public void Initialize()
{
var kinectParams = HandInputParams.GetKinectParams(
Properties.Resources.ColorToDepthRelationalParameters);
converter = new CoordinateConverter(new CoordinateMapper(kinectParams),
HandInputParams.ColorImageFormat, HandInputParams.DepthImageFormat);
}
public SimpleSkeletonHandTracker(int width, int height, CoordinateMapper coordMapper,
int bufferSize = 1)
{
mapper = new CoordinateConverter(coordMapper, HandInputParams.ColorImageFormat,
HandInputParams.DepthImageFormat);
Init(width, height);
}
/// <summary>
/// Computes the head circle in the depth image.
/// </summary>
/// <param name="skeleton"></param>
/// <param name="mapper"></param>
/// <returns></returns>
public static FaceModel GetFaceModel(Skeleton skeleton, CoordinateConverter mapper)
{
var headJointPos = GetJoint(skeleton, JointType.Head).Position;
var shoulderCenterJoint = GetJoint(skeleton, JointType.ShoulderCenter);
var headDepthPt = mapper.MapSkeletonPointToDepthPoint(headJointPos);
var shoulderDepthPt = mapper.MapSkeletonPointToDepthPoint(shoulderCenterJoint.Position);
var radius = Math.Abs(shoulderDepthPt.Y - headDepthPt.Y) / 2;
return new FaceModel(GeometryUtil.Midpoint(headDepthPt, shoulderDepthPt), radius);
}
public PlayerDetector(int width, int height, CoordinateConverter mapper, int bufferSize = 1)
{
this.width = width;
this.height = height;
this.mapper = mapper;
DepthPlayerMask = new Image <Gray, Byte>(width, height);
ColorPlayerMask = new Image <Gray, Byte>(width, height);
DepthImage = new Image <Gray, Byte>(width, height);
dataBuffer = new DataBuffer(bufferSize);
}
public PlayerDetector(int width, int height, CoordinateConverter mapper, int bufferSize = 1)
{
this.width = width;
this.height = height;
this.mapper = mapper;
DepthPlayerMask = new Image<Gray, Byte>(width, height);
ColorPlayerMask = new Image<Gray, Byte>(width, height);
DepthImage = new Image<Gray, Byte>(width, height);
dataBuffer = new DataBuffer(bufferSize);
}
/// <summary>
/// Computes the head circle in the depth image.
/// </summary>
/// <param name="skeleton"></param>
/// <param name="mapper"></param>
/// <returns></returns>
public static FaceModel GetFaceModel(Skeleton skeleton, CoordinateConverter mapper)
{
var headJointPos = GetJoint(skeleton, JointType.Head).Position;
var shoulderCenterJoint = GetJoint(skeleton, JointType.ShoulderCenter);
var headDepthPt = mapper.MapSkeletonPointToDepthPoint(headJointPos);
var shoulderDepthPt = mapper.MapSkeletonPointToDepthPoint(shoulderCenterJoint.Position);
var radius = Math.Abs(shoulderDepthPt.Y - headDepthPt.Y) / 2;
return(new FaceModel(GeometryUtil.Midpoint(headDepthPt, shoulderDepthPt), radius));
}
public static SkeletonPoint DepthToSkeleton(Rectangle rect, byte[,,] depthData, int width,
int height, CoordinateConverter mapper)
{
var aveDepth = 0.0;
var count = 0;
for (int y = rect.Top; y < rect.Top + rect.Height && y < height; y++)
for (int x = rect.Left; x < rect.Left + rect.Width && x < width; x++) {
if (x > 0 && y > 0) {
aveDepth += depthData[y, x, 0];
count++;
}
}
var depth = PlayerDetector.ToWorldDepth(aveDepth / count);
var center = rect.Center();
var centerX = Math.Max(0, center.X);
centerX = Math.Min(centerX, width);
var centerY = Math.Max(0, center.Y);
centerY = Math.Min(centerY, height);
return mapper.MapDepthPointToSkeletonPoint((int)centerX, (int)centerY, depth);
}
public SalienceHandTracker(int width, int height, CoordinateMapper mapper, int bufferSize = 1)
{
this.mapper = new CoordinateConverter(mapper, HandInputParams.ColorImageFormat,
HandInputParams.DepthImageFormat);
Init(width, height, bufferSize);
}
/// <summary>
/// Creates a detector based on salience.
/// </summary>
/// <param name="width"></param>
/// <param name="height"></param>
/// <param name="kinectParamsBinary">Kinect parameters in binary.</param>
public SalienceHandTracker(int width, int height, Byte[] kinectParams, int bufferSize = 1)
{
mapper = new CoordinateConverter(kinectParams, HandInputParams.ColorImageFormat,
HandInputParams.DepthImageFormat);
Init(width, height, bufferSize);
}
public StipHandTracker(int width, int height, CoordinateMapper coordMapper)
{
mapper = new CoordinateConverter(coordMapper, HandInputParams.ColorImageFormat,
HandInputParams.DepthImageFormat);
Init(width, height);
}
public StipHandTracker(int width, int height, Byte[] kinectParams)
{
mapper = new CoordinateConverter(kinectParams, HandInputParams.ColorImageFormat,
HandInputParams.DepthImageFormat);
Init(width, height);
}
public static void AlignImageColorToDepth(Image <Gray, Byte> colorImg,
Image <Gray, Byte> alignedImg, short[] depthFrame, CoordinateConverter mapper)
{
var width = alignedImg.Width;
var height = alignedImg.Height;
alignedImg.ROI = colorImg.ROI;
CvInvoke.cvZero(alignedImg.Ptr);
var data = colorImg.Data;
var alignedData = alignedImg.Data;
var roiWidth = width;
var roidHeight = height;
var roi = colorImg.ROI;
if (!roi.IsEmpty)
{
roiWidth = roi.Width;
roidHeight = roi.Height;
}
for (int r = roi.Top; r < roi.Top + roidHeight; r++)
{
for (int c = roi.Left; c < roi.Left + roiWidth; c++)
{
var depthPixel = depthFrame[r * width + c];
var depth = DepthUtil.RawToDepth(depthPixel);
var cp = mapper.MapDepthPointToColorPoint(c, r, depth);
if (cp.X >= 0 && cp.X < width && cp.Y >= 0 && cp.Y < height)
{
alignedData[r, c, 0] = data[cp.Y, cp.X, 0];
}
}
}
CvInvoke.cvMorphologyEx(alignedImg.Ptr, alignedImg.Ptr, IntPtr.Zero, IntPtr.Zero,
CV_MORPH_OP.CV_MOP_CLOSE, 1);
alignedImg.ROI = drawing.Rectangle.Empty;
}