/// <summary>
/// Constructor for VisualKinectUnit
/// </summary>
/// <param name="sensor">LocatedSensor class kinect sensor</param>
/// <param name="skeletonDrawingImage">Image that we'll draw the skeleton on</param>
/// <param name="colorImage">Image we'll use to push the color camera video to</param>
public VisualKinectUnit(LocatedSensor locatedSensor, System.Windows.Controls.Image skeletonDrawingImage = null, System.Windows.Controls.Image colorImage = null)
{
// Get in some parameters
this.locatedSensor = locatedSensor;
this.skeletonDrawingImage = skeletonDrawingImage;
this.colorImage = colorImage;
// Set up the basics for drawing a skeleton
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Turn on the skeleton stream to receive skeleton frames
locatedSensor.sensor.SkeletonStream.Enable();
// Turn on the color stream to receive color frames
locatedSensor.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
// This is the bitmap we'll display on-screen
colorBitmap = (new WriteableBitmap(locatedSensor.sensor.ColorStream.FrameWidth,
locatedSensor.sensor.ColorStream.FrameHeight,
96.0, 96.0, PixelFormats.Bgr32, null));
// Add an event handler to be called whenever there is new color frame data
if (colorImage != null)
{
locatedSensor.sensor.ColorFrameReady += this.refreshColorImage;
}
// Add an event handler to be called whenever there is new color frame data
if (skeletonDrawingImage != null)
{
locatedSensor.sensor.SkeletonFrameReady += this.refreshSkeletonDrawing;
this.skeletonDrawingImage.Source = imageSource;
}
}
/// <summary>
/// Constructor for VisualKinectUnit
/// </summary>
/// <param name="sensor">LocatedSensor class kinect sensor</param>
/// <param name="skeletonDrawingImage">Image that we'll draw the skeleton on</param>
/// <param name="colorImage">Image we'll use to push the color camera video to</param>
public VisualKinectUnit(LocatedSensor locatedSensor, System.Windows.Controls.Image skeletonDrawingImage = null,
System.Windows.Controls.Image colorImage = null, KinectViewport viewport = null)
{
// Get in some parameters
this.locatedSensor = locatedSensor;
this.skeletonDrawingImage = skeletonDrawingImage;
this.colorImage = colorImage;
this.viewport = viewport;
// Set up the basics for drawing a skeleton
this.showGlobalSkeletons = false;
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Turn on the skeleton stream to receive skeleton frames
locatedSensor.sensor.SkeletonStream.Enable();
// Turn on the color stream to receive color frames
locatedSensor.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
// This is the bitmap we'll display on-screen
colorBitmap = (new WriteableBitmap(locatedSensor.sensor.ColorStream.FrameWidth,
locatedSensor.sensor.ColorStream.FrameHeight,
96.0, 96.0, PixelFormats.Bgr32, null));
// Add an event handler to be called whenever there is new color frame data
if (colorImage != null)
{
locatedSensor.sensor.ColorFrameReady += this.refreshColorImage;
}
// Add an event handler to be called whenever there is new color frame data
if (skeletonDrawingImage != null)
{
locatedSensor.sensor.SkeletonFrameReady += this.refreshSkeletonDrawing;
this.skeletonDrawingImage.Source = imageSource;
}
// If we've got a viewport, then let's attach the generic update value function to
// the text changed handlers
if (viewport != null)
{
viewport.AttachVisualKinect(this);
viewport.xOffset.TextChanged += updateValues;
viewport.yOffset.TextChanged += updateValues;
viewport.zOffset.TextChanged += updateValues;
viewport.pitchAngle.TextChanged += updateValues;
viewport.rollAngle.TextChanged += updateValues;
viewport.yawAngle.TextChanged += updateValues;
viewport.showGlobalSkeletons.Checked += setGlobalSkeletons;
viewport.showGlobalSkeletons.Unchecked += clearGlobalSkeletons;
}
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Setup osc sender
oscArgs[0] = "127.0.0.1";
oscArgs[1] = OscPort.Text;
oscWriter = new UdpWriter(oscArgs[0], Convert.ToInt32(oscArgs[1]));
deltaToscWriter = new UdpWriter(oscArgs[0], 7114);
// Initialize Data viewer
oscViewer.Text = "\nData will be shown here\nwhen there is a skeleton\nbeing tracked.";
kinectGroup = new VisualKinectGroup();
viewports = new List <KinectViewport>();
viewports.Add(this.TestViewport);
viewports.Add(this.TestViewport2);
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
int numberOfKinects = 0;
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
// Start the sensor!
try {
potentialSensor.Start();
// Good to go, so count this one as connected!
// So let's set up some environment for this...
// LocatedSensor sensor = new LocatedSensor(potentialSensor, kinectXPositions[numberOfKinects],
// kinectYPositions[numberOfKinects],
// kinectZPositions[numberOfKinects],
// kinectAngles[numberOfKinects]);
LocatedSensor sensor = new LocatedSensor(potentialSensor, 0, 0, 0, 0, 0, 0);
VisualKinectUnit newSensor = new VisualKinectUnit(sensor, viewports[numberOfKinects].skeletonDrawingImage, viewports[numberOfKinects].colorImage, viewports[numberOfKinects]);
kinectGroup.AddVisualKinectUnit(newSensor);
// This function sends out skeleton data as OSC
//newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCAsAnimataData;
newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCSkeletonPositions;
numberOfKinects++;
Console.WriteLine("Number of Kinects : " + numberOfKinects);
}
catch (IOException) {
Console.WriteLine("Couldn't start one of the Kinect sensors...");
}
}
}
// Now that we have all of our sensors loaded, let's see if we have any data
// Try and load in data from a file..
string configSerialization = "";
try
{
configSerialization = File.ReadAllText(KinectCalibrationFilename);
}
catch (Exception exception)
{
Console.WriteLine("The file could not be read:");
Console.WriteLine(exception.Message);
Console.WriteLine("Using default parameters...");
}
// If we got data, parse it!
if (configSerialization != "")
{
List <KinectCoordinates> coordinates = JsonConvert.DeserializeObject <List <KinectCoordinates> >(File.ReadAllText(KinectCalibrationFilename));
for (int i = 0; i < viewports.Count && i < coordinates.Count; i++)
{
viewports[i].xOffset.Text = coordinates[i].xOffset;
viewports[i].yOffset.Text = coordinates[i].yOffset;
viewports[i].zOffset.Text = coordinates[i].zOffset;
viewports[i].pitchAngle.Text = coordinates[i].pitch;
viewports[i].rollAngle.Text = coordinates[i].roll;
viewports[i].yawAngle.Text = coordinates[i].yaw;
}
// Update the info from the kinect windows
// TODO: Maybe this happens automagically, but maybe not... Test this.
//Console.WriteLine("VisualKinectUnit 0's x offset is:");
// Console.WriteLine(kinectGroup.visualKinectUnits[0].locatedSensor.xOffset);
}
// Now get the overall calibration stuff, like OSC port and such
configSerialization = "";
try
{
configSerialization = File.ReadAllText(MetaCalibrationFilename);
}
catch (Exception exception)
{
Console.WriteLine("The file could not be read:");
Console.WriteLine(exception.Message);
Console.WriteLine("Using default parameters...");
}
// If we got data, parse it!
if (configSerialization != "")
{
MetaConfiguration config = JsonConvert.DeserializeObject <MetaConfiguration>(configSerialization);
XOffsetTextBox.Text = config.XOffset;
YOffsetTextBox.Text = config.YOffset;
XScaleTextBox.Text = config.XScaling;
YScaleTextBox.Text = config.YScaling;
OscAddress.Text = config.OSCAddress;
OscPort.Text = config.port;
// Update the actual OSC port stuff
// We don't change the scaling and offset stuff since that's
// directly read from the text boxen
oscArgs[1] = OscPort.Text;
oscWriter = new UdpWriter(oscArgs[0], Convert.ToInt32(oscArgs[1]));
UpdateOscAddress();
}
}
/// <summary>
/// Constructor for VisualKinectUnit
/// </summary>
/// <param name="sensor">LocatedSensor class kinect sensor</param>
/// <param name="skeletonDrawingImage">Image that we'll draw the skeleton on</param>
/// <param name="colorImage">Image we'll use to push the color camera video to</param>
public VisualKinectUnit(LocatedSensor locatedSensor, System.Windows.Controls.Image skeletonDrawingImage = null,
System.Windows.Controls.Image colorImage = null, KinectViewport viewport = null)
{
// Get in some parameters
this.locatedSensor = locatedSensor;
this.skeletonDrawingImage = skeletonDrawingImage;
this.colorImage = colorImage;
this.viewport = viewport;
// Set up the basics for drawing a skeleton
this.showGlobalSkeletons = false;
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Turn on the skeleton stream to receive skeleton frames
locatedSensor.sensor.SkeletonStream.Enable();
// Turn on the color stream to receive color frames
locatedSensor.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
// This is the bitmap we'll display on-screen
colorBitmap = (new WriteableBitmap(locatedSensor.sensor.ColorStream.FrameWidth,
locatedSensor.sensor.ColorStream.FrameHeight,
96.0, 96.0, PixelFormats.Bgr32, null));
// Add an event handler to be called whenever there is new color frame data
if (colorImage != null) {
locatedSensor.sensor.ColorFrameReady += this.refreshColorImage;
}
// Add an event handler to be called whenever there is new color frame data
if (skeletonDrawingImage != null) {
locatedSensor.sensor.SkeletonFrameReady += this.refreshSkeletonDrawing;
this.skeletonDrawingImage.Source = imageSource;
}
// If we've got a viewport, then let's attach the generic update value function to
// the text changed handlers
if (viewport != null)
{
viewport.AttachVisualKinect(this);
viewport.xOffset.TextChanged += updateValues;
viewport.yOffset.TextChanged += updateValues;
viewport.zOffset.TextChanged += updateValues;
viewport.pitchAngle.TextChanged += updateValues;
viewport.rollAngle.TextChanged += updateValues;
viewport.yawAngle.TextChanged += updateValues;
viewport.showGlobalSkeletons.Checked += setGlobalSkeletons;
viewport.showGlobalSkeletons.Unchecked += clearGlobalSkeletons;
}
}
public VisualKinectUnit(LocatedSensor sensor, KinectViewport viewport)
{
new VisualKinectUnit(sensor, viewport.skeletonDrawingImage, viewport.colorImage, viewport);
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Setup osc sender
oscArgs[0] = "127.0.0.1";
oscArgs[1] = OscPort.Text;
oscWriter = new UdpWriter(oscArgs[0], Convert.ToInt32(oscArgs[1]));
oscWriter2 = new UdpWriter(RemoteAddress, 7110);
deltaToscWriter = new UdpWriter(oscArgs[0], 7114);
// Initialize Data viewer
oscViewer.Text = "\nData will be shown here\nwhen there is a skeleton\nbeing tracked.";
// Set up our lists
visualKinectUnitList = new List <VisualKinectUnit>();
skeletonImageList = new List <System.Windows.Controls.Image>();
skeletonImageList.Add(Image0);
skeletonImageList.Add(Image1);
skeletonImageList.Add(Image2);
skeletonImageList.Add(Image3);
colorImageList = new List <System.Windows.Controls.Image>();
colorImageList.Add(ColorImage0);
colorImageList.Add(ColorImage1);
colorImageList.Add(ColorImage2);
colorImageList.Add(ColorImage3);
masterSkeletonList = new List <Skeleton>();
leadSkeletonIDs = new List <int>();
prunedSkeletonList = new List <Skeleton>();
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
int numberOfKinects = 0;
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
// Start the sensor!
try {
potentialSensor.Start();
// Good to go, so count this one as connected!
// So let's set up some environment for this...
LocatedSensor sensor = new LocatedSensor(potentialSensor, kinectXPositions[numberOfKinects],
kinectYPositions[numberOfKinects],
kinectZPositions[numberOfKinects],
kinectAngles[numberOfKinects]);
if ((numberOfKinects < colorImageList.Count) && (numberOfKinects < skeletonImageList.Count))
{
System.Windows.Controls.Image colorImage = colorImageList[numberOfKinects];
System.Windows.Controls.Image skeletonImage = skeletonImageList[numberOfKinects];
VisualKinectUnit newSensor = new VisualKinectUnit(sensor, skeletonImage, colorImage);
// Add a callback to our updateSkeletons function, so every frameReady event,
// we update our global list of skeletons
newSensor.locatedSensor.sensor.SkeletonFrameReady += updateSkeletons;
//newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCHeadOnly;
//newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCHands;
//newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCForearms;
newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCAsAnimataData;
visualKinectUnitList.Add(newSensor);
}
else
{
visualKinectUnitList.Add(new VisualKinectUnit(sensor));
}
numberOfKinects++;
Console.WriteLine("Number of Kinects : " + numberOfKinects);
}
catch (IOException) {
Console.WriteLine("Couldn't start one of the Kinect sensors...");
}
}
}
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Setup osc sender
oscArgs[0] = "127.0.0.1";
oscArgs[1] = OscPort.Text;
oscWriter = new UdpWriter(oscArgs[0], Convert.ToInt32(oscArgs[1]));
deltaToscWriter = new UdpWriter(oscArgs[0], 7114);
// Initialize Data viewer
oscViewer.Text = "\nData will be shown here\nwhen there is a skeleton\nbeing tracked.";
kinectGroup = new VisualKinectGroup();
viewports = new List<KinectViewport>();
viewports.Add(this.TestViewport);
viewports.Add(this.TestViewport2);
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
int numberOfKinects = 0;
foreach (var potentialSensor in KinectSensor.KinectSensors) {
if (potentialSensor.Status == KinectStatus.Connected) {
// Start the sensor!
try {
potentialSensor.Start();
// Good to go, so count this one as connected!
// So let's set up some environment for this...
// LocatedSensor sensor = new LocatedSensor(potentialSensor, kinectXPositions[numberOfKinects],
// kinectYPositions[numberOfKinects],
// kinectZPositions[numberOfKinects],
// kinectAngles[numberOfKinects]);
LocatedSensor sensor = new LocatedSensor(potentialSensor, 0, 0,0,0, 0 , 0);
VisualKinectUnit newSensor = new VisualKinectUnit(sensor, viewports[numberOfKinects].skeletonDrawingImage, viewports[numberOfKinects].colorImage, viewports[numberOfKinects]);
kinectGroup.AddVisualKinectUnit(newSensor);
// This function sends out skeleton data as OSC
//newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCAsAnimataData;
newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCSkeletonPositions;
numberOfKinects++;
Console.WriteLine("Number of Kinects : " + numberOfKinects);
}
catch (IOException) {
Console.WriteLine("Couldn't start one of the Kinect sensors...");
}
}
}
// Now that we have all of our sensors loaded, let's see if we have any data
// Try and load in data from a file..
string configSerialization = "";
try
{
configSerialization = File.ReadAllText(KinectCalibrationFilename);
}
catch (Exception exception)
{
Console.WriteLine("The file could not be read:");
Console.WriteLine(exception.Message);
Console.WriteLine("Using default parameters...");
}
// If we got data, parse it!
if (configSerialization != ""){
List<KinectCoordinates> coordinates = JsonConvert.DeserializeObject<List<KinectCoordinates>>(File.ReadAllText(KinectCalibrationFilename));
for (int i = 0; i < viewports.Count && i < coordinates.Count; i++)
{
viewports[i].xOffset.Text = coordinates[i].xOffset;
viewports[i].yOffset.Text = coordinates[i].yOffset;
viewports[i].zOffset.Text = coordinates[i].zOffset;
viewports[i].pitchAngle.Text = coordinates[i].pitch;
viewports[i].rollAngle.Text = coordinates[i].roll;
viewports[i].yawAngle.Text = coordinates[i].yaw;
}
// Update the info from the kinect windows
// TODO: Maybe this happens automagically, but maybe not... Test this.
//Console.WriteLine("VisualKinectUnit 0's x offset is:");
// Console.WriteLine(kinectGroup.visualKinectUnits[0].locatedSensor.xOffset);
}
// Now get the overall calibration stuff, like OSC port and such
configSerialization = "";
try
{
configSerialization = File.ReadAllText(MetaCalibrationFilename);
}
catch (Exception exception)
{
Console.WriteLine("The file could not be read:");
Console.WriteLine(exception.Message);
Console.WriteLine("Using default parameters...");
}
// If we got data, parse it!
if (configSerialization != "")
{
MetaConfiguration config = JsonConvert.DeserializeObject<MetaConfiguration>(configSerialization);
XOffsetTextBox.Text = config.XOffset;
YOffsetTextBox.Text = config.YOffset;
XScaleTextBox.Text = config.XScaling;
YScaleTextBox.Text = config.YScaling;
OscAddress.Text = config.OSCAddress;
OscPort.Text = config.port;
// Update the actual OSC port stuff
// We don't change the scaling and offset stuff since that's
// directly read from the text boxen
oscArgs[1] = OscPort.Text;
oscWriter = new UdpWriter(oscArgs[0], Convert.ToInt32(oscArgs[1]));
UpdateOscAddress();
}
}
/// <summary>
/// Constructor for VisualKinectUnit
/// </summary>
/// <param name="sensor">LocatedSensor class kinect sensor</param>
/// <param name="skeletonDrawingImage">Image that we'll draw the skeleton on</param>
/// <param name="colorImage">Image we'll use to push the color camera video to</param>
public VisualKinectUnit(LocatedSensor locatedSensor, System.Windows.Controls.Image skeletonDrawingImage = null, System.Windows.Controls.Image colorImage = null)
{
// Get in some parameters
this.locatedSensor = locatedSensor;
this.skeletonDrawingImage = skeletonDrawingImage;
this.colorImage = colorImage;
// Set up the basics for drawing a skeleton
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Turn on the skeleton stream to receive skeleton frames
locatedSensor.sensor.SkeletonStream.Enable();
// Turn on the color stream to receive color frames
locatedSensor.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
// This is the bitmap we'll display on-screen
colorBitmap = (new WriteableBitmap(locatedSensor.sensor.ColorStream.FrameWidth,
locatedSensor.sensor.ColorStream.FrameHeight,
96.0, 96.0, PixelFormats.Bgr32, null));
// Add an event handler to be called whenever there is new color frame data
if (colorImage != null) {
locatedSensor.sensor.ColorFrameReady += this.refreshColorImage;
}
// Add an event handler to be called whenever there is new color frame data
if (skeletonDrawingImage != null) {
locatedSensor.sensor.SkeletonFrameReady += this.refreshSkeletonDrawing;
this.skeletonDrawingImage.Source = imageSource;
}
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Setup osc sender
oscArgs[0] = "127.0.0.1";
oscArgs[1] = OscPort.Text;
oscWriter = new UdpWriter(oscArgs[0], Convert.ToInt32(oscArgs[1]));
// Initialize Data viewer
oscViewer.Text = "\nData will be shown here\nwhen there is a skeleton\nbeing tracked.";
// Set up our lists
visualKinectUnitList = new List<VisualKinectUnit>();
skeletonImageList = new List<System.Windows.Controls.Image>();
skeletonImageList.Add(Image0);
skeletonImageList.Add(Image1);
skeletonImageList.Add(Image2);
skeletonImageList.Add(Image3);
colorImageList = new List<System.Windows.Controls.Image>();
colorImageList.Add(ColorImage0);
colorImageList.Add(ColorImage1);
colorImageList.Add(ColorImage2);
colorImageList.Add(ColorImage3);
masterSkeletonList = new List<Skeleton>();
leadSkeletonIDs = new List<int>();
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
int numberOfKinects = 0;
foreach (var potentialSensor in KinectSensor.KinectSensors) {
if (potentialSensor.Status == KinectStatus.Connected) {
// Start the sensor!
try {
potentialSensor.Start();
// Good to go, so count this one as connected!
// So let's set up some environment for this...
LocatedSensor sensor = new LocatedSensor(potentialSensor, kinectXPositions[numberOfKinects],
kinectYPositions[numberOfKinects],
kinectZPositions[numberOfKinects],
kinectAngles[numberOfKinects]);
if ((numberOfKinects < colorImageList.Count) && (numberOfKinects < skeletonImageList.Count)) {
System.Windows.Controls.Image colorImage = colorImageList[numberOfKinects];
System.Windows.Controls.Image skeletonImage = skeletonImageList[numberOfKinects];
VisualKinectUnit newSensor = new VisualKinectUnit(sensor, skeletonImage, colorImage);
// Add a callback to our updateSkeletons function, so every frameReady event,
// we update our global list of skeletons
newSensor.locatedSensor.sensor.SkeletonFrameReady += updateSkeletons;
newSensor.locatedSensor.sensor.SkeletonFrameReady += sendOSCHeadOnly;
visualKinectUnitList.Add(newSensor);
}
else {
visualKinectUnitList.Add(new VisualKinectUnit(sensor));
}
numberOfKinects++;
Console.WriteLine("Number of Kinects : " + numberOfKinects);
}
catch (IOException) {
Console.WriteLine("Couldn't start one of the Kinect sensors...");
}
}
}
}
public VisualKinectUnit(LocatedSensor sensor, KinectViewport viewport)
{
new VisualKinectUnit(sensor, viewport.skeletonDrawingImage, viewport.colorImage, viewport);
}
