public KinectManager()
{
try
{
_context = new Context(@"..\..\Data\openniconfig.xml");
_depth_generator = _context.FindExistingNode(NodeType.Depth) as DepthGenerator;
if (_depth_generator == null)
throw new Exception(@"Error in Data\openniconfig.xml - No depth node found.");
_user_generator = new UserGenerator(_context);
_skeleton_caps = _user_generator.SkeletonCapability;
_pose_detect_caps = _user_generator.PoseDetectionCapability;
_calibration_pose = _skeleton_caps.CalibrationPose;
// event handler for detection
_user_generator.NewUser += (_user_generator_NewUser);
_user_generator.LostUser += (_user_generator_LostUser);
_pose_detect_caps.PoseDetected += (_pose_detect_caps_PoseDetected);
_skeleton_caps.CalibrationEnd += (_skeleton_caps_CalibrationEnd);
_skeleton_caps.SetSkeletonProfile(SkeletonProfile.All);
// initialize joints
_joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
_joint_orientation = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointOrientation>>();
// start generating data
_user_generator.StartGenerating();
}catch(Exception ex)
{
Console.WriteLine("Error initializing OpenNi.");
Console.WriteLine(ex.Message);
}
// update timer for the depth image
DispatcherTimer dispatcher_timer = new DispatcherTimer();
dispatcher_timer.Tick += new EventHandler(dispatcher_timer_Tick);
dispatcher_timer.Interval = new TimeSpan(0, 0, 0, 0, 10); // update every 10 ms
dispatcher_timer.Start();
Console.WriteLine("Finished loading");
}
public UserController(Context context, string calibrationPath)
{
this.Context = context;
this.CalibrationPath = calibrationPath;
this.Users = new Dictionary<int, KinectUser>();
_UserLock = new object();
_SkeletonLock = new object();
_UserGenerator = new UserGenerator(Context);
_SkeletonCapability = _UserGenerator.SkeletonCapability;
_PoseDetectionCapability = _UserGenerator.PoseDetectionCapability;
_CalibrationPose = _SkeletonCapability.CalibrationPose;
_UserGenerator.NewUser += new EventHandler<NewUserEventArgs>(_UserGenerator_NewUser);
_UserGenerator.LostUser += new EventHandler<UserLostEventArgs>(_UserGenerator_LostUser);
_PoseDetectionCapability.PoseDetected += new EventHandler<PoseDetectedEventArgs>(PoseDetectionCapability_PoseDetected);
_SkeletonCapability.CalibrationComplete += new EventHandler<CalibrationProgressEventArgs>(_SkeletonCapability_CalibrationComplete);
_SkeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
_UserGenerator.StartGenerating();
}
// 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 );
// 鏡モード(反転)にしない
context.GlobalMirror = false;
// 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");
}
// ユーザー認識のコールバックを登録
user.NewUser += new EventHandler<NewUserEventArgs>(user_NewUser);
user.LostUser += new EventHandler<UserLostEventArgs>(user_LostUser);
//キャリブレーションにポーズが必要か確認
skelton = user.SkeletonCapability;
if (skelton.DoesNeedPoseForCalibration) {
// ポーズ検出のサポートチェック
if (!user.IsCapabilitySupported("User::PoseDetection")) {
throw new Exception("ユーザー検出をサポートしていません");
}
// キャリブレーションポーズの取得
pose = skelton.CalibrationPose;
// ポーズ検出のコールバックを登録
PoseDetectionCapability poseDetect = user.PoseDetectionCapability;
poseDetect.PoseDetected += new EventHandler<PoseDetectedEventArgs>(poseDetect_PoseDetected);
poseDetect.OutOfPose += new EventHandler<OutOfPoseEventArgs>( poseDetect_OutOfPose );
}
// キャリブレーションのコールバックを登録
skelton.CalibrationStart += new EventHandler<CalibrationStartEventArgs>(skelton_CalibrationStart);
skelton.CalibrationComplete += new EventHandler<CalibrationProgressEventArgs>( skelton_CalibrationComplete );
// すべてをトラッキングする
skelton.SetSkeletonProfile(SkeletonProfile.All);
// ジェスチャーの検出開始
context.StartGeneratingAll();
}
private void Window_Initialized(object sender, EventArgs e)
{
string configPath = Properties.Settings.Default.ONIConfig;
Title += " - " + configPath;
try
{
if (!File.Exists(configPath))
throw new ApplicationException("Config file '" + configPath + "' does not exist.");
_labelDataBrush = Resources["labelData"] as ImageBrush;
_skeletonDrawer = new SkeletonDrawer(depthGrid);
_skeleton = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();
_sensor = new Sensor(configPath);
Console.WriteLine("Sensor initialized successfully.");
_skeletonCapability = _sensor.UserGenerator.SkeletonCapability;
_skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
_skeletonCapability.SetSmoothing(Properties.Settings.Default.SkeletonSmoothing);
_sensor.GeneratorUpdate += delegate(object s, EventArgs args)
{
Action action = () =>
{
_labelDataBrush.ImageSource = _sensor.LabelBitmap;
depthImage.Source = _sensor.DepthBitmap;
rgbImage.Source = _sensor.RGBBitmap;
if (Properties.Settings.Default.DisplaySkeleton && _skeleton.Count > 0)
{
var users = _skeleton.Keys;
Func<int, SkeletonJoint, SkeletonJointPosition> jointPosition = (int user, SkeletonJoint joint) =>
{
SkeletonJointPosition position = _skeletonCapability.GetSkeletonJointPosition(user, joint);
if (position.Position.Z == 0)
position.Confidence = 0;
else
position.Position = _sensor.DepthGenerator.ConvertRealWorldToProjective(position.Position);
return position;
};
foreach (int user in users)
{
_skeleton[user][SkeletonJoint.Head] = jointPosition(user, SkeletonJoint.Head);
_skeleton[user][SkeletonJoint.Neck] = jointPosition(user, SkeletonJoint.Neck);
_skeleton[user][SkeletonJoint.Torso] = jointPosition(user, SkeletonJoint.Torso);
_skeleton[user][SkeletonJoint.LeftShoulder] = jointPosition(user, SkeletonJoint.LeftShoulder);
_skeleton[user][SkeletonJoint.LeftElbow] = jointPosition(user, SkeletonJoint.LeftElbow);
_skeleton[user][SkeletonJoint.LeftHand] = jointPosition(user, SkeletonJoint.LeftHand);
_skeleton[user][SkeletonJoint.RightShoulder] = jointPosition(user, SkeletonJoint.RightShoulder);
_skeleton[user][SkeletonJoint.RightElbow] = jointPosition(user, SkeletonJoint.RightElbow);
_skeleton[user][SkeletonJoint.RightHand] = jointPosition(user, SkeletonJoint.RightHand);
_skeleton[user][SkeletonJoint.LeftHip] = jointPosition(user, SkeletonJoint.LeftHip);
_skeleton[user][SkeletonJoint.LeftKnee] = jointPosition(user, SkeletonJoint.LeftKnee);
_skeleton[user][SkeletonJoint.LeftFoot] = jointPosition(user, SkeletonJoint.LeftFoot);
_skeleton[user][SkeletonJoint.RightHip] = jointPosition(user, SkeletonJoint.RightHip);
_skeleton[user][SkeletonJoint.RightKnee] = jointPosition(user, SkeletonJoint.RightKnee);
_skeleton[user][SkeletonJoint.RightFoot] = jointPosition(user, SkeletonJoint.RightFoot);
}
_skeletonDrawer.Draw(_skeleton);
}
};
Dispatcher.Invoke(action);
};
_sensor.NewUser += delegate(object s, NewUserEventArgs args)
{
Console.WriteLine("[" + args.ID + "] Found");
if(Properties.Settings.Default.DisplaySkeleton)
_skeletonCapability.RequestCalibration(args.ID, true);
};
_sensor.LostUser += delegate(object s, UserLostEventArgs args)
{
Console.WriteLine("[" + args.ID + "] Lost");
_skeleton.Remove(args.ID);
Action action = () =>
{
_skeletonDrawer.UserLost(args.ID);
};
Dispatcher.Invoke(action);
};
_skeletonCapability.CalibrationComplete += delegate(object s, CalibrationProgressEventArgs args)
{
Console.WriteLine("[" + args.ID + "] Calibration status: " + args.Status);
if (args.Status == CalibrationStatus.OK)
{
_skeletonCapability.StartTracking(args.ID);
Dictionary<SkeletonJoint, SkeletonJointPosition> jointPositions = new Dictionary<SkeletonJoint, SkeletonJointPosition>();
jointPositions.Add(SkeletonJoint.Head, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.Neck, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.Torso, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftShoulder, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftElbow, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftHand, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightShoulder, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightElbow, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightHand, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftHip, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftKnee, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.LeftFoot, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightHip, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightKnee, new SkeletonJointPosition());
jointPositions.Add(SkeletonJoint.RightFoot, new SkeletonJointPosition());
_skeleton.Add(args.ID, jointPositions);
}
else if (args.Status != CalibrationStatus.ManualAbort)
_skeletonCapability.RequestCalibration(args.ID, true);
};
}
catch (Exception ex)
{
Console.Error.WriteLine(ex);
MessageBox.Show(ex.Message, "Error while initializing OpenNI", MessageBoxButton.OK, MessageBoxImage.Error);
Application.Current.Shutdown();
}
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FContextChanged)
{
if (FContextIn.PluginIO.IsConnected)
{
if (FContextIn[0] != null)
{
try
{
FUserGenerator = new UserGenerator(FContextIn[0]);
FSkeletonCapability = FUserGenerator.SkeletonCapability;
FPoseDetectionCapability = FUserGenerator.PoseDetectionCapability;
FCalibPose = FSkeletonCapability.CalibrationPose;
FUserGenerator.NewUser += userGenerator_NewUser;
FUserGenerator.LostUser += userGenerator_LostUser;
FPoseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;
FSkeletonCapability.CalibrationComplete += skeletonCapbility_CalibrationComplete;
FSkeletonCapability.SetSkeletonProfile(FSkeletonProfileIn[0]);
FJoints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointTransformation>>();
FUserGenerator.StartGenerating();
FContextChanged = false;
}
catch (Exception ex)
{
FLogger.Log(ex);
}
}
}
else
{
CleanUp();
FContextChanged = false;
}
}
if ( (FUserGenerator != null) && (FUserIdIn != null) )
{
if (FEnabledIn.IsChanged)
if (FEnabledIn[0])
FUserGenerator.StartGenerating();
else
FUserGenerator.StopGenerating();
if (FUserGenerator.IsDataNew)
{
if (FSkeletonProfileIn.IsChanged)
FSkeletonCapability.SetSkeletonProfile(FSkeletonProfileIn[0]);
if (FSmoothingIn.IsChanged)
FSkeletonCapability.SetSmoothing(FSmoothingIn[0]);
FUserIdOut.SliceCount = 0;
FStatusOut.SliceCount = 0;
FJointPositionOut.SliceCount = 0;
FJointOrientationXOut.SliceCount = 0;
FJointOrientationYOut.SliceCount = 0;
FJointOrientationZOut.SliceCount = 0;
if (FUserGenerator.NumberOfUsers > 0)
{
//get all Users and sort them
int[] users = FUserGenerator.GetUsers();
FUserIdOut.SliceCount = users.Length;
FStatusOut.SliceCount = users.Length;
Array.Sort(users);
for (int i = 0; i<users.Length; i++) {
int userId = users[i];
bool userIsTracked = FSkeletonCapability.IsTracking(userId);
bool userIsCalibrated = FSkeletonCapability.IsCalibrated(userId);
bool userIsCalibrating = FSkeletonCapability.IsCalibrating(userId);
if(userIsTracked) FStatusOut[i] = "Tracking user ";
else if(userIsCalibrating) FStatusOut[i] = "Calibrating user ";
else FStatusOut[i] = "Looking for pose on user ";
FStatusOut[i] += userId.ToString();
FUserIdOut[i] = userId;
//if((userId != FUserIdIn[0]) && (!userIsTracked)) FSkeletonCapability.StopTracking(userId);
if(FUserIdIn.IsChanged && (userId != FUserIdIn[0]))
{
//if(!userIsTracked) FSkeletonCapability.StartTracking(userId);
}
} //for
if(FSkeletonCapability.IsTracking(FUserIdIn[0]))
{
int binSize = FJointIn.SliceCount;
FJointPositionOut.SliceCount = binSize;
FJointOrientationXOut.SliceCount = FJointOrientationYOut.SliceCount = FJointOrientationZOut.SliceCount = binSize;
for (int i = 0; i < binSize; i++)
{
var j = GetJoint(FUserIdIn[0], FJointIn[i]);
var p = j.Position.Position;
if (j.Position.Confidence >= FConfidenceIn[0])
FJointPositionOut[i] = new Vector3D(p.X, p.Y, p.Z) / 1000;
var o = j.Orientation;
if (o.Confidence > FConfidenceIn[0])
{
FJointOrientationXOut[i] = new Vector3D(o.X1, o.Y1, o.Z1);
FJointOrientationYOut[i] = new Vector3D(o.X2, o.Y2, o.Z2);
FJointOrientationZOut[i] = new Vector3D(o.X3, o.Y3, o.Z3);
}
}
}
}
}
}
else
{
FUserIdOut.SliceCount = 0;
FStatusOut.SliceCount = 0;
FJointPositionOut.SliceCount = 0;
FJointOrientationXOut.SliceCount = 0;
FJointOrientationYOut.SliceCount = 0;
FJointOrientationZOut.SliceCount = 0;
}
}
void Start()
{
InitializeCharacter ();
context = new Context (XML_SETUP_FILE);
sessionManager = new SessionManager(context, "Wave", "RaiseHand");
depthGenerator = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
handsGenerator = context.FindExistingNode(NodeType.Hands) as HandsGenerator;
//image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
//gesture = context.FindExistingNode(NodeType.Gesture) as GestureGenerator;
if (depthGenerator == null) throw new Exception("Viewer must have a depth node!");
//if (gesture == null) throw new Exception("Viewer must have a gesture node!");
//if (image == null) throw new Exception("Viewer must have a image node!");
userGenerator = new UserGenerator (context);
skeletonCapability = userGenerator.SkeletonCapability;
poseDetectionCapability = userGenerator.PoseDetectionCapability;
calibPose = skeletonCapability.CalibrationPose;
//gestureGenerator = new GestureGenerator(context);
foreach (String s in poseDetectionCapability.GetAllAvailablePoses())
Debug.LogWarning("available pose found: " +s);
//foreach (String s in gestureGenerator.EnumerateAllGestures())
// Debug.LogWarning("available gesture found: " + s);
//gestureGenerator.GestureRecognized += HandleGestureGestureRecognized;
//gesture.AddGesture("Click");
//gestureGenerator.AddGesture("RaiseHand"); //seems buggy
//gestureGenerator.AddGesture("Wave");
swipeDetector = new SwipeDetector();
//steadyDetector = new SteadyDetector();//(3, 1f);
//swipeDetector.SwipeLeft += HandleSwipeDetectorSwipeLeft;
//Session Managment
sessionManager.SessionStart += HandleSessionManagerSessionStart;
sessionManager.SessionEnd += HandleSessionManagerSessionEnd;
//User Generator
userGenerator.NewUser += HandleUserGeneratorNewUser;
userGenerator.LostUser += HandleUserGeneratorLostUser;
poseDetectionCapability.PoseDetected += HandlePoseDetectionCapabilityPoseDetected;
skeletonCapability.CalibrationEnd += HandleSkeletonCapabilityCalibrationEnd;
skeletonCapability.SetSkeletonProfile (SkeletonProfile.All);
skeletonCapability.SetSmoothing(.5f); // give us some smooothing
//Start generating
userGenerator.StartGenerating();
//handsGenerator.MirrorCapability.SetMirror(true); // TODO: should this be true?
handsGenerator.StartGenerating();
//gestureGenerator.StartGenerating();
//slider selector
//selectableSlider2D = new SelectableSlider2D(Screen.width, Screen.height);
//selectableSlider2D.ValueChange += HandleSelectableSlider2DValueChange;
//selectableSlider2D.ItemHover += HandleSelectableSlider2DItemHover;
//selectableSlider2D.ItemSelect += HandleSelectableSlider2DItemSelect;
pointDenoiser = new PointDenoiser();
pointDenoiser.AddListener(swipeDetector);
//pointDenoiser.AddListener(steadyDetector);
//pointDenoiser.AddListener(selectableSlider2D);
//flowRouter = new FlowRouter();
//flowRouter.ActiveListener = pointDenoiser;
sessionManager.AddListener(pointDenoiser);
MapOutputMode mapMode = depthGenerator.MapOutputMode;
// Init depth & label map related stuff
usersMapSize = mapMode.XRes * mapMode.YRes;
//usersLabelTexture = new Texture2D(mapMode.XRes, mapMode.YRes); //nonPOT slow
usersLabelTexture = new Texture2D(1024,512);
//speed up by using power of two and then setpixel() with blockwidth (640) and blockheight (480)
usersMapColors = new Color[usersMapSize];
usersMapRect = new Rect(Screen.width - usersLabelTexture.width / 2, Screen.height - usersLabelTexture.height / 2, usersLabelTexture.width / 2, usersLabelTexture.height / 2);
usersLabelMap = new short[usersMapSize];
usersDepthMap = new short[usersMapSize];
usersHistogramMap = new float[5000];
this.shouldRun = true;
if (NiteInitializingEvent != null) //notify others that we're done initializing
NiteInitializingEvent(this, EventArgs.Empty);
}
public MainWindow()
{
InitializeComponent();
trackingUser = false;
trackingUserId = 0;
stop = false;
console = new Console();
console.Show();
console.Top = 10;
console.Left = 10;
prompt = new UserPrompt();
prompt.Show();
prompt.Top = 10;
prompt.Left = 550;
this.Top = 250;
this.Left = 550;
context = new Context(CONFIG_FILE);
imageGenerator = new ImageGenerator(context);
userGenerator = new UserGenerator(context);
if (DRAW_SKELETON)
{
depthGenerator = new DepthGenerator(context);
depthBitmap = new WriteableBitmap(640, 480, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
depthData = new DepthMetaData();
Histogram = new int[depthGenerator.DeviceMaxDepth];
skeletonDraw = new SkeletonDraw();
}
poseDetectionCapability = userGenerator.PoseDetectionCapability;
skeletonCapability = userGenerator.SkeletonCapability;
imageBitmap = new WriteableBitmap(640, 480, DPI_X, DPI_Y, PixelFormats.Rgb24, null);
imageData = new ImageMetaData();
Device.SetUp();
if (File.Exists(SpatialController.CALIBRATION_DATA_FILE))
{
spatialController = new SpatialController(ControllerStartup.FromFile, userGenerator);
}
else
{
spatialController = new SpatialController(ControllerStartup.Calibrate, userGenerator);
}
spatialController.RecalibrateCommand += new RecalibrateEventHandler(RecalibrateCommand);
userGenerator.NewUser += NewUser;
userGenerator.LostUser += LostUser;
skeletonCapability.CalibrationStart += CalibrationStart;
skeletonCapability.CalibrationEnd += CalibrationEnd;
skeletonCapability.SetSkeletonProfile(SkeletonProfile.All);
poseDetectionCapability.PoseDetected += PoseDetected;
poseDetectionCapability.PoseEnded += PoseEnded;
kinectDataThread = new Thread(new ThreadStart(ReadKinectData));
kinectDataThread.IsBackground = true;
checkGesturesThread = new Thread(new ThreadStart(CheckGestures));
checkGesturesThread.IsBackground = true;
imageTimer = new DispatcherTimer();
imageTimer.Tick += new EventHandler(ImageTick);
imageTimer.Interval = new TimeSpan(0, 0, 0, 0, 100);
kinectDataThread.Start();
checkGesturesThread.Start();
imageTimer.Start();
UserPrompt.Write("Finished loading window.");
Console.Write("Finished loading window");
UserPrompt.Write("Please assume the Psi pose and hold it until you see a skeleton overlaid"
+ " on the streaming video.");
}