p < (int)FubiPredefinedGestures.Postures.NUM_POSTURES; ++p)
{
if (Fubi.recognizeGestureOn((FubiPredefinedGestures.Postures)p, id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
if (!currentPostures1[p])
{
// Posture recognized
textBox1.Text += "User" + id + ": START OF" + FubiPredefinedGestures.getPostureName((FubiPredefinedGestures.Postures)p) + "\n";
currentPostures1[p] = true;
changedSomething = true;
}
}
else if (currentPostures1[p])
{
textBox1.Text += "User" + id + ": --> END OF " + FubiPredefinedGestures.getPostureName((FubiPredefinedGestures.Postures)p) + "\n";
currentPostures1[p] = false;
changedSomething = true;
}
}
}
if (changedSomething)
{
textBox1.ScrollToEnd();
}
}
// Print combinations
for (uint pc = 0; pc < Fubi.getNumUserDefinedCombinationRecognizers(); ++pc)
{
// Only user defined postures
if (checkBox2.IsChecked == true)
{
if (Fubi.getCombinationRecognitionProgressOn(Fubi.getUserDefinedCombinationRecognizerName(pc), id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
// Posture recognized
textBox2.Text += "User" + id + ": " + Fubi.getUserDefinedCombinationRecognizerName(pc) + "\n";
}
else
{
Fubi.enableCombinationRecognition(Fubi.getUserDefinedCombinationRecognizerName(pc), id, true);
}
}
//else
// Fubi.enableCombinationRecognition(Fubi.getUserDefinedCombinationRecognizerName(pc), id, false);
}
for (uint pc = 0; pc < (uint)FubiPredefinedGestures.Combinations.NUM_COMBINATIONS; ++pc)
{
if (checkBox2.IsChecked == true && PredefinedCheckBox.IsChecked == true)
{
if (Fubi.getCombinationRecognitionProgressOn((FubiPredefinedGestures.Combinations)pc, id) == FubiUtils.RecognitionResult.RECOGNIZED)
{
// Posture recognized
textBox2.Text += "User" + id + ": " + FubiPredefinedGestures.getCombinationName((FubiPredefinedGestures.Combinations)pc) + "\n";
}
else
{
Fubi.enableCombinationRecognition((FubiPredefinedGestures.Combinations)pc, id, true);
}
}
//else
// Fubi.enableCombinationRecognition((FubiPredefinedGestures.Combinations)pc, id, false);
}
if (checkBox2.IsChecked == true)
{
textBox2.ScrollToEnd();
}
}
}
uint closestId = Fubi.getClosestUserID();
if (closestId > 0)
{
// For printing the user orientation
//float[] mat = new float[9];
//float confidence;
//double timeStamp;
//Fubi.getCurrentSkeletonJointOrientation(closestId, FubiUtils.SkeletonJoint.Torso, mat, out confidence, out timeStamp);
//float rx, ry, rz;
//FubiUtils.Math.rotMatToRotation(mat, out rx, out ry, out rz);
//label1.Content = "UserOrient:" + String.Format("{0:0.#}", rx) + "/" + String.Format("{0:0.#}", ry) + "/" + String.Format("{0:0.#}", rz);
if (controlMouse)
{
float x, y;
FubiMouse.applyHandPositionToMouse(closestId, out x, out y, leftHandRadioButton.IsChecked == true);
label2.Content = "X:" + x + " Y:" + y;
}
if (checkBox4.IsChecked == true)
{
FubiPredefinedGestures.Combinations activationGesture = FubiPredefinedGestures.Combinations.WAVE_RIGHT_HAND_OVER_SHOULDER;
// TODO use left hand waving
if (Fubi.getCombinationRecognitionProgressOn(activationGesture, closestId, false) == FubiUtils.RecognitionResult.RECOGNIZED)
{
if (controlMouse)
{
stopMouseEmulation();
}
else
{
startMouseEmulation();
}
}
else
{
Fubi.enableCombinationRecognition(activationGesture, closestId, true);
}
}
}
}
internal static extern bool saveImage(IntPtr fileName, int jpegQuality /*0-100*/,
FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS);
internal static extern void getImage(IntPtr outputImage, FubiUtils.ImageType type, FubiUtils.ImageNumChannels numChannels, FubiUtils.ImageDepth depth,
uint renderOptions = (uint)FubiUtils.RenderOptions.Default,
FubiUtils.DepthImageModification depthModifications = FubiUtils.DepthImageModification.UseHistogram,
UInt32 userId = 0, FubiUtils.SkeletonJoint jointOfInterest = FubiUtils.SkeletonJoint.NUM_JOINTS);
