private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
{
// Enque Capture
tracker.EnqueueCapture(capture);
// Pop Result
using (K4ABT.Frame frame = tracker.PopResult())
// Get Color Image
using (K4A.Image color_image = frame.Capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Clear All Ellipse from Canvas
Canvas_Body.Children.Clear();
// Draw Skeleton
for (uint body_index = 0; body_index < frame.NumberOfBodies; body_index++)
{
// Get Skeleton and ID
K4ABT.Skeleton skeleton = frame.GetBodySkeleton(body_index);
uint id = frame.GetBodyId(body_index);
// Draw Joints
for (int joint_index = 0; joint_index < (int)K4ABT.JointId.Count; joint_index++)
{
// Get Joint and Position
K4ABT.Joint joint = skeleton.GetJoint(joint_index);
Vector2? position = calibration.TransformTo2D(joint.Position, K4A.CalibrationDeviceType.Depth, K4A.CalibrationDeviceType.Color);
if (!position.HasValue)
{
continue;
}
// Create Ellipse
const int radius = 10;
SolidColorBrush stroke_color = new SolidColorBrush(colors[id % colors.Length]);
SolidColorBrush fill_color = new SolidColorBrush((joint.ConfidenceLevel >= K4ABT.JointConfidenceLevel.Medium) ? colors[id % colors.Length] : Colors.Transparent);
Ellipse ellipse = new Ellipse()
{
Width = radius, Height = radius, StrokeThickness = 1, Stroke = stroke_color, Fill = fill_color
};
// Add Ellipse to Canvas
Canvas.SetLeft(ellipse, position.Value.X - (radius / 2));
Canvas.SetTop(ellipse, position.Value.Y - (radius / 2));
Canvas_Body.Children.Add(ellipse);
}
}
}
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
Tracker tracker = Tracker.Create(this.kinect.GetCalibration(), new TrackerConfiguration()
{
ProcessingMode = TrackerProcessingMode.Gpu, SensorOrientation = SensorOrientation.Default
});
while (running)
{
using (Capture capture = await Task.Run(() => { return(this.kinect.GetCapture()); }))
{
this.StatusText = "Received Capture: " + capture.Depth.DeviceTimestamp;
this.bitmap.Lock();
var color = capture.Color;
var region = new Int32Rect(0, 0, color.WidthPixels, color.HeightPixels);
unsafe
{
using (var pin = color.Memory.Pin())
{
this.bitmap.WritePixels(region, (IntPtr)pin.Pointer, (int)color.Size, color.StrideBytes);
var bmpSource = BitmapSource.Create(color.WidthPixels, color.HeightPixels, 96.0, 96.0, PixelFormats.Bgr32, null, color.Memory.ToArray(), color.StrideBytes);
// JpegBitmapEncoder to save BitmapSource to file
// imageSerial is the serial of the sequential image
JpegBitmapEncoder encoder = new JpegBitmapEncoder();
encoder.Frames.Add(BitmapFrame.Create(bmpSource));
using (var fs = new FileStream("./img/" + (imageSerial++) + ".jpeg", FileMode.Create, FileAccess.Write))
{
encoder.Save(fs);
}
}
}
this.bitmap.AddDirtyRect(region);
this.bitmap.Unlock();
tracker.EnqueueCapture(capture);
}
// Try getting latest tracker frame.
using (Frame lastFrame = tracker.PopResult(TimeSpan.Zero, throwOnTimeout: false))
{
if (lastFrame == null)
{
continue;
}
lock (lockObject)
{
List <Vector3> joints = new List <Vector3>();
for (uint i = 0; i < lastFrame.NumberOfBodies; ++i)
{
Skeleton skeleton = lastFrame.GetBodySkeleton(i);
var bodyId = lastFrame.GetBodyId(i);
for (int jointId = 0; jointId < (int)JointId.Count; ++jointId)
{
var joint = skeleton.GetJoint(jointId);
joints.Add(joint.Position / 1000);
}
}
jointsList.Add(joints);
}
}
}
}