public KinectFunctionalities(ref DepthMasterControl depthMasterControl, ref ColorMasterConrol colorMasterControl,
ref GesturesMasterControl gestureMasterControl)
{
this.depthMasterControl = depthMasterControl;
this.colorMasterControl = colorMasterControl;
this.gestureMasterControl = gestureMasterControl;
}
public void initializeKinect(ref Image depthViewImage, ref Image colorViewImage)
{
this.depthViewImage = depthViewImage;
this.colorViewImage = colorViewImage;
// one sensor is currently supported
this.kinectSensor = KinectSensor.GetDefault();
// open the reader for the color frames
this.colorFrameReader = this.kinectSensor.ColorFrameSource.OpenReader();
// create the colorFrameDescription from the ColorFrameSource using Bgra format
FrameDescription colorFrameDescription = this.kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
// Instantiate the Color Processing:
colorMasterControl = new ColorMasterConrol(colorFrameDescription.Width, colorFrameDescription.Height);
// Create the drawing group we'll use for drawing
this.drawingGroupColorHUD = new DrawingGroup();
// Create an image source that we can use as the HUD
this.imageSourceColorHUD = new DrawingImage(this.drawingGroupColorHUD);
// get the coordinate mapper
this.coordinateMapper = this.kinectSensor.CoordinateMapper;
// open the reader for the depth frames
this.depthFrameReader = this.kinectSensor.DepthFrameSource.OpenReader();
// get FrameDescription from DepthFrameSource
this.depthFrameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
// allocate space to put the pixels being received and converted
this.depthPixels = new byte[this.depthFrameDescription.Width * this.depthFrameDescription.Height];
// create the bitmap to display
this.depthBitmap = new WriteableBitmap(this.depthFrameDescription.Width, this.depthFrameDescription.Height, 96.0, 96.0, PixelFormats.Gray8, null);
// create the bitmap to display color depth
this.depthBitmapColor = new WriteableBitmap(this.depthFrameDescription.Width, this.depthFrameDescription.Height, 96.0, 96.0, PixelFormats.Bgra32, null);
// get the depth (display) extents
FrameDescription frameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
// get size of joint space
this.displayWidth = frameDescription.Width;
this.displayHeight = frameDescription.Height;
// open the reader for the body frames
this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();
// a bone defined as a line between two joints
this.bones = new List <Tuple <JointType, JointType> >();
// Torso
this.bones.Add(new Tuple <JointType, JointType>(JointType.Head, JointType.Neck));
this.bones.Add(new Tuple <JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
this.bones.Add(new Tuple <JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
this.bones.Add(new Tuple <JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
this.bones.Add(new Tuple <JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
this.bones.Add(new Tuple <JointType, JointType>(JointType.SpineBase, JointType.HipRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.SpineBase, JointType.HipLeft));
// Right Arm
this.bones.Add(new Tuple <JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.WristRight, JointType.HandRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.WristRight, JointType.ThumbRight));
// Left Arm
this.bones.Add(new Tuple <JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
this.bones.Add(new Tuple <JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
this.bones.Add(new Tuple <JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
this.bones.Add(new Tuple <JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
this.bones.Add(new Tuple <JointType, JointType>(JointType.WristLeft, JointType.ThumbLeft));
// Right Leg
this.bones.Add(new Tuple <JointType, JointType>(JointType.HipRight, JointType.KneeRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
this.bones.Add(new Tuple <JointType, JointType>(JointType.AnkleRight, JointType.FootRight));
// Left Leg
this.bones.Add(new Tuple <JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
this.bones.Add(new Tuple <JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
this.bones.Add(new Tuple <JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft));
// populate body colors, one for each BodyIndex
this.bodyColors = new List <Pen>();
this.bodyColors.Add(new Pen(Brushes.Red, 6));
this.bodyColors.Add(new Pen(Brushes.Orange, 6));
this.bodyColors.Add(new Pen(Brushes.Green, 6));
this.bodyColors.Add(new Pen(Brushes.Blue, 6));
this.bodyColors.Add(new Pen(Brushes.Indigo, 6));
this.bodyColors.Add(new Pen(Brushes.Violet, 6));
// set IsAvailableChanged event notifier
this.kinectSensor.IsAvailableChanged += this.Sensor_IsAvailableChanged;
// open the sensor
this.kinectSensor.Open();
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
this.drawingGroupDepth = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Create an image source for depth
this.imageSourceDepth = new DrawingImage(this.drawingGroupDepth);
}