/// <summary> /// Demonstrates how to use our Kinect calibration to convert a depth image point to color image coordinates. /// </summary> /// <param name="calibration"></param> /// <param name="kinectSensor"></param> public void Run(Kinect2Calibration calibration, KinectSensor kinectSensor) { this.calibration = calibration; this.kinectSensor = kinectSensor; depthImage = new ShortImage(Kinect2Calibration.depthImageWidth, Kinect2Calibration.depthImageHeight); depthFrameReader = kinectSensor.DepthFrameSource.OpenReader(); depthFrameReader.FrameArrived += depthFrameReader_FrameArrived; }
void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e) { kinect2Calibration = new Kinect2.Kinect2Calibration(); kinect2Calibration.RecoverCalibrationFromSensor(kinectSensor); kinect2CalibrationReady.Set(); depthFrameReader = kinectSensor.DepthFrameSource.OpenReader(); depthFrameReader.FrameArrived += depthFrameReader_FrameArrived; colorFrameReader = kinectSensor.ColorFrameSource.OpenReader(); colorFrameReader.FrameArrived += colorFrameReader_FrameArrived; bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader(); bodyFrameReader.FrameArrived += bodyFrameReader_FrameArrived; audioBeamFrameReader = kinectSensor.AudioSource.OpenReader(); audioBeamFrameReader.FrameArrived += audioBeamFrameReader_FrameArrived; audioBeamFrameReader.AudioSource.AudioBeams[0].AudioBeamMode = AudioBeamMode.Manual; audioBeamFrameReader.AudioSource.AudioBeams[0].BeamAngle = 0; }
//CoordinateMappingExample cooordinateMappingExample; void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e) { kinect2Calibration = new RoomAliveToolkit.Kinect2Calibration(); kinect2Calibration.RecoverCalibrationFromSensor(kinectSensor); kinect2CalibrationReady.Set(); //cooordinateMappingExample = new CoordinateMappingExample(); //cooordinateMappingExample.Run(kinect2Calibration, kinectSensor); depthFrameReader = kinectSensor.DepthFrameSource.OpenReader(); depthFrameReader.FrameArrived += depthFrameReader_FrameArrived; colorFrameReader = kinectSensor.ColorFrameSource.OpenReader(); colorFrameReader.FrameArrived += colorFrameReader_FrameArrived; bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader(); bodyFrameReader.FrameArrived += bodyFrameReader_FrameArrived; audioBeamFrameReader = kinectSensor.AudioSource.OpenReader(); audioBeamFrameReader.FrameArrived += audioBeamFrameReader_FrameArrived; audioBeamFrameReader.AudioSource.AudioBeams[0].AudioBeamMode = AudioBeamMode.Manual; audioBeamFrameReader.AudioSource.AudioBeams[0].BeamAngle = 0; }
public Camera() { pose = new Matrix(4, 4); pose.Identity(); calibration = new Kinect2Calibration(); }