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 main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
window.Load();
window.ResizeGraphics();
RemoteKinect kinect = new RemoteKinect("localhost", 10500);
Bitmap map = new Bitmap(100, 100);
object sync = new object();
Stopwatch sw = new Stopwatch();
sw.Start();
int frames = 0;
kinect.ReceivedSkeletons += (o, e) =>
{
frames++;
e.Skeletons.ToString();
};
kinect.ReceivedColorImage += (o, e) =>
{
frames++;
map = e.Bitmap;
lock (sync)
Monitor.Pulse(sync);
};
kinect.ReceivedDepthImage += (o, e) =>
{
frames++;
e.Pixels.ToString();
};
kinect.Start(Commands.Color640);
while (true)
{
lock (sync)
Monitor.Wait(sync);
window.DrawBitmap(map);
}
while (true)
{
Thread.Sleep(1000);
Console.WriteLine("{0} frames in {1} ms", frames, sw.ElapsedMilliseconds);
frames = 0;
sw.Reset();
sw.Start();
}
Console.ReadLine();
}