protected override bool InitTexture(out Texture2D refText, out int xSize, out int ySize)
{
if (base.InitTexture(out refText, out xSize, out ySize) == false)
{
return(false);
}
if (m_settingManager.CurrentContext.Depth == null)
{
m_settingManager.m_logger.Log("No depth", UNIEventLogger.Categories.Initialization, UNIEventLogger.Sources.BaseObjects, UNIEventLogger.VerboseLevel.Errors);
return(false);
}
if (m_factor <= 0)
{
m_settingManager.m_logger.Log("Illegal factor", UNIEventLogger.Categories.Initialization, UNIEventLogger.Sources.BaseObjects, UNIEventLogger.VerboseLevel.Errors);
return(false);
}
MapOutputMode mom = m_settingManager.CurrentContext.Depth.MapOutputMode;
xSize = mom.XRes / m_factor;
ySize = mom.YRes / m_factor;
refText = new Texture2D(xSize, ySize);
//depthmap data
rawDepthMap = new short[(int)(mom.XRes * mom.YRes)];
//histogram stuff
int maxDepth = m_settingManager.CurrentContext.Depth.DeviceMaxDepth;
depthHistogramMap = new float[maxDepth];
UNIOpenNICheckVersion.Instance.ValidatePrerequisite();
m_depthMetaData = new DepthMetaData();
return(true);
}
public StreamView()
{
InitializeComponent();
pictureBoxOverlay.BackColor = Color.Transparent;
try
{
this.context = new Context(@".\Data\openniconfig.xml");
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception(@"Error in Data\openniconfig.xml. No depth node found.");
}
this.histogram = new int[this.depth.GetDeviceMaxDepth()];
MapOutputMode mapMode = this.depth.GetMapOutputMode();
this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
}
catch (Exception ex)
{
///
/// - todo: proper error logging here
///
MessageBox.Show("Error initializing OpenNI.");
MessageBox.Show(ex.Message);
this.Close();
}
}
public MainWindow()
{
InitializeComponent();
this.context = new Context(SAMPLE_XML_FILE);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
this.image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
//this.scene = context.FindExistingNode(NodeType.Scene) as SceneAnalyzer;
// align depth with rgb
this.depth.GetAlternativeViewPointCap().SetViewPoint(image);
if (this.depth == null ||
this.image == null)
{
throw new Exception("Viewer must have depth and image nodes!");
}
this.userGenerator = new UserGenerator(this.context);
this.userGenerator.StartGenerating();
this.histogram = new int[this.depth.GetDeviceMaxDepth()];
MapOutputMode mapMode = this.depth.GetMapOutputMode();
this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
}
// Use this for initialization
void Start()
{
// init texture
MapOutputMode mom = OpenNIContext.Instance.Depth.MapOutputMode;
YRes = mom.YRes;
XRes = mom.XRes;
depthMapTexture = new Texture2D(mom.XRes / factor, mom.YRes / factor);
// depthmap data
rawDepthMap = new short[(int)(mom.XRes * mom.YRes)];
depthMapPixels = new Color32[(mom.XRes / factor) * (mom.YRes / factor)];
// histogram stuff
int maxDepth = (int)OpenNIContext.Instance.Depth.DeviceMaxDepth;
depthHistogramMap = new float[maxDepth];
if (null == target)
{
target = GetComponent <Renderer>();
}
if (null == target && null != GetComponent <GUITexture>())
{
target = GetComponent <GUITexture>().GetComponent <Renderer>();
}
if (target)
{
target.material.mainTexture = depthMapTexture;
}
}
public void SetupScanner(string Config)
{
lock (this)
{
try
{
this.context = Context.CreateFromXmlFile(Config, out scriptNode);
this.GDepth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
this.GImage = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (this.GDepth == null)
{
throw new Exception("Viewer must have a depth node!");
}
if (this.GImage == null)
{
throw new Exception("3D Scanner must have a image node!");
}
MapOutputMode mapMode = this.GDepth.MapOutputMode;
configurated = true;
}
catch (Exception e)
{
LOG.Instance.publishMessage("ERROR : " + e.Message + " " + e.InnerException);
configurated = false;
}
}
}
protected override bool InitTexture(out Texture2D refText, out int xSize, out int ySize)
{
if (base.InitTexture(out refText, out xSize, out ySize) == false)
{
return(false);
}
if (m_settingManager.ImageValid == false)
{
m_settingManager.m_logger.Log("Invalid image", UNIEventLogger.Categories.Initialization, UNIEventLogger.Sources.Image, UNIEventLogger.VerboseLevel.Errors);
return(false);
}
if (m_factor <= 0)
{
m_settingManager.m_logger.Log("Illegal factor", UNIEventLogger.Categories.Initialization, UNIEventLogger.Sources.Image, UNIEventLogger.VerboseLevel.Errors);
return(false);
}
//get the resolution from the image
MapOutputMode mom = m_settingManager.Image.Image.MapOutputMode;
//update the resolution by the factor
xSize = mom.XRes / m_factor;
ySize = mom.YRes / m_factor;
//create a new texture.
refText = new Texture2D(XRes, ySize, TextureFormat.RGB24, false);
//create a new meta data object.
UNIOpenNICheckVersion.Instance.ValidatePrerequisite();
m_imageMetaDate = new ImageMetaData();
return(true);
}
public MainWindow()
{
InitializeComponent();
this.context = new Context(SAMPLE_XML_FILE);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = new SkeletonCapability(this.userGenerator);
this.poseDetectionCapability = new PoseDetectionCapability(this.userGenerator);
this.calibPose = this.skeletonCapbility.GetCalibrationPose();
this.userGenerator.NewUser += new UserGenerator.NewUserHandler(userGenerator_NewUser);
this.userGenerator.LostUser += new UserGenerator.LostUserHandler(userGenerator_LostUser);
this.poseDetectionCapability.PoseDetected += new PoseDetectionCapability.PoseDetectedHandler(poseDetectionCapability_PoseDetected);
this.skeletonCapbility.CalibrationEnd += new SkeletonCapability.CalibrationEndHandler(skeletonCapbility_CalibrationEnd);
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary <uint, Dictionary <SkeletonJoint, SkeletonJointPosition> >();
this.userGenerator.StartGenerating();
this.histogram = new int[this.depth.GetDeviceMaxDepth()];
MapOutputMode mapMode = this.depth.GetMapOutputMode();
this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes /*, System.Drawing.Imaging.PixelFormat.Format24bppRgb*/);
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
}
// Use this for initialization
void Start()
{
// init stuff
MapOutputMode mom = OpenNIContext.Instance.Depth.MapOutputMode;
YRes = mom.YRes;
XRes = mom.XRes;
factorX = (int)(XRes / DesiredResolution.x);
factorY = (int)(YRes / DesiredResolution.y);
// depthmap data
rawDepthMap = new short[(int)(mom.XRes * mom.YRes)];
// the actual mesh we'll use
mesh = new Mesh();
meshFilter = (MeshFilter)GetComponent(typeof(MeshFilter));
meshFilter.mesh = mesh;
int YScaled = YRes / factorY;
int XScaled = XRes / factorX;
verts = new Vector3[XScaled * YScaled];
uvs = new Vector2[verts.Length];
tris = new int[(XScaled - 1) * (YScaled - 1) * 2 * 3];
pts = new Point3D[XScaled * YScaled];
CalculateTriangleIndices(YScaled, XScaled);
CalculateUVs(YScaled, XScaled);
}
/// <summary>
/// This method gets executed when the window loads. In it, we initialize our connection with Kinect
/// and set up the timer which will update our depth image.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Window_Loaded(object sender, RoutedEventArgs e)
{
try
{
// Initialize the context from the configuration file
this.context = new Context(@"..\..\data\openniconfig.xml");
// Get the depth generator from the config file.
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception(@"Error in Data\openniconfig.xml. No depth node found.");
}
MapOutputMode mapMode = this.depth.GetMapOutputMode();
this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
}
catch (Exception ex)
{
MessageBox.Show("Error initializing OpenNI.");
MessageBox.Show(ex.Message);
this.Close();
}
// Set the timer to update teh depth image every 10 ms.
DispatcherTimer dispatcherTimer = new DispatcherTimer();
dispatcherTimer.Tick += new EventHandler(dispatcherTimer_Tick);
dispatcherTimer.Interval = new TimeSpan(0, 0, 0, 0, 10);
dispatcherTimer.Start();
Console.WriteLine("Finished loading");
}
protected override bool InitTexture(out Texture2D refText, out int xSize, out int ySize)
{
if (base.InitTexture(out refText, out xSize, out ySize) == false)
{
return(false);
}
// make sure we have an image to work with
if (m_context.ImageValid == false)
{
m_context.m_Logger.Log("Invalid image", NIEventLogger.Categories.Initialization, NIEventLogger.Sources.Image, NIEventLogger.VerboseLevel.Errors);
return(false);
}
if (m_factor <= 0)
{
m_context.m_Logger.Log("Illegal factor", NIEventLogger.Categories.Initialization, NIEventLogger.Sources.Image, NIEventLogger.VerboseLevel.Errors);
return(false);
}
// get the resolution from the image
MapOutputMode mom = m_context.Image.Image.MapOutputMode;
// update the resolution by the factor
ySize = mom.YRes / m_factor;
xSize = mom.XRes / m_factor;
// create the texture
refText = new Texture2D(xSize, ySize, TextureFormat.RGB24, false);
// create a new meta data object.
NIOpenNICheckVersion.Instance.ValidatePrerequisite();
m_metaData = new ImageMetaData();
//MiAdd
renderer.material.mainTexture = refText;
return(true);
}
public MainWindow()
{
InitializeComponent();
this.context = Context.CreateFromXmlFile(SAMPLE_XML_FILE, out scriptNode);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary <int, Dictionary <SkeletonJoint, SkeletonJointPosition> >();
this.userGenerator.StartGenerating();
this.histogram = new int[this.depth.DeviceMaxDepth];
MapOutputMode mapMode = this.depth.MapOutputMode;
this.bitmap = new Bitmap((int)mapMode.XRes, (int)mapMode.YRes /*, System.Drawing.Imaging.PixelFormat.Format24bppRgb*/);
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
}
static void Run()
{
string SAMPLE_XML_FILE = @"../../../../Data/SamplesConfig.xml";
ScriptNode scriptNode;
Context context = Context.CreateFromXmlFile(SAMPLE_XML_FILE, out scriptNode);
DepthGenerator depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null)
{
Console.WriteLine("Sample must have a depth generator!");
return;
}
MapOutputMode mapMode = depth.MapOutputMode;
DepthMetaData depthMD = new DepthMetaData();
Console.WriteLine("Press any key to stop...");
while (!Console.KeyAvailable)
{
context.WaitOneUpdateAll(depth);
depth.GetMetaData(depthMD);
Console.WriteLine("Frame {0} Middle point is: {1}.", depthMD.FrameID, depthMD[(int)mapMode.XRes / 2, (int)mapMode.YRes / 2]);
}
}
void Start()
{
this.context = new Context(SAMPLE_XML_FILE);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = new SkeletonCapability(this.userGenerator);
this.poseDetectionCapability = new PoseDetectionCapability(this.userGenerator);
this.calibPose = this.skeletonCapbility.GetCalibrationPose();
this.userGenerator.NewUser += new UserGenerator.NewUserHandler(userGenerator_NewUser);
this.userGenerator.LostUser += new UserGenerator.LostUserHandler(userGenerator_LostUser);
this.poseDetectionCapability.PoseDetected += new PoseDetectionCapability.PoseDetectedHandler(poseDetectionCapability_PoseDetected);
this.skeletonCapbility.CalibrationEnd += new SkeletonCapability.CalibrationEndHandler(skeletonCapbility_CalibrationEnd);
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.userGenerator.StartGenerating();
MapOutputMode mapMode = this.depth.GetMapOutputMode();
this.shouldRun = true;
}
public MapOutputMode GetMapOutputMode()
{
MapOutputMode mode = new MapOutputMode();
UInt32 status = OpenNIImporter.xnGetMapOutputMode(this.InternalObject, ref mode);
WrapperUtils.CheckStatus(status);
return(mode);
}
void Start()
{
/*really unity?
*
* do you do that for real?
*
*/
InitializeCharacter();
this.context = new Context(SAMPLE_XML_FILE);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = new SkeletonCapability(this.userGenerator);
this.poseDetectionCapability = new PoseDetectionCapability(this.userGenerator);
this.calibPose = this.skeletonCapbility.GetCalibrationPose();
this.userGenerator.NewUser += new UserGenerator.NewUserHandler(userGenerator_NewUser);
this.userGenerator.LostUser += new UserGenerator.LostUserHandler(userGenerator_LostUser);
this.poseDetectionCapability.PoseDetected += new PoseDetectionCapability.PoseDetectedHandler(poseDetectionCapability_PoseDetected);
this.skeletonCapbility.CalibrationEnd += new SkeletonCapability.CalibrationEndHandler(skeletonCapbility_CalibrationEnd);
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary <uint, Dictionary <SkeletonJoint, SkeletonJointPosition> >();
this.userGenerator.StartGenerating();
this.histogram = new int[this.depth.GetDeviceMaxDepth()];
MapOutputMode mapMode = this.depth.GetMapOutputMode();
// this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes/*, System.Drawing.Imaging.PixelFormat.Format24bppRgb*/);
usersLblTex = new Texture2D((int)mapMode.nXRes, (int)mapMode.nYRes);
Debug.Log("usersLblTex = w: " + usersLblTex.width + " h: " + usersLblTex.height);
usersMapSize = mapMode.nXRes * mapMode.nYRes;
usersMapColors = new Color[usersMapSize];
usersMapRect = new Rect(Screen.width - usersLblTex.width / 2, Screen.height - usersLblTex.height / 2, usersLblTex.width / 2, usersLblTex.height / 2);
usersLabelMap = new short[usersMapSize];
usersDepthMap = new short[usersMapSize];
usersHistogramMap = new float[5000];
//DepthMetaData depthMD = new DepthMetaData();
this.shouldRun = true;
//this.readerThread = new Thread(ReaderThread);
// this.readerThread.Start();
}
public MapOutputMode[] GetSupportedMapOutputModes()
{
uint count = OpenNIImporter.xnGetSupportedMapOutputModesCount(this.InternalObject);
MapOutputMode[] supportedModes = new MapOutputMode[count];
UInt32 status = OpenNIImporter.xnGetSupportedMapOutputModes(this.InternalObject, supportedModes, ref count);
WrapperUtils.CheckStatus(status);
return(supportedModes);
}
public MapOutputMode[] GetSupportedMapOutputModes()
{
uint count = SafeNativeMethods.xnGetSupportedMapOutputModesCount(this.InternalObject);
MapOutputMode[] supportedModes = new MapOutputMode[count];
int status = SafeNativeMethods.xnGetSupportedMapOutputModes(this.InternalObject, supportedModes, ref count);
WrapperUtils.ThrowOnError(status);
return(supportedModes);
}
/// <summary>
/// Initializes the image and depth bitmap sources.
/// </summary>
private void InitializeBitmaps()
{
MapOutputMode mapMode = DepthGenerator.MapOutputMode;
int width = (int)mapMode.XRes;
int height = (int)mapMode.YRes;
_imageBitmap = new WriteableBitmap(width, height, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
_depthBitmap = new WriteableBitmap(width, height, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
}
void Open(int i)
{
try
{
Close(i);
Device state = FState[i];
var context = new Context();
FState[i].Context = context;
context.AddLicense(FLicense);
context.GlobalMirror = false;
NodeInfoList list = context.EnumerateProductionTrees(global::OpenNI.NodeType.Device, null);
NodeInfo node = null;
if (FPinInNodes[i] != "")
{
foreach (NodeInfo nodeitem in list)
{
if (nodeitem.CreationInfo == FPinInNodes[i])
{
node = nodeitem;
break;
}
}
if (node == null)
{
throw (new Exception("This device is unavailable. Check upstream ListDevices node"));
}
context.CreateProductionTree(node);
}
state.DepthGenerator = new DepthGenerator(context);
MapOutputMode depthMode = new MapOutputMode();
depthMode.FPS = 30;
depthMode.XRes = 640;
depthMode.YRes = 480;
state.DepthGenerator.MapOutputMode = depthMode;
state.DepthGenerator.StartGenerating();
state.Start();
FPinOutContext[i] = state;
FPinOutStatus[i] = "OK";
}
catch (Exception e)
{
Close(i);
FPinOutStatus[i] = e.Message;
}
}
}//end UpdateDepth()
#endregion
#region Display Depth Map
/// <summary>
/// This method gets executed when the window loads. In it, we initialize our connection with Kinect
/// and set up the timer which will update our depth image.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Window_Loaded(object sender, RoutedEventArgs e)
{
try
{
// Initialize the context from the configuration file
this.context = new Context(@"..\..\data\openniconfig.xml");
// Get the depth generator from the config file.
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception(@"Error in Data\openniconfig.xml. No depth node found.");
}
MapOutputMode mapMode = this.depth.GetMapOutputMode();
this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
// Initialize Matrixes
this.depthMatrix = new Matrix <Double>(480, 640);
this.depthMatrixROI = new Matrix <Double>(480, 640);
this.depthMatrixROIByte = new Matrix <Byte>(480, 640);
this.backgroundDepthMatrix = new Matrix <Double>(480, 640);
// Initialize Images
this.depthMatrixImage = new Image <Gray, double>(640, 480);
this.depthMatrixROIImage = new Image <Gray, byte>(640, 480);
this.backgroundDepthImage = new Image <Gray, double>(640, 480);
this.trackingImage = new Image <Bgr, byte>(640, 480, new Bgr(0, 0, 0));
// Initialize Blob Tracking Components
// Blob Tracking Parameter
blobParam = new Emgu.CV.VideoSurveillance.BlobTrackerAutoParam <Gray>();
blobParam.BlobTracker = new Emgu.CV.VideoSurveillance.BlobTracker(Emgu.CV.CvEnum.BLOBTRACKER_TYPE.CC);
blobParam.BlobDetector = new Emgu.CV.VideoSurveillance.BlobDetector(Emgu.CV.CvEnum.BLOB_DETECTOR_TYPE.CC);
//blobParam.FGDetector = new Emgu.CV.VideoSurveillance.FGDetector<Gray>(Emgu.CV.CvEnum.FORGROUND_DETECTOR_TYPE.FGD);
//blobParam.FGTrainFrames = 10;
// Blob Tracking initialization
blobTracker = new Emgu.CV.VideoSurveillance.BlobTrackerAuto <Gray>(blobParam);
progressBar1.Minimum = 0;
progressBar1.Maximum = ((Convert.ToInt16(textBoxLifespan.Text) * 4) / _tickDuration);
}
catch (Exception ex)
{
MessageBox.Show("Error initializing OpenNI.");
MessageBox.Show(ex.Message);
this.Close();
}
// Set the timer to update teh depth image every 10 ms.
DispatcherTimer dispatcherTimer = new DispatcherTimer();
dispatcherTimer.Tick += new EventHandler(dispatcherTimer_Tick);
dispatcherTimer.Interval = new TimeSpan(0, 0, 0, 0, _tickDuration);
dispatcherTimer.Start();
Console.WriteLine("Finished loading");
}
/// <summary>
/// Instancia um objeto do tipo RGBCamera associado ao Context context.
/// </summary>
public RGBCamera(Context context)
{
this.generator = new ImageGenerator(context);
this.generator.MirrorCapability.SetMirror(true); // dados serão espelhados
MapOutputMode mapOutputMode = new MapOutputMode();
mapOutputMode.FPS = 30; // frames por segundo
mapOutputMode.XRes = 640; // resolução
mapOutputMode.YRes = 480;
this.generator.MapOutputMode = mapOutputMode;
this.metadata = new ImageMetaData();
}
public MainWindow()
{
InitializeComponent();
console = new Console();
console.Show();
console.Top = 0;
console.Left = 0;
Console.Write("TrackingNI by Richard Pianka and Ramsey Abouzahra");
context = new Context(CONFIG_FILE);
imageGenerator = new ImageGenerator(context);
depthGenerator = new DepthGenerator(context);
userGenerator = new UserGenerator(context);
poseDetectionCapability = userGenerator.PoseDetectionCapability;
skeletonCapability = userGenerator.SkeletonCapability;
MapOutputMode mapMode = depthGenerator.MapOutputMode;
int width = (int)mapMode.XRes;
int height = (int)mapMode.YRes;
imageBitmap = new WriteableBitmap(width, height, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
depthBitmap = new WriteableBitmap(width, height, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
depthBitmapCorrected = new WriteableBitmap(width, height, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
imageData = new ImageMetaData();
depthData = new DepthMetaData();
skeletonDraw = new SkeletonDraw();
Histogram = new int[depthGenerator.DeviceMaxDepth];
reader = new Thread(new ThreadStart(Reader));
reader.IsBackground = true;
worker = new BackgroundWorker();
stop = false;
CompositionTarget.Rendering += new EventHandler(Worker);
Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
userGenerator.NewUser += new EventHandler <NewUserEventArgs>(NewUser);
userGenerator.LostUser += new EventHandler <UserLostEventArgs>(LostUser);
skeletonCapability.CalibrationStart += new EventHandler <CalibrationStartEventArgs>(CalibrationStart);
skeletonCapability.CalibrationEnd += new EventHandler <CalibrationEndEventArgs>(CalibrationEnd);
skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
poseDetectionCapability.PoseDetected += new EventHandler <PoseDetectedEventArgs>(PoseDetected);
poseDetectionCapability.PoseEnded += new EventHandler <PoseEndedEventArgs>(PoseEnded);
reader.Start();
worker.DoWork += new DoWorkEventHandler(WorkerTick);
}
public MainWindow()
{
InitializeComponent();
//full screen
this.Left = this.Top = 0;
this.panelView.Size = new Size(App.Default.AppScreenWidth, App.Default.AppScreenHeight);
this.Width = Screen.PrimaryScreen.WorkingArea.Width;
this.Height = Screen.PrimaryScreen.WorkingArea.Height;
formState.Maximize(this);
this.TopMost = true;
this.Bounds = Screen.PrimaryScreen.Bounds;
this.Location = Screen.PrimaryScreen.WorkingArea.Location;
this.FormBorderStyle = FormBorderStyle.None;
this.WindowState = FormWindowState.Maximized;
Taskbar.Hide();
this.context = Context.CreateFromXmlFile(SAMPLE_XML_FILE, out scriptNode);
//this.context.
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.joints = new Dictionary <int, Dictionary <SkeletonJoint, SkeletonJointPosition> >();
this.userGenerator.StartGenerating();
this.histogram = new int[this.depth.DeviceMaxDepth];
MapOutputMode mapMode = this.depth.MapOutputMode;
this.bitmap = new Bitmap((int)mapMode.XRes, (int)mapMode.YRes);
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
}
public bool SetConfig(XmlElement xmlconfig)
{
// TO-DO: add some configuration parameters if of any use
this.context = new Context("NiteKinectConfig.xml");
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.userGenerator = new UserGenerator(this.context);
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
//
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
this.skeletonCapbility.CalibrationEnd += skeletonCapbility_CalibrationEnd;
//
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
//
this.handsGenerator = new HandsGenerator(this.context);
this.handsGenerator.HandCreate += handsGenerator_HandCreate;
this.handsGenerator.HandDestroy += handsGenerator_HandDestroy;
this.handsGenerator.HandUpdate += handsGenerator_HandUpdate;
//
this.gestureGenerator = new GestureGenerator(this.context);
this.gestureGenerator.AddGesture("Wave");
this.gestureGenerator.AddGesture("Click");
this.gestureGenerator.AddGesture("RaiseHand");
this.gestureGenerator.GestureRecognized += gestureGenerator_GestureRecognized;
//
this.joints = new Dictionary <int, Dictionary <SkeletonJoint, SkeletonJointPosition> >();
//
this.userGenerator.StartGenerating();
this.handsGenerator.StartGenerating();
this.gestureGenerator.StartGenerating();
//
this.histogram = new int[this.depth.DeviceMaxDepth];
MapOutputMode mapMode = this.depth.MapOutputMode;
//
this.bitmap = new Bitmap((int)mapMode.XRes, (int)mapMode.YRes);
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Priority = ThreadPriority.Lowest;
this.readerThread.Start();
//
return(true);
}
/// <summary>
/// Instancia um objeto do tipo DepthSensor associado ao Context context.
/// </summary>
public DepthSensor(Context context)
{
this.generator = new DepthGenerator(context);
this.generator.MirrorCapability.SetMirror(true); // dados serão espelhados
MapOutputMode mapOutputMode = new MapOutputMode();
mapOutputMode.FPS = 30; // frames por segundo
mapOutputMode.XRes = 640; // resolução
mapOutputMode.YRes = 480;
this.generator.MapOutputMode = mapOutputMode;
this.metadata = new DepthMetaData();
this.histogram = new int[this.Generator.DeviceMaxDepth];
}
private string InitialiseImage()
{
string messages = "";
MapOutputMode imageMode = new MapOutputMode();
imageMode.XRes = FSize.Width;
imageMode.YRes = FSize.Height;
imageMode.FPS = 30;
if (Mode == ImageNodeMode.RGB)
{
if (FIRGenerator != null)
{
FIRGenerator.StopGenerating();
FIRGenerator.Dispose();
}
FRGBGenerator = new ImageGenerator(FState.Context);
FRGBGenerator.MapOutputMode = imageMode;
Image.Image.Initialise(FSize, TColorFormat.RGB8);
if (FState.DepthGenerator.AlternativeViewpointCapability.IsViewpointSupported(FRGBGenerator))
{
FState.DepthGenerator.AlternativeViewpointCapability.SetViewpoint(FRGBGenerator);
}
else
{
messages += "AlternativeViewportCapability not supported\n";
}
FRGBGenerator.StartGenerating();
}
else
{
if (FRGBGenerator != null)
{
FRGBGenerator.StopGenerating();
FRGBGenerator.Dispose();
}
FIRGenerator = new IRGenerator(FState.Context);
FIRGenerator.MapOutputMode = imageMode;
FIRGenerator.StartGenerating();
Image.Image.Initialise(FSize, TColorFormat.L16);
}
return(messages);
}
public KinectManager(InputProvider inputProvider)
{
this.inputProvider = inputProvider;
//get configuration
String OpenNiconfigPath = System.IO.Path.GetDirectoryName(System.Reflection.Assembly.GetExecutingAssembly().Location) + "\\" + CONFIG_XML_FILE;
this.context = Context.CreateFromXmlFile(OpenNiconfigPath, out scriptNode);
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (this.depth == null)
{
throw new Exception("Viewer must have a depth node!");
}
this.maxDepth = this.depth.DeviceMaxDepth;
this.userGenerator = new UserGenerator(this.context);
this.skeletonCapbility = this.userGenerator.SkeletonCapability;
this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
this.calibPose = this.skeletonCapbility.CalibrationPose;
this.userGenerator.NewUser += userGenerator_NewUser;
this.userGenerator.LostUser += userGenerator_LostUser;
this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
this.skeletonCapbility.CalibrationComplete += skeletonCapbility_CalibrationComplete;
this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.Upper);
this.users = new Dictionary <int, User>();
this.userGenerator.StartGenerating();
this.mapMode = this.depth.MapOutputMode;
//load settings
updateSettings();
//start threads
this.shouldRun = true;
this.readerThread = new Thread(ReaderThread);
this.readerThread.Start();
this.settingsUpdateThread = new Thread(runUpdateSettings);
this.settingsUpdateThread.Start();
Console.WriteLine("Device initialized");
}
// 初期化
private void xnInitialize()
{
// コンテキストの初期化
ScriptNode scriptNode;
context = Context.CreateFromXmlFile(CONFIG_XML_PATH, out scriptNode);
// イメージジェネレータの作成
image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
if (image == null)
{
throw new Exception(context.GlobalErrorState);
}
// デプスジェネレータの作成
depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (depth == null)
{
throw new Exception(context.GlobalErrorState);
}
// デプスの座標をイメージに合わせる
depth.AlternativeViewpointCapability.SetViewpoint(image);
// ユーザージェネレータの作成
user = context.FindExistingNode(NodeType.User) as UserGenerator;
if (depth == null)
{
throw new Exception(context.GlobalErrorState);
}
// ユーザー検出機能をサポートしているか確認
if (!user.IsCapabilitySupported("User::Skeleton"))
{
throw new Exception("ユーザー検出をサポートしていません");
}
// 背景イメージを作成
MapOutputMode mapMode = image.MapOutputMode;
background = new Bitmap((int)mapMode.XRes, (int)mapMode.YRes,
System.Drawing.Imaging.PixelFormat.Format24bppRgb);
}
/// <summary>
/// Creates a new control instance with a live device as data
/// source. The current image data can be obtained by the
/// <see cref="Image"/>-property. The
/// <see cref="NewImageDataAvailable"/> event informs about when the
/// data is updated, the <see cref="ErrorOccured"/>-event about
/// errors.
/// Start the generation-process by calling
/// <see cref="StartGenerating"/> and stop it by calling
/// <see cref="StopGenerating"/>.
/// </summary>
/// <exception cref="System.Exception">Thrown if the device could not
/// be initialized properly.</exception>
public OpenNILiveStreamController()
{
// Create a new context and the data-generating nodes.
context = new Context();
context.GlobalMirror = false;
// Image
imageGenerator = new ImageGenerator(context);
MapOutputMode mapMode = new MapOutputMode();
mapMode.FPS = 30;
mapMode.XRes = VIDEO_WIDTH;
mapMode.YRes = VIDEO_HEIGHT;
imageGenerator.MapOutputMode = mapMode;
imageGenerator.PixelFormat = OpenNI.PixelFormat.RGB24;
// Depth
depthGenerator = new DepthGenerator(context);
depthGenerator.AlternativeViewpointCapability.SetViewpoint(imageGenerator);
histogram = new int[depthGenerator.DeviceMaxDepth];
if (depthGenerator == null || imageGenerator == null)
{
throw new Exception("Could not initialize kinect device.");
}
// User generator
userGenerator = new UserGenerator(context);
skeletonCapability = userGenerator.SkeletonCapability;
poseDetectionCapability = userGenerator.PoseDetectionCapability;
calibPose = skeletonCapability.CalibrationPose;
userGenerator.NewUser += userGenerator_NewUser;
userGenerator.LostUser += userGenerator_LostUser;
poseDetectionCapability.PoseDetected +=
poseDetectionCapability_PoseDetected;
skeletonCapability.CalibrationEnd +=
skeletonCapability_CalibrationEnd;
skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
// Error handling
context.ErrorStateChanged += context_ErrorStateChanged;
}
//---------------------------------------------------------------------
// Kinect provider as background-worker
//---------------------------------------------------------------------
public KinectProvider()
{
try
{
this.context = new Context(SAMPLE_XML_FILE);
}
catch (Exception exp)
{
MessageBox.Show("Exception: " + exp.Message, "earthmine Kinect",
MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
this.image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
//this.scene = context.FindExistingNode(NodeType.Scene) as SceneAnalyzer;
// align depth with rgb
this.depth.GetAlternativeViewPointCap().SetViewPoint(image);
if (this.depth == null ||
this.image == null)
{
throw new Exception("Viewer must have depth and image nodes!");
}
this.userGenerator = new UserGenerator(this.context);
this.userGenerator.StartGenerating();
this.histogram = new int[this.depth.GetDeviceMaxDepth()];
MapOutputMode mapMode = this.depth.GetMapOutputMode();
//this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
this.bitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
//this.KinectBitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
this.KinectBitmap = new Bitmap((int)mapMode.nXRes, (int)mapMode.nYRes, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
//this.ShouldRun = true;
//this.readerThread = new Thread(ReaderThread);
//this.readerThread.Start();
}
