public KinectImageStream(IntPtr streamHandle, IntPtr waitHandle
, KinectImageResolution resolution, int bytesPerPixel):base(1000)
{
_phStreamHandle = streamHandle;
_resolution = resolution;
_bytesPerPixel = bytesPerPixel;
}
void StartColorImageHandler(KinectImageResolution resolution)
{
var bitmap = new Bitmap(resolution.Width(), resolution.Height());
var buffer = new Byte[resolution.Width() * resolution.Height() * 4];
Action <KinectBaseImageFrame> UpdatePictureBox = frame =>
{
frame.CopyTo(buffer);
bitmap.SetPixels(buffer);
pictureBoxForImage.Image = bitmap;
};
_colorImageHandler = _timerEvent
.Where(_ => _sensor.ColorImageStream != null)
.Subscribe(_ => Observable.Using(
() => _sensor.ColorImageStream.GetFrame()
, frame => Observable.Return(frame)
)
.Where(frame => frame != null)
.Subscribe(
frame => UpdatePictureBox(frame)
, ex => { } // Console.WriteLine("error")
)
)
;
}
public static int Width(this KinectImageResolution resolution)
{
switch (resolution)
{
case KinectImageResolution.Resolution_80x60:
return(80);
case KinectImageResolution.Resolution_320x240:
return(320);
case KinectImageResolution.Resolution_640x480:
return(640);
case KinectImageResolution.Resolution_1280x960:
return(1280);
case KinectImageResolution.Resolution_512x424:
return(512);
case KinectImageResolution.Resolution_1920x1080:
return(1920);
default:
return(0);
}
}
public KinectImageStream(IntPtr streamHandle, IntPtr waitHandle
, KinectImageResolution resolution, int bytesPerPixel) : base(1000)
{
_phStreamHandle = streamHandle;
_resolution = resolution;
_bytesPerPixel = bytesPerPixel;
}
public static int Height(this KinectImageResolution resolution)
{
switch (resolution)
{
case KinectImageResolution.Resolution_80x60:
return(60);
case KinectImageResolution.Resolution_320x240:
return(240);
case KinectImageResolution.Resolution_640x480:
return(480);
case KinectImageResolution.Resolution_1280x960:
return(960);
case KinectImageResolution.Resolution_512x424:
return(424);
case KinectImageResolution.Resolution_1920x1080:
return(1080);
default:
return(0);
}
}
void CreateColorImageStream(KinectImageResolution resolution)
{
StopColorImage();
if (resolution == KinectImageResolution.None)
{
return;
}
_colorImageStream = new V2ImageStream(Sensor);
}
void CreateIndexImageStream(KinectImageResolution resolution)
{
StopIndexImage();
if (resolution == KinectImageResolution.None)
{
return;
}
_indexImageStream = new V2BodyIndexStream(Sensor);
}
void CreateDepthImageStream(KinectImageResolution resolution)
{
StopDepthImage();
if (resolution == KinectImageResolution.None)
{
return;
}
_depthImageStream = new V2DepthStream(Sensor);
}
void CreateColorImageStream(KinectImageResolution resolution)
{
StopColorImage();
if (resolution == KinectImageResolution.None)
{
return;
}
_colorImageStream = new V2ImageStream(Sensor);
}
void CreateColorImageStream(IntPtr waitHandle, KinectImageResolution resolution)
{
StopColorImage();
if (resolution == KinectImageResolution.None)
{
return;
}
var type = Nui.NuiImageType.Color;
IntPtr phStreamHandle=_sensor.NuiImageStreamOpen(type, resolution.ToNui()
, 0
, 2, waitHandle);
_colorImageStream = new KinectImageStream(phStreamHandle, waitHandle, resolution, 4);
}
void CreateDepthImageStream(IntPtr waitHandle, KinectImageResolution resolution)
{
StopDepthImage();
if (resolution == KinectImageResolution.None)
{
return;
}
var type = Nui.NuiImageType.DepthAndPlayerIndex;
IntPtr phStreamHandle = _sensor.NuiImageStreamOpen(type, resolution.ToNui()
, 0, 2, waitHandle);
_depthImageStream = new KinectImageStream(phStreamHandle, waitHandle, resolution, 2);
}
void CreateColorImageStream(IntPtr waitHandle, KinectImageResolution resolution)
{
StopColorImage();
if (resolution == KinectImageResolution.None)
{
return;
}
var type = Nui.NuiImageType.Color;
IntPtr phStreamHandle = _sensor.NuiImageStreamOpen(type, resolution.ToNui()
, 0
, 2, waitHandle);
_colorImageStream = new KinectImageStream(phStreamHandle, waitHandle, resolution, 4);
}
public static Nui.NuiImageResolution ToNui(this KinectImageResolution resolution)
{
switch (resolution)
{
case KinectImageResolution.Resolution_80x60:
return(Nui.NuiImageResolution.resolution80x60);
case KinectImageResolution.Resolution_320x240:
return(Nui.NuiImageResolution.resolution320x240);
case KinectImageResolution.Resolution_640x480:
return(Nui.NuiImageResolution.resolution640x480);
case KinectImageResolution.Resolution_1280x960:
return(Nui.NuiImageResolution.resolution1280x1024);
default:
return(Nui.NuiImageResolution.resolutionInvalid);
}
}
void CreateDepthImageStream(IntPtr waitHandle, KinectImageResolution resolution)
{
StopDepthImage();
if (resolution == KinectImageResolution.None)
{
return;
}
var type = Nui.NuiImageType.DepthAndPlayerIndex;
IntPtr phStreamHandle = _sensor.NuiImageStreamOpen(type, resolution.ToNui()
, 0, 2, waitHandle);
_depthImageStream = new KinectImageStream(phStreamHandle, waitHandle, resolution, 2);
}
void StartColorImageHandler(KinectImageResolution resolution)
{
var bitmap = new Bitmap(resolution.Width(), resolution.Height());
var buffer=new Byte[resolution.Width() * resolution.Height() *4 ];
Action<KinectBaseImageFrame> UpdatePictureBox = frame =>
{
frame.CopyTo(buffer);
bitmap.SetPixels(buffer);
pictureBoxForImage.Image = bitmap;
};
_colorImageHandler = _timerEvent
.Where(_ => _sensor.ColorImageStream != null)
.Subscribe(_ => Observable.Using(
() => _sensor.ColorImageStream.GetFrame()
, frame => Observable.Return(frame)
)
.Where(frame => frame != null)
.Subscribe(
frame => UpdatePictureBox(frame)
, ex => { } // Console.WriteLine("error")
)
)
;
}
void StartDepthHandler(Int32 apiVersion, KinectImageResolution resolution)
{
var bitmap = new Bitmap(resolution.Width(), resolution.Height());
var buffer = new Int16[resolution.Width() * resolution.Height()];
if (apiVersion == 1)
{
Action<KinectBaseImageFrame> UpdatePictureBox = frame =>
{
Marshal.Copy(frame.Ptr, buffer, 0, buffer.Length);
bitmap.SetPixels(buffer.SelectMany(d =>
{
var depth = ((Int32)d) >> 3;
if (depth > _tmpMaxDepth)
{
_tmpMaxDepth = depth;
}
var player= ((Int32)d) & 0x7;
var color = ColorMap[player];
return new Byte[]{
(Byte)(color.R * depth / MaxDepth)
, (Byte)(color.G * depth / MaxDepth)
, (Byte)(color.B * depth / MaxDepth)
, 255
};
}).ToArray());
pictureBoxForDepth.Image = bitmap;
if (_tmpMaxDepth > MaxDepth)
{
MaxDepth = _tmpMaxDepth;
}
};
_depthHandler = _timerEvent
.Where(_ => _sensor.DepthImageStream != null)
.Subscribe(_ => Observable.Using(
() => _sensor.DepthImageStream.GetFrame()
, frame => Observable.Return(frame)
)
.Where(frame => frame != null)
.Subscribe(
frame => UpdatePictureBox(frame)
, ex => {} // Console.WriteLine("error")
)
)
;
}
else if(apiVersion==2)
{
Action<IEnumerable<Int16>, Byte[]> UpdatePictureBox = (db, ib) =>
{
bitmap.SetPixels(db.Zip(ib.Select(index => (SByte)index), (depth, player) =>
{
if (depth > _tmpMaxDepth)
{
_tmpMaxDepth = depth;
}
var color = ColorMap[player+1];
return new Byte[]{
(Byte)(color.R * depth / MaxDepth)
, (Byte)(color.G * depth / MaxDepth)
, (Byte)(color.B * depth / MaxDepth)
, 255
};
}).SelectMany(pixel => pixel).ToArray());
pictureBoxForDepth.Image = bitmap;
if (_tmpMaxDepth > MaxDepth)
{
MaxDepth = _tmpMaxDepth;
}
};
var depthImage = _timerEvent
.Where(_ => _sensor.DepthImageStream != null)
.SelectMany(_ => Observable.Using(
()=>_sensor.DepthImageStream.GetFrame()
, frame=>Observable.Return(frame)
)
.Catch((COMException ex)=>Observable.Return((KinectBaseImageFrame)null))
.Where(frame=>frame!=null)
.Select(frame =>
{
Marshal.Copy(frame.Ptr, buffer, 0, buffer.Length);
return new { Buffer = buffer, Time = frame.Time };
}
))
;
var indexBuffer=new Byte[resolution.Width()*resolution.Height()];
var indexImage = _timerEvent
.Where(_ => _sensor.IndexImageStream != null)
.SelectMany(_ => Observable.Using(
() => _sensor.IndexImageStream.GetFrame()
, frame => Observable.Return(frame)
)
.Catch((COMException ex) => Observable.Return((KinectBaseImageFrame)null))
.Where(frame => frame != null)
.Select(frame =>
{
Marshal.Copy(frame.Ptr, indexBuffer, 0, indexBuffer.Length);
return new { Buffer = indexBuffer, Time = frame.Time };
}))
;
_depthHandler = depthImage.CombineLatest(indexImage,
(l, r) => new { Depth = l, Index = r })
.Where(pair => pair.Depth.Time == pair.Index.Time)
.Subscribe(
pair => UpdatePictureBox(pair.Depth.Buffer, pair.Index.Buffer)
);
;
}
else
{
throw new ArgumentException("apiVersion");
}
}
void StartDepthHandler(Int32 apiVersion, KinectImageResolution resolution)
{
var bitmap = new Bitmap(resolution.Width(), resolution.Height());
var buffer = new Int16[resolution.Width() * resolution.Height()];
if (apiVersion == 1)
{
Action <KinectBaseImageFrame> UpdatePictureBox = frame =>
{
Marshal.Copy(frame.Ptr, buffer, 0, buffer.Length);
bitmap.SetPixels(buffer.SelectMany(d =>
{
var depth = ((Int32)d) >> 3;
if (depth > _tmpMaxDepth)
{
_tmpMaxDepth = depth;
}
var player = ((Int32)d) & 0x7;
var color = ColorMap[player];
return(new Byte[] {
(Byte)(color.R * depth / MaxDepth)
, (Byte)(color.G * depth / MaxDepth)
, (Byte)(color.B * depth / MaxDepth)
, 255
});
}).ToArray());
pictureBoxForDepth.Image = bitmap;
if (_tmpMaxDepth > MaxDepth)
{
MaxDepth = _tmpMaxDepth;
}
};
_depthHandler = _timerEvent
.Where(_ => _sensor.DepthImageStream != null)
.Subscribe(_ => Observable.Using(
() => _sensor.DepthImageStream.GetFrame()
, frame => Observable.Return(frame)
)
.Where(frame => frame != null)
.Subscribe(
frame => UpdatePictureBox(frame)
, ex => {} // Console.WriteLine("error")
)
)
;
}
else if (apiVersion == 2)
{
Action <IEnumerable <Int16>, Byte[]> UpdatePictureBox = (db, ib) =>
{
bitmap.SetPixels(db.Zip(ib.Select(index => (SByte)index), (depth, player) =>
{
if (depth > _tmpMaxDepth)
{
_tmpMaxDepth = depth;
}
var color = ColorMap[player + 1];
return(new Byte[] {
(Byte)(color.R * depth / MaxDepth)
, (Byte)(color.G * depth / MaxDepth)
, (Byte)(color.B * depth / MaxDepth)
, 255
});
}).SelectMany(pixel => pixel).ToArray());
pictureBoxForDepth.Image = bitmap;
if (_tmpMaxDepth > MaxDepth)
{
MaxDepth = _tmpMaxDepth;
}
};
var depthImage = _timerEvent
.Where(_ => _sensor.DepthImageStream != null)
.SelectMany(_ => Observable.Using(
() => _sensor.DepthImageStream.GetFrame()
, frame => Observable.Return(frame)
)
.Catch((COMException ex) => Observable.Return((KinectBaseImageFrame)null))
.Where(frame => frame != null)
.Select(frame =>
{
Marshal.Copy(frame.Ptr, buffer, 0, buffer.Length);
return(new { Buffer = buffer, Time = frame.Time });
}
))
;
var indexBuffer = new Byte[resolution.Width() * resolution.Height()];
var indexImage = _timerEvent
.Where(_ => _sensor.IndexImageStream != null)
.SelectMany(_ => Observable.Using(
() => _sensor.IndexImageStream.GetFrame()
, frame => Observable.Return(frame)
)
.Catch((COMException ex) => Observable.Return((KinectBaseImageFrame)null))
.Where(frame => frame != null)
.Select(frame =>
{
Marshal.Copy(frame.Ptr, indexBuffer, 0, indexBuffer.Length);
return(new { Buffer = indexBuffer, Time = frame.Time });
}))
;
_depthHandler = depthImage.CombineLatest(indexImage,
(l, r) => new { Depth = l, Index = r })
.Where(pair => pair.Depth.Time == pair.Index.Time)
.Subscribe(
pair => UpdatePictureBox(pair.Depth.Buffer, pair.Index.Buffer)
);
;
}
else
{
throw new ArgumentException("apiVersion");
}
}
void CreateIndexImageStream(KinectImageResolution resolution)
{
StopIndexImage();
if (resolution == KinectImageResolution.None)
{
return;
}
_indexImageStream = new V2BodyIndexStream(Sensor);
}
void CreateDepthImageStream(KinectImageResolution resolution)
{
StopDepthImage();
if (resolution == KinectImageResolution.None)
{
return;
}
_depthImageStream = new V2DepthStream(Sensor);
}
