/// <summary>
/// Construtor padrão.
/// </summary>
private Controller()
{
context = new Context();
while (true) // espera que o Kinect esteja corretamente conectado
{
try {
userManager = new UserManager(context);
depthSensor = new DepthSensor(context);
rgbCamera = new RGBCamera(context);
}
catch (Exception) {
if (MessageBox.Show("Kinect is not connected. Connect and retry.", "Error", MessageBoxButton.OKCancel) == MessageBoxResult.OK)
{
continue;
}
Application.Current.Shutdown();
}
break;
}
depthImage = new DepthImage();
rgbImage = new RGBImage();
drawDepthImage = false;
drawRGBImage = false;
time = DateTime.Now;
windowManager = new WindowManager();
observer = new Observer(new GestureManager(), Parameterization.Extractor, Parameterization.Filter);
recorder = new Recorder();
realtime = true;
}
public ColorImageView()
{
this.mw = (MainWindow)Application.Current.MainWindow;
this.ci = this.mw.ColorImage;
this.di = this.mw.DepthImage;
this.ci.addCIListener(this.Reader_ColorFrameArrived);
this.di.addDIListener(this.Reader_DepthFrameArrived);
this.ci.ColorFrameReader.IsPaused = true;
this.di.DepthFrameReader.IsPaused = true;
this.mode = Mode.Color;
// create the colorFrameDescription from the ColorFrameSource using Bgra format
FrameDescription colorFrameDescription = this.mw.KinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
this.depthFrameDescription = this.mw.KinectSensor.DepthFrameSource.FrameDescription;
this.size = this.depthFrameDescription.Width * this.depthFrameDescription.Height;
this.depthPixels = new Byte[this.size];
// create the bitmaps to display
this.colorBitmap = new WriteableBitmap(colorFrameDescription.Width, colorFrameDescription.Height, 96.0, 96.0, PixelFormats.Bgr32, null);
this.depthBitmap = new WriteableBitmap(this.depthFrameDescription.Width, this.depthFrameDescription.Height, 96.0, 96.0, PixelFormats.Gray8, null);
// use the window object as the view model in this simple example
this.DataContext = this;
this.display = false;
InitializeComponent();
this.status.Text = "RGB-D and Microphone streaming off";
}
/// <summary>
/// Updates the mesh from a specified depth image, intrinsics, and position.
/// </summary>
/// <param name="depthImage">The depth image.</param>
/// <param name="intrinsics">The intrinsics.</param>
/// <param name="position">The position.</param>
public void UpdateMesh(DepthImage depthImage, ICameraIntrinsics intrinsics, CoordinateSystem position)
{
this.depthImage = depthImage;
this.intrinsics = intrinsics;
this.position = position;
this.UpdateVisuals();
}
public IEnumerable <Vector3> GetCloudPointData()
{
for (int x = 0; x < DepthImage.width; x++)
{
for (int y = 0; y < DepthImage.height; y++)
{
yield return(new Vector3(x, y, DepthImage.GetPixel(x, y).grayscale));
}
}
}
private void UpdateMesh(DepthImage depthImage)
{
if (this.depthFramePoints?.Length != (depthImage.Width * depthImage.Height))
{
this.rawDepth = new int[depthImage.Width * depthImage.Height];
this.depthFramePoints = new Point3D[depthImage.Width * depthImage.Height];
}
this.UpdateDepth(depthImage);
this.CreateMesh(depthImage.Width, depthImage.Height);
}
private void UpdateDepthFramePoints(DepthImage depthImage, ICameraIntrinsics intrinsics, euclidean.CoordinateSystem position)
{
// Handle null cases by clearing the depthFramePoints
if (depthImage == null || intrinsics == null || position == null)
{
if (this.rawDepth.Length > 0)
{
this.rawDepth = new int[0];
this.depthFramePoints = new System.Windows.Media.Media3D.Point3D[0];
}
return;
}
if (this.depthFramePoints?.Length != (this.depthImage.Width * this.depthImage.Height))
{
this.rawDepth = new int[this.depthImage.Width * this.depthImage.Height];
this.depthFramePoints = new System.Windows.Media.Media3D.Point3D[this.depthImage.Width * this.depthImage.Height];
}
int width = depthImage.Width;
int height = depthImage.Height;
int cx = width / 2;
int cy = height / 2;
double scale = 0.001;
unsafe
{
ushort *depthFrame = (ushort *)((byte *)depthImage.ImageData.ToPointer());
Parallel.For(0, height, iy =>
{
for (int ix = 0; ix < width; ix++)
{
int i = (iy * width) + ix;
this.rawDepth[i] = depthFrame[i];
if (this.rawDepth[i] == 0)
{
this.rawDepth[i] = -1;
this.depthFramePoints[i] = default;
}
else
{
var other = intrinsics.ToCameraSpace(new euclidean.Point2D(ix, iy), this.rawDepth[i] * scale, true);
this.depthFramePoints[i] = other.TransformBy(position).ToPoint3D();
}
}
});
}
}
private void UpdateDepth(DepthImage depthImage)
{
int width = depthImage.Width;
int height = depthImage.Height;
ushort tooNearDepth = 500;
ushort tooFarDepth = 10000;
ushort unknownDepth = 0;
int cx = width / 2;
int cy = height / 2;
double fxinv = 1.0 / 366;
double fyinv = 1.0 / 366;
double scale = 0.001;
unsafe
{
ushort *depthFrame = (ushort *)((byte *)depthImage.ImageData.ToPointer());
Parallel.For(0, height, iy =>
{
for (int ix = 0; ix < width; ix++)
{
int i = (iy * width) + ix;
this.rawDepth[i] = depthFrame[(iy * width) + ix];
if (this.rawDepth[i] == unknownDepth || this.rawDepth[i] < tooNearDepth || this.rawDepth[i] > tooFarDepth)
{
this.rawDepth[i] = -1;
this.depthFramePoints[i] = default(Point3D);
}
else
{
double zz = (double)this.rawDepth[i] * scale;
double x = (cx - ix) * zz * fxinv;
double y = zz;
double z = (cy - iy) * zz * fyinv;
this.depthFramePoints[i] = new Point3D(x, y, z);
}
}
});
}
}
