private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
{
// Enque Capture
tracker.EnqueueCapture(capture);
// Pop Result
using (K4ABT.Frame frame = tracker.PopResult())
// Get Color Image
using (K4A.Image color_image = frame.Capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Clear All Ellipse from Canvas
Canvas_Body.Children.Clear();
// Draw Skeleton
for (uint body_index = 0; body_index < frame.NumberOfBodies; body_index++)
{
// Get Skeleton and ID
K4ABT.Skeleton skeleton = frame.GetBodySkeleton(body_index);
uint id = frame.GetBodyId(body_index);
// Draw Joints
for (int joint_index = 0; joint_index < (int)K4ABT.JointId.Count; joint_index++)
{
// Get Joint and Position
K4ABT.Joint joint = skeleton.GetJoint(joint_index);
Vector2? position = calibration.TransformTo2D(joint.Position, K4A.CalibrationDeviceType.Depth, K4A.CalibrationDeviceType.Color);
if (!position.HasValue)
{
continue;
}
// Create Ellipse
const int radius = 10;
SolidColorBrush stroke_color = new SolidColorBrush(colors[id % colors.Length]);
SolidColorBrush fill_color = new SolidColorBrush((joint.ConfidenceLevel >= K4ABT.JointConfidenceLevel.Medium) ? colors[id % colors.Length] : Colors.Transparent);
Ellipse ellipse = new Ellipse()
{
Width = radius, Height = radius, StrokeThickness = 1, Stroke = stroke_color, Fill = fill_color
};
// Add Ellipse to Canvas
Canvas.SetLeft(ellipse, position.Value.X - (radius / 2));
Canvas.SetTop(ellipse, position.Value.Y - (radius / 2));
Canvas_Body.Children.Add(ellipse);
}
}
}
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image and Transformed Image
#if TO_COLOR
using (K4A.Image color_image = capture.Color)
using (K4A.Image depth_image = transformation.DepthImageToColorCamera(capture))
#else
using (K4A.Image color_image = transformation.ColorImageToDepthCamera(capture))
using (K4A.Image depth_image = capture.Depth)
#endif
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Get Depth Buffer, and Write Bitmap
ushort[] depth_buffer = depth_image.GetPixels <ushort>().ToArray();
depth_bitmap.WritePixels(depth_rect, Array.ConvertAll(depth_buffer, i => (byte)(i * (255.0 / 5000.0))), depth_stride, 0, 0);
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
{
// Enqueue Tracker
tracker.EnqueueCapture(capture);
// Pop Result
using (K4ABT.Frame frame = tracker.PopResult())
// Get Color Image
using (K4A.Image color_image = frame.Capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
// Transform Body Index Map to Color Camera
(K4A.Image _, K4A.Image body_index_map)reult =
transformation.DepthImageToColorCameraCustom(
frame.Capture.Depth,
frame.BodyIndexMap,
K4A.TransformationInterpolationType.Nearest,
K4ABT.Frame.BodyIndexMapBackground
);
//Get Body Index Map Buffer
byte[] body_index_map_buffer = reult.body_index_map.Memory.ToArray();
// Draw Body Index Map and Write Bitmap
Parallel.For(0, body_index_map_buffer.Length, i =>
{
uint index = (uint)body_index_map_buffer[i];
if (index != K4ABT.Frame.BodyIndexMapBackground)
{
Color color = colors[index % colors.Length];
colorized_body_index_map_buffer[i * 4 + 0] = color.B;
colorized_body_index_map_buffer[i * 4 + 1] = color.G;
colorized_body_index_map_buffer[i * 4 + 2] = color.R;
colorized_body_index_map_buffer[i * 4 + 3] = color.A;
}
else
{
colorized_body_index_map_buffer[i * 4 + 0] = 0;
colorized_body_index_map_buffer[i * 4 + 1] = 0;
colorized_body_index_map_buffer[i * 4 + 2] = 0;
colorized_body_index_map_buffer[i * 4 + 3] = 255;
}
});
body_index_map_bitmap.WritePixels(body_index_map_rect, colorized_body_index_map_buffer, body_index_map_stride, 0, 0);
// Clear Body Index Map
reult.body_index_map.Dispose();
}
}
}
}
private Image GetImage(Microsoft.Azure.Kinect.Sensor.Capture capture)
{
return(this.ImageType switch
{
KinectCaptureImage.Depth => capture.Depth,
KinectCaptureImage.IR => capture.IR,
_ => capture.Color,
});
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image
using (K4A.Image depth_image = capture.Depth)
{
// Get Depth Buffer, and Write Bitmap
ushort[] depth_buffer = depth_image.GetPixels <ushort>().ToArray();
depth_bitmap.WritePixels(depth_rect, Array.ConvertAll(depth_buffer, i => (byte)(i * (255.0 / 5000.0))), depth_stride, 0, 0);
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image
using (K4A.Image color_image = capture.Color)
{
// Get Color Buffer and Write Bitmap
byte[] color_buffer = color_image.Memory.ToArray();
color_bitmap.WritePixels(color_rect, color_buffer, color_stride, 0, 0);
}
}
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
while (true)
{
// Get Capture Frame
using (K4A.Capture capture = await Task.Run(() => { return(this.device.GetCapture()); }))
// Get Capture Image
using (K4A.Image infrared_image = capture.IR)
{
// Get Infrared Buffer, and Write Bitmap
ushort[] infrared_buffer = infrared_image.GetPixels <ushort>().ToArray();
infrared_bitmap.WritePixels(infrared_rect, Array.ConvertAll(infrared_buffer, i => (byte)(i * 0.5)), infrared_stride, 0, 0);
}
}
}
private void OnCaptureArrived(object sender, Microsoft.Azure.Kinect.Sensor.Capture capture)
{
var handler = this.frameArrived;
if (handler != null)
{
using var image = this.GetImage(capture)?.Reference();
handler = this.frameArrived;
if (image != null && handler != null)
{
var frame = new DecodedKinectCaptureFrame(image.Reference(), this);
var oldFrame = Interlocked.Exchange(ref this.lastFrame, frame);
oldFrame?.Dispose();
handler = this.frameArrived;
handler?.Invoke(this, EventArgs.Empty);
}
}
}
