private void AllFramesReady(object sender,AllFramesReadyEventArgs e)
{
using(ColorImageFrame colorImage=e.OpenColorImageFrame())
using(SkeletonFrame skeletonFrame=e.OpenSkeletonFrame())
if(colorImage!=null&&skeletonFrame!=null){
colorImage.CopyPixelDataTo(bitmappixels);
skeletonFrame.CopySkeletonDataTo(skeletons);
bitmap.WritePixels(updateRect,bitmappixels,bitmap.PixelWidth*sizeof(int),0);
using(DrawingContext drawingContext=drawingGroup.Open()){
drawingContext.DrawImage(bitmap,drawingRect);
//drawingContext.DrawGeometry(button1.IsHitting?Brushes.White:null,new Pen(Brushes.Blue,2.0),button1.Geometry);
//drawingContext.DrawGeometry(button2.IsHitting?Brushes.White:null,new Pen(Brushes.Blue,2.0),button2.Geometry);
foreach(Skeleton skel in skeletons){
if(skel.TrackingState==SkeletonTrackingState.Tracked){
foreach(Joint joint in skel.Joints){
if(joint.TrackingState==JointTrackingState.Tracked){
var depthPoint=sensor.MapSkeletonPointToDepth(joint.Position,DepthImageFormat.Resolution640x480Fps30);
drawingContext.DrawEllipse(Brushes.Green,null,new Point(depthPoint.X,depthPoint.Y),15,15);
}
}
drawingContext.DrawRectangle(Brushes.Red,null,new Rect(0.0,0.0,distance1.Distance,50.0));
drawingContext.DrawLine(new Pen(Brushes.Blue,10),volume1.MiddlePoint,volume1.RightHandLocation);
var mat=Matrix.Identity;
mat.RotateAt(volume1.Angle,volume1.MiddlePoint.X,volume1.MiddlePoint.Y);
drawingContext.DrawLine(new Pen(Brushes.Blue,10),volume1.MiddlePoint,mat.Transform(volume1.RightHandLocation));
drawingContext.DrawText(new FormattedText(volume1.Angle.ToString(),CultureInfo.CurrentCulture,FlowDirection.LeftToRight,new Typeface("MS Gothic"),150,Brushes.Blue),new Point());
break;
}
}
}
}
return;
}
void kinect_AllFramesReady( object sender, AllFramesReadyEventArgs e )
{
using ( var colorFrame = e.OpenColorImageFrame() ) {
if ( colorFrame != null ) {
var pixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo( pixel );
ImageRgb.Source = BitmapSource.Create( colorFrame.Width, colorFrame.Height, 96, 96,
PixelFormats.Bgr32, null, pixel, colorFrame.Width * 4 );
}
}
using ( var depthFrame = e.OpenDepthImageFrame() ) {
if ( depthFrame != null ) {
// Depth情報を入れる
// GetRawPixelData()はインタラクションライブラリ内で実装された拡張メソッド
stream.ProcessDepth( depthFrame.GetRawPixelData(), depthFrame.Timestamp );
}
}
using ( var skeletonFrame = e.OpenSkeletonFrame() ) {
if ( skeletonFrame != null ) {
var skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo( skeletons );
// スケルトン情報を入れる
stream.ProcessSkeleton( skeletons, kinect.AccelerometerGetCurrentReading(), skeletonFrame.Timestamp );
}
}
}
void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
//throw new NotImplementedException();
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
// check for frame drop.
if (skeletonFrame == null)
{
return;
}
// copy the frame data in to the collection
skeletonFrame.CopySkeletonDataTo(totalSkeleton);
// get the first Tracked skeleton
Skeleton firstSkeleton = (from trackskeleton in totalSkeleton
where trackskeleton.TrackingState == SkeletonTrackingState.Tracked
select trackskeleton).FirstOrDefault();
// if the first skeleton returns null
if (firstSkeleton == null)
{
return;
}
this.myCanvas.Children.Clear();
this.DrawSkeleton(firstSkeleton);
recognitionEngine.Skeleton = firstSkeleton;
recognitionEngine.StartRecognize();
}
}
private Skeleton GetTrackedSkeleton(AllFramesReadyEventArgs e)
{
using (SkeletonFrame skeletonFrameData = e.OpenSkeletonFrame())
{
SkeletonDetected = false;
if (skeletonFrameData == null)
{
return null;
}
// Kinect SDK always returns 6 skeleton
const int skeletonCount = 6;
Skeleton[] allSkeletons = new Skeleton[skeletonCount];
skeletonFrameData.CopySkeletonDataTo(allSkeletons);
//Get the first tracked skeleton out of the 6
Skeleton trackedSkeleton = null;
foreach (Skeleton skeleton in allSkeletons)
{
// if no skeleton is tracked, null will be returned.
if (skeleton.TrackingState == SkeletonTrackingState.Tracked)
{
trackedSkeleton = skeleton;
SkeletonDetected = true;
break;
}
}
return trackedSkeleton;
}
}
public void KinectAllFramesReady(object sender,AllFramesReadyEventArgs e)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null && screenManager != null)
{
// take skeleton data and update avatar state
skeletonFrame.CopySkeletonDataTo(skeletonData);
float headX = skeletonData[0].Joints[JointType.Head].Position.X; //floats between -1 and 1
float headY = skeletonData[0].Joints[JointType.Head].Position.Y;
midViewPort.X = screenManager.GraphicsDevice.Viewport.Width / 2;
midViewPort.Y = screenManager.GraphicsDevice.Viewport.Height / 2;
//set the posistion of the head's rectangle to be in the center of the screen and move by the joint amount
//TODO: figure out if skeleton data stream has lower left origin, because XNA has upper left origin and we adjust for that.
head.SetRectPos((int)((headX * 100) + midViewPort.X), (int)((headY * 100) + midViewPort.Y));
//head.SetRectPos((int)((headX * 100)), (int)((headY * 100) ));
//
Console.WriteLine( "head: " + head.Rectangle.X + ", " + head.Rectangle.Y );
Console.WriteLine("joint: " + headX + ", " + headY);
}
else
{
// skeletonFrame is null because the request did not arrive in time
}
}
}
void kinect_AllFramesReady( object sender, AllFramesReadyEventArgs e )
{
image1.Source = e.OpenColorImageFrame().ToBitmapSource();
// スケルトンフレームを取得する
SkeletonFrame skeletonFrame = e.OpenSkeletonFrame();
if ( skeletonFrame != null ) {
// スケルトンデータを取得する
Skeleton[] skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo( skeletonData );
// プレーヤーごとのスケルトンを描画する
foreach ( var skeleton in skeletonData ) {
var head = skeleton.Joints[JointType.Head];
if ( head.TrackingState == JointTrackingState.Tracked ) {
ColorImagePoint point = kinect.MapSkeletonPointToColor( head.Position, kinect.ColorStream.Format );
var x = image2.Width / 2;
var y = image2.Height / 2;
image2.Margin = new Thickness( point.X - x, point.Y - y, 0, 0 );
image2.Visibility = System.Windows.Visibility.Visible;
}
}
}
}
void Kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (var Frame = e.OpenColorImageFrame())
{
if (Frame != null)
{
Frame.CopyPixelDataTo(Pixels);
Bitmap.WritePixels(
new Int32Rect(0, 0, Bitmap.PixelWidth, Bitmap.PixelHeight),
Pixels, Bitmap.PixelWidth * sizeof(int), 0);
}
}
using (var Frame = e.OpenSkeletonFrame())
{
if (Frame != null)
{
var skeletons = new Skeleton[Frame.SkeletonArrayLength];
Frame.CopySkeletonDataTo(skeletons);
var skel = (from s in skeletons where s.TrackingState == SkeletonTrackingState.Tracked select s).FirstOrDefault();
if (skel != null)
{
var left_hand = skel.Joints[JointType.HandLeft];
var rite_hand = skel.Joints[JointType.HandRight];
var shoulderRight = skel.Joints[JointType.ShoulderRight];
var fleft = skel.Joints[JointType.FootLeft];
var frite = skel.Joints[JointType.FootRight];
Joint head = skel.Joints[JointType.Head];
Point mousePos = new Point((rite_hand.Position.X * 1300 + 683), (rite_hand.Position.Y * -1300 + 768));
//двойное нажатие левой кнопкой мыши
if (distance(head.Position, left_hand.Position) < 0.06f) {
NatiteMethods.sendMouseDoubleClick(mousePos);
// правая кнопка мыши
} else if(distance(left_hand.Position, rite_hand.Position) < 0.03f) {
NatiteMethods.mouseLeftButtonDown(mousePos);
// перетаскивание
} else if(distance(shoulderRight.Position, left_hand.Position) < 0.03f) {
NatiteMethods.sendMouseRightclick(mousePos);
}
if (fleft.Position.Y <= fleft.Position.Y + 0.5f) {
// Get the virtual key code for the character we want to press
//int key = 87;
//uint vkKey = NatiteMethods.VkKeyScan((char) key);
//NatiteMethods.keybd_event(vkKey, 0, 0, 0);
//NatiteMethods.keybd_event(vkKey, 0, 2, 0);
}
NatiteMethods.SetCursorPos((int) mousePos.X, (int) mousePos.Y);
}
}
}
}
private void AllFramesReady(object sender,AllFramesReadyEventArgs e)
{
if(secondBuffer!=null){
using(ColorImageFrame colorImage=e.OpenColorImageFrame())
using(SkeletonFrame skeletonFrame=e.OpenSkeletonFrame())
if(colorImage!=null&&skeletonFrame!=null){
skeletonFrame.CopySkeletonDataTo(skeletons);
//colorImage.CopyPixelDataTo(bitmappixels);
//bitmap.WritePixels(updateRect,bitmappixels,bitmap.PixelWidth*sizeof(int),0);
using(DrawingContext drawingContext=drawingGroup.Open()){
//drawingContext.DrawImage(bitmap,drawingRect);
drawingContext.DrawRectangle(Brushes.Black,null,drawingRect);
var redPen=new Pen(Brushes.Red,5.0);
drawingContext.DrawGeometry(button.IsHitting?Brushes.White:null,redPen,button.Geometry);
drawingContext.DrawGeometry(muteButton.IsHitting?Brushes.White:null,redPen,muteButton.Geometry);
//drawingContext.DrawGeometry(boostButton.IsHitting?Brushes.White:null,redPen,boostButton.Geometry);
drawingContext.DrawGeometry(gateButton.IsHitting?Brushes.White:null,redPen,gateButton.Geometry);
drawingContext.DrawText(new FormattedText(secondBuffer.Status.Playing?"■":"▶",CultureInfo.CurrentCulture,FlowDirection.LeftToRight,new Typeface("メイリオ"),44,Brushes.Red),new Point(0,0));
foreach(Skeleton skel in skeletons){
if(skel.TrackingState==SkeletonTrackingState.Tracked){
foreach(Joint joint in skel.Joints){
if(joint.TrackingState==JointTrackingState.Tracked){
var depthPoint=sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(joint.Position,DepthImageFormat.Resolution640x480Fps30);
drawingContext.DrawEllipse(Brushes.Green,null,new Point(depthPoint.X,depthPoint.Y),10,10);
}
}
if(mode==1){
drawingContext.DrawLine(new Pen(Brushes.DarkBlue,20),distance.Joint1Location,distance.Joint2Location);
var volume=-10000+(distance.Distance<=250?distance.Distance:250)*35;
if(timer.IsEnabled) prevvolume=volume;
else secondBuffer.Volume=volume;
}else if(mode==2){
var pen=new Pen(new SolidColorBrush(Color.FromArgb(0x7F,0,0,0x8B)),12.5);
drawingContext.DrawLine(pen,volume.MiddlePoint,volume.RightHandLocation);
var mat=Matrix.Identity;
mat.RotateAt(volume.Angle,volume.MiddlePoint.X,volume.MiddlePoint.Y);
drawingContext.DrawLine(pen,volume.MiddlePoint,mat.Transform(volume.RightHandLocation));
settings[0].Gain=15/180*(-volume.Angle);
settings[1].Gain=10/180*(-volume.Angle);
settings[2].Gain=15/180*(volume.Angle);
settings[3].Gain=15/180*(volume.Angle);
settings[4].Gain=15/180*(volume.Angle);
for(int i=0;i<settings.Length;i++){
var effectInst=(ParamEqEffect)secondBuffer.GetEffects(i);
effectInst.AllParameters=settings[i];
}
}
drawingContext.DrawText(new FormattedText("ControlMode:"+(mode==0?"None":mode==1?"Volume":"Filter"),CultureInfo.CurrentCulture,FlowDirection.LeftToRight,new Typeface("メイリオ"),40,Brushes.White),new Point(0,400));
if(muteButton.IsHitting){
secondBuffer.Volume=-10000;
}
break;
}
}
}
}
}
return;
}
/// <summary>
/// Manage frames of kinect sensor according to the services activated
/// </summary>
/// <param name="e"></param>
private void ManageAllFrame(AllFramesReadyEventArgs e)
{
if (!IsRunning)
{
return;
}
// SkeletonTracking Frame Manager
using (SkeletonFrame SFrame = e.OpenSkeletonFrame())
{
try
{
ManageSkeletonFrame(SFrame);
}
catch (Exception ex)
{
// Just log the error
Console.Error.WriteLine("Error with skeleton frame : " + ex.Message + " _ " + ex.StackTrace);
}
}
// Color Frame Manager
if (PropertiesPluginKinect.Instance.EnableColorFrameService)
{
using (ColorImageFrame CFrame = e.OpenColorImageFrame())
{
try
{
ManageColorFrame(CFrame);
}
catch (Exception ex)
{
// Just log the error
Console.Error.WriteLine("Error with color frame : " + ex.Message + " _ " + ex.StackTrace);
}
}
}
// Depth Frame Manager
if (PropertiesPluginKinect.Instance.EnableDepthFrameService ||
PropertiesPluginKinect.Instance.KinectPointingModeEnabled ||
PropertiesPluginKinect.Instance.EnableGestureGrip)
{
using (DepthImageFrame DFrame = e.OpenDepthImageFrame())
{
try
{
ManageDepthFrame(DFrame);
}
catch (Exception ex)
{
// Just log the error
Console.Error.WriteLine("Error with depth frame : " + ex.Message + " _ " + ex.StackTrace);
}
}
}
}
private void updateVis(object sender, AllFramesReadyEventArgs e)
{
if (recorder.areRecording)
{
ellipse1.Fill = new SolidColorBrush(Colors.Red);
}
else if (recorder.handsMet)
{
ellipse1.Fill = new SolidColorBrush(Colors.Blue);
}
else
{
ellipse1.Fill = new SolidColorBrush(Colors.Green);
}
if (e.OpenSkeletonFrame() != null)
{
Skeleton[] skelData = new Skeleton[6];
e.OpenSkeletonFrame().CopySkeletonDataTo(skelData);
label1.Content = (skelData[0].Joints[JointType.HandLeft].Position.X - skelData[0].Joints[JointType.HandRight].Position.X).ToString();
}
}
Skeleton GetFirstSkeleton(AllFramesReadyEventArgs e)
{
using (SkeletonFrame skeletonFrameData = e.OpenSkeletonFrame())
{
if (skeletonFrameData == null)
return null;
skeletonFrameData.CopySkeletonDataTo(allSkeletons);
Skeleton first = (from s in allSkeletons
where s.TrackingState == SkeletonTrackingState.Tracked
select s).FirstOrDefault();
return first;
}
}
static void FrameHandler(object sender, AllFramesReadyEventArgs afrea)
{
using(var sf = afrea.OpenSkeletonFrame())
{
var data = new Skeleton[kinect.SkeletonStream.FrameSkeletonArrayLength];
sf.CopySkeletonDataTo(data);
foreach(Joint joint in data[0].Joints) {
if(joint.JointType == JointType.WristLeft)
Console.WriteLine("Left Wrist: ({0},{1},{2})", joint.Position.X, joint.Position.Y, joint.Position.Z);
}
}
}
//returns the latest picture!!!!!
void FramesReady(object sender, AllFramesReadyEventArgs e)
{
ColorImageFrame VFrame = e.OpenColorImageFrame();
if (VFrame == null) return;
byte[] pixelS = new byte[VFrame.PixelDataLength];
bmp = ImageToBitmap(VFrame);
SkeletonFrame SFrame = e.OpenSkeletonFrame();
if (SFrame == null) return;
Graphics g = Graphics.FromImage(bmp);
Skeleton[] Skeletons = new Skeleton[SFrame.SkeletonArrayLength];
SFrame.CopySkeletonDataTo(Skeletons);
foreach (Skeleton S in Skeletons)
{
if (S.TrackingState == SkeletonTrackingState.Tracked)
{
//body
DrawBone(JointType.Head, JointType.ShoulderCenter, S, g);
DrawBone(JointType.ShoulderCenter, JointType.Spine, S, g);
DrawBone(JointType.Spine, JointType.HipCenter, S, g);
//left leg
DrawBone(JointType.HipCenter, JointType.HipLeft, S, g);
DrawBone(JointType.HipLeft, JointType.KneeLeft, S, g);
DrawBone(JointType.KneeLeft, JointType.AnkleLeft, S, g);
DrawBone(JointType.AnkleLeft, JointType.FootLeft, S, g);
//Right Leg
DrawBone(JointType.HipCenter, JointType.HipRight, S, g);
DrawBone(JointType.HipRight, JointType.KneeRight, S, g);
DrawBone(JointType.KneeRight, JointType.AnkleRight, S, g);
DrawBone(JointType.AnkleRight, JointType.FootRight, S, g);
//Left Arm
DrawBone(JointType.ShoulderCenter, JointType.ShoulderLeft, S, g);
DrawBone(JointType.ShoulderLeft, JointType.ElbowLeft, S, g);
DrawBone(JointType.ElbowLeft, JointType.WristLeft, S, g);
DrawBone(JointType.WristLeft, JointType.HandLeft, S, g);
//Right Arm
DrawBone(JointType.ShoulderCenter, JointType.ShoulderRight, S, g);
DrawBone(JointType.ShoulderRight, JointType.ElbowRight, S, g);
DrawBone(JointType.ElbowRight, JointType.WristRight, S, g);
DrawBone(JointType.WristRight, JointType.HandRight, S, g);
}
}
}
private void kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
byte[] imagem = ObterImagemSensorRGB(e.OpenColorImageFrame());
if( chkEscalaCinza.IsChecked.HasValue && chkEscalaCinza.IsChecked.Value)
ReconhecerDistancia(e.OpenDepthImageFrame(),imagem, 2000);
if (imagem != null)
canvasKinect.Background = new ImageBrush(BitmapSource.Create(kinect.ColorStream.FrameWidth, kinect.ColorStream.FrameHeight,
96, 96, PixelFormats.Bgr32, null, imagem,
kinect.ColorStream.FrameWidth * kinect.ColorStream.FrameBytesPerPixel));
canvasKinect.Children.Clear();
DesenharEsqueletoUsuario(e.OpenSkeletonFrame());
}
public static Skeleton Get(AllFramesReadyEventArgs e, Skeleton[] allSkeletons)
{
using (SkeletonFrame skeletonFrameData = e.OpenSkeletonFrame())
{
if (skeletonFrameData != null)
{
skeletonFrameData.CopySkeletonDataTo(allSkeletons);
//get the first tracked skeleton
Skeleton first = (from s in allSkeletons
where s.TrackingState == SkeletonTrackingState.Tracked
select s).FirstOrDefault();
return first;
}
}
return null;
}
public void KinectAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletonFrame.CopySkeletonDataTo(skeletonData);
if (skeletonData[0] != null && skeletonData[0].TrackingState == SkeletonTrackingState.Tracked)
{
animationPlayer.Update(skeletonData[0], Matrix.Identity);
//animationPlayer.Draw(cameraArc, cameraDistance, cameraRotation);
}
}
}
}
private void Kinect_AllFramesReady(object sender, AllFramesReadyEventArgs allFrameEvent)
{
byte[] imagem = ObterImagemSensorRGB(allFrameEvent.OpenColorImageFrame());
FuncoesProfundidade(allFrameEvent.OpenDepthImageFrame(), imagem, 2000);
if (imagem != null)
{
canvasKinect.Background = new ImageBrush(BitmapSource.Create(Kinect.ColorStream.FrameWidth,
Kinect.ColorStream.FrameHeight,
96, 96, PixelFormats.Bgr32, null,
imagem, Kinect.ColorStream.FrameBytesPerPixel * Kinect.ColorStream.FrameWidth));
}
canvasKinect.Children.Clear();
FuncoesEsqueletoUsuario(allFrameEvent.OpenSkeletonFrame());
}
/// <summary>
/// Handles the Kinect AllFramesReady event
/// </summary>
private void Sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
ColorImageFrame colorFrame = null;
DepthImageFrame depthFrame = null;
Skeleton[] skeletonData;
try
{
colorFrame = e.OpenColorImageFrame();
depthFrame = e.OpenDepthImageFrame();
using (var skeletonFrame = e.OpenSkeletonFrame())
{
if (colorFrame == null || depthFrame == null || skeletonFrame == null)
return;
skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletonData);
}
// Find a skeleton to track.
// First see if our old one is good.
// When a skeleton is in PositionOnly tracking state, don't pick a new one
// as it may become fully tracked again.
Skeleton skeletonOfInterest = skeletonData.FirstOrDefault(s => s.TrackingId == this.trackedSkeletonId && s.TrackingState != SkeletonTrackingState.NotTracked);
if (skeletonOfInterest == null)
{
// Old one wasn't around. Find any skeleton that is being tracked and use it.
skeletonOfInterest = skeletonData.FirstOrDefault(s => s.TrackingState == SkeletonTrackingState.Tracked);
if (skeletonOfInterest != null)
this.trackedSkeletonId = skeletonOfInterest.TrackingId;
}
if (this.FrameDataUpdated != null)
this.FrameDataUpdated(this, new FrameData(colorFrame, depthFrame, skeletonOfInterest));
}
finally
{
if (colorFrame != null)
colorFrame.Dispose();
if (depthFrame != null)
depthFrame.Dispose();
}
}
void KinectSensorAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (var frame = e.OpenSkeletonFrame())
{
if (frame == null)
return;
if (_skeletons == null)
_skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(_skeletons);
}
var trackedSkeleton = _skeletons.FirstOrDefault(s => s.TrackingState == SkeletonTrackingState.Tracked);
if (trackedSkeleton == null)
return;
DrawJoints(trackedSkeleton);
}
//Obtiene el primer skeleto a mano
Skeleton GetFirstSkeleton(AllFramesReadyEventArgs e)
{
using (SkeletonFrame skeletonFrameData = e.OpenSkeletonFrame())
{
//Instanciar nuevo skeleton
skeletons = new Skeleton[skeletonFrameData.SkeletonArrayLength];
//Prevencion contra framedrop (perdida de informacion)
if (skeletonFrameData == null)
{
return null;
}
//Copia datos a skeletos
skeletonFrameData.CopySkeletonDataTo(skeletons);
//Elige el primer skeleto de todos
Skeleton first = (from s in skeletons where s.TrackingState == SkeletonTrackingState.Tracked select s).FirstOrDefault();
return first;
}
}
// FrameReady イベントのハンドラ
// 背景を描画し、骨格情報から頭の角度を取得しマウスを動かす
private void AllFramesReady( object sender, AllFramesReadyEventArgs e )
{
// 描画の準備
var drawCtx = drawVisual.RenderOpen();
// 背景の描画
drawBase( drawCtx );
using ( SkeletonFrame skeletonFrame = e.OpenSkeletonFrame() ) {
if ( skeletonFrame != null ) {
// 骨格情報をバッファにコピー
skeletonFrame.CopySkeletonDataTo( skeletonBuffer );
// 取得できた骨格毎にループ
foreach ( Skeleton skeleton in skeletonBuffer )
processSkeleton( skeleton, drawCtx );
}
}
// 画面に表示するビットマップに描画
drawCtx.Close();
bmpBuffer.Render( drawVisual );
}
private Skeleton GetFirstSkeleton(AllFramesReadyEventArgs e)
{
var allSkeletons = new Skeleton[6];
using (var skeletonFrameData = e.OpenSkeletonFrame())
{
if (skeletonFrameData == null)
{
return null;
}
skeletonFrameData.CopySkeletonDataTo(allSkeletons);
//get the first tracked skeleton
var first = (from s in allSkeletons
where s.TrackingState == SkeletonTrackingState.Tracked
select s).FirstOrDefault();
return first;
}
}
/// <summary>
/// Returns the first skeleton (the kinect recognizes up to two)
/// </summary>
/// <param name="e"></param>
/// <returns></returns>
private Skeleton getFirstSkeleton(AllFramesReadyEventArgs e)
{
using (SkeletonFrame skeletonFrameData = e.OpenSkeletonFrame())
{
if (skeletonFrameData == null)
{
return null;
}
Skeleton[] mainSkeletonData = new Skeleton[mainKinectSensor.SkeletonStream.FrameSkeletonArrayLength];
skeletonFrameData.CopySkeletonDataTo(mainSkeletonData);
//get the first tracked skeleton
Skeleton first = (from s in mainSkeletonData
where s.TrackingState == SkeletonTrackingState.Tracked
select s).FirstOrDefault();
return first;
}
}
// すべてのデータの更新通知を受け取る
void kinect_AllFramesReady( object sender, AllFramesReadyEventArgs e )
{
// Disposableなのでusingでくくる
using ( ColorImageFrame colorFrame = e.OpenColorImageFrame() ) {
if ( colorFrame != null ) {
imageRgbCamera.Source = colorFrame.ToBitmapSource();
}
}
// Disposableなのでusingでくくる
using ( DepthImageFrame depthFrame = e.OpenDepthImageFrame() ) {
if ( depthFrame != null ) {
imageDepthCamera.Source = depthFrame.ToBitmapSource();
}
}
// Disposableなのでusingでくくる
using ( SkeletonFrame skeletonFrame = e.OpenSkeletonFrame() ) {
if ( skeletonFrame != null ) {
// 骨格位置の表示
ShowSkeleton( skeletonFrame );
}
}
}
void FramesReady(object sender, AllFramesReadyEventArgs e)
{
using (ColorImageFrame VFrame = e.OpenColorImageFrame())
{
if (VFrame == null)
{
return;
}
byte[] pixelS = new byte[VFrame.PixelDataLength];
Bitmap bmap = ImageToBitmap(VFrame);
if (!((KinectSensor)sender).SkeletonStream.IsEnabled)
{
return;
}
using (SkeletonFrame SFrame = e.OpenSkeletonFrame())
{
if (SFrame == null)
{
return;
}
Graphics g = Graphics.FromImage(bmap);
Skeleton[] Skeletons = new Skeleton[SFrame.SkeletonArrayLength];
SFrame.CopySkeletonDataTo(Skeletons);
Color cor = System.Drawing.Color.Aquamarine;
foreach (Skeleton S in Skeletons)
{
if (S.TrackingState == SkeletonTrackingState.Tracked)
{
//Desenha Corpo
DrawBone(JointType.Head, JointType.ShoulderCenter, S, g);
DrawBone(JointType.ShoulderCenter, JointType.Spine, S, g);
DrawBone(JointType.Spine, JointType.HipCenter, S, g);
//Desenha Braço Esquerdo
DrawBone(JointType.ShoulderCenter, JointType.ShoulderLeft, S, g);
DrawBone(JointType.ShoulderLeft, JointType.ElbowLeft, S, g);
DrawBone(JointType.ElbowLeft, JointType.WristLeft, S, g);
DrawBone(JointType.WristLeft, JointType.HandLeft, S, g);
//Desenha Braço Direito
DrawBone(JointType.ShoulderCenter, JointType.ShoulderRight, S, g);
DrawBone(JointType.ShoulderRight, JointType.ElbowRight, S, g);
DrawBone(JointType.ElbowRight, JointType.WristRight, S, g);
DrawBone(JointType.WristRight, JointType.HandRight, S, g);
//Desenha Perna Esquerda
DrawBone(JointType.HipCenter, JointType.HipRight, S, g);
DrawBone(JointType.HipRight, JointType.KneeRight, S, g);
DrawBone(JointType.KneeRight, JointType.AnkleRight, S, g);
DrawBone(JointType.AnkleRight, JointType.FootRight, S, g);
//Desenha Perna Direita
DrawBone(JointType.HipCenter, JointType.HipLeft, S, g);
DrawBone(JointType.HipLeft, JointType.KneeLeft, S, g);
DrawBone(JointType.KneeLeft, JointType.AnkleLeft, S, g);
DrawBone(JointType.AnkleLeft, JointType.FootLeft, S, g);
//Desenha VÉRTICES
foreach (Joint j in S.Joints)
{
DrawJoint(j.JointType, S, g, cor);
}
skeleton = S;
if (t == null)
{
t = new Thread(new ThreadStart(isFall));
t.Start();
}
}
}
}
campo.Image = bmap;
}
}
private void ShowSkeleton(AllFramesReadyEventArgs e)
{
// キャンバスをクリアする
canvas1.Children.Clear();
// スケルトンフレームを取得する
SkeletonFrame skeletonFrame = e.OpenSkeletonFrame();
if (skeletonFrame != null)
{
// スケルトンデータを取得する
Skeleton[] skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletonData);
// プレーヤーごとのスケルトンを描画する
switch (skeletonMax(skeletonData))
{
case 0:
drawString("画面の中に入ってください！");
if (flicker <= 0)
{
flicker = flicker + (float)0.05;
}
else if (flicker >= 1)
{
flicker = flicker - (float)0.05;
}
break;
case 1:
skeleton = getSkeleton(skeletonData).First();
foreach (Joint joint in skeleton.Joints)
{
if (joint.JointType == JointType.HandLeft)
{
if (Math.Max(0, Math.Min(127, (int)(127 * (joint.Position.Z - 1)))) >= 63)
{
//drawCoordinate(joint, Colors.Pink);
midi1.sendNoteOff(kinectTestWPF1.App.noteChannel);
kinectTestWPF1.kinect2Midi.sendingPitch = Pitch.A0;
}
else
{
drawLine(get10(joint.Position.Y));
//drawCoordinate(joint, Colors.Aqua);
midi1.sendNoteOn(joint.Position.Y, 0, kinectTestWPF1.App.noteChannel);
}
}
if (joint.JointType == JointType.HandRight)
{
midi1.sendAll(joint.Position.X, joint.Position.Y, joint.Position.Z);
drawCircle(joint, Colors.Red, 5);
if (Math.Max(0, Math.Min(127, (int)(127 * (joint.Position.Z - 1)))) <= 63)
{
//drawCoordinate(joint, Colors.Aqua);
drawImage(joint, "images/blue.png");
}
else
{
//drawCoordinate(joint, Colors.Pink);
drawImage(joint, "images/pink.png");
}
}
else if (joint.JointType == JointType.Head)
{
drawCircle(joint, Colors.Aqua, 5);
}
else
{
drawCircle(joint, Colors.Blue, 5);
}
}
break;
case 2:
skeleton = getSkeleton(skeletonData).First();
foreach (Joint joint in skeleton.Joints)
{
if (joint.JointType == JointType.HandRight)
{
midi1.sendAll(joint.Position.X, joint.Position.Y, joint.Position.Z);
drawCircle(joint, Colors.Red, 5);
if (Math.Max(0, Math.Min(127, (int)(127 * (joint.Position.Z - 1)))) <= 63)
{
//drawCoordinate(joint, Colors.Aqua);
}
else
{
//drawCoordinate(joint, Colors.Pink);
}
}
}
skeleton = getSkeleton(skeletonData).Skip(1).First();
foreach (Joint joint in skeleton.Joints)
{
if (joint.JointType == JointType.HandLeft)
{
if (Math.Max(0, Math.Min(127, (int)(127 * (joint.Position.Z - 1)))) >= 63)
{
//drawCoordinate(joint, Colors.Pink);
midi1.sendNoteOff(kinectTestWPF1.App.noteChannel);
kinectTestWPF1.kinect2Midi.sendingPitch = Pitch.A0;
}
else
{
drawLine(get10(joint.Position.Y));
//drawCoordinate(joint, Colors.Aqua);
midi1.sendNoteOn(joint.Position.Y, 0, kinectTestWPF1.App.noteChannel);
}
}
}
break;
default:
break;
}
}
}
public void FramesReady(object sender, AllFramesReadyEventArgs e)
{
ColorImageFrame Vframe = e.OpenColorImageFrame();
if (Vframe == null)
{
return;
}
SkeletonFrame sframe = e.OpenSkeletonFrame();
if (sframe == null)
{
return;
}
Skeleton[] skeletons = new Skeleton[sframe.SkeletonArrayLength];
sframe.CopySkeletonDataTo(skeletons);
BitmapSource bmp = ImagetoBitMap(Vframe);
// CroppedBitmap croppedBitmap = new CroppedBitmap(bmp, new Int32Rect(20, 20, 100, 100));
using (DrawingContext dc = this.drawingGroup.Open())
{
// dc.DrawImage(bmp, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
//dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons != null)
{
foreach (Skeleton item in skeletons)
{
Random r = new Random();
switch (r.Next(1, 4))
{
case 1:
trackedBonPen = new Pen(Brushes.White, 5);
break;
case 2:
trackedBonPen = new Pen(Brushes.Yellow, 5);
break;
}
RenderClippedEdges(item, dc);
if (item.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(item, dc);
}
else if (item.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(item.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
}
img_sensor.Source = bmp;
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.ResetFaceTracking();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.ResetFaceTracking();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
// Update the list of trackers and the trackers with the current frame information
foreach (Skeleton skeleton in this.skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked ||
skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// We want keep a record of any skeleton, tracked or untracked.
if (!this.trackedSkeletons.ContainsKey(skeleton.TrackingId))
{
this.trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());
}
// Give each tracker the upated frame.
SkeletonFaceTracker skeletonFaceTracker;
if (this.trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))
{
skeletonFaceTracker.OnFrameReady(this.Kinect, colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);
skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;
}
}
}
this.RemoveOldTrackers(skeletonFrame.FrameNumber);
this.InvalidateVisual();
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
void sensor_allFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (windowClosing)
{
return;
}
int value;
if (int.TryParse(this.textBox_init.Text, out value))
{
initFrames = value;
}
if (fpsEnd == 1)
{
//FPS Auswahl. Bei niedrigen Frameraten werden empfangene Frames übersprungen (nicht angezeigt)
Int16 fps = Convert.ToInt16(this.dropDown_fps.Text);
switch (fps)
{
case 30:
fpsEnd = 1;
break;
case 15:
fpsEnd = 2;
break;
case 10:
fpsEnd = 3;
break;
case 5:
fpsEnd = 6;
break;
case 1:
fpsEnd = 30;
break;
}
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
// Kinect Color Frame to Bitmap
tempColorFrame = ColorImageFrameToBitmap(colorFrame);
//this.pictureBox_colorPic.Image = new Bitmap(tempColorFrame, this.pictureBox_colorPic.Width, this.pictureBox_colorPic.Height);
}
}
/*
* using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
* {
* if (depthFrame != null)
* {
* // Kinect Depth Frame to Bitmap
* Bitmap tempDepthFrame = DepthImageFrameToBitmap(depthFrame);
* this.pictureBox_depthPic.Image = new Bitmap(tempDepthFrame, this.pictureBox_depthPic.Width, this.pictureBox_depthPic.Height);
* }
* }
*/
using (SkeletonFrame skelFrame = e.OpenSkeletonFrame())
{
if (skelFrame != null)
{
Image tempSkeletonFrame = new Bitmap(this.pictureBox_skeleton.Width, this.pictureBox_skeleton.Height);
// zeichne Skelette auf schwarzem Hintergrund in der Picturebox
this.pictureBox_skeleton.BackColor = Color.Black;
if (checkBox_colorCam.Checked)
{
tempSkeletonFrame = tempColorFrame;
}
Skeleton[] skeletons = new Skeleton[skelFrame.SkeletonArrayLength];
skelFrame.CopySkeletonDataTo(skeletons);
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
//Zeichne Skelett
DrawSkeletons(tempSkeletonFrame, skel);
if (BVHFile != null)
{
if (BVHFile.isRecording == true && BVHFile.isInitializing == true)
{
BVHFile.Entry(skel);
if (BVHFile.intializingCounter > initFrames)
{
BVHFile.startWritingEntry();
}
}
if (BVHFile.isRecording == true && BVHFile.isInitializing == false)
{
BVHFile.Motion(skel);
this.textBox_sensorStatus.Text = "Record";
this.textBox_sensorStatus.BackColor = Color.Green;
}
}
}
}
}
this.pictureBox_skeleton.Image = tempSkeletonFrame;
}
}
}
else
{
fpsEnd -= 1;
}
}
void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (windowClosing)
{
return;
}
int value;
if (int.TryParse(this.textBoxInitial.Text, out value))
{
initFrames = value;
}
if (fpsEnd == 1)
{
// FPS - Количество кадров в секунду (При <30 лишние кадры отбрасываются)
Int16 fps = Convert.ToInt16(this.dropDownFps.Text);
switch (fps)
{
case 30:
fpsEnd = 1;
break;
case 15:
fpsEnd = 2;
break;
case 10:
fpsEnd = 3;
break;
case 5:
fpsEnd = 6;
break;
case 1:
fpsEnd = 30;
break;
}
// Сохранение текущего полученного кадра изображения во временное хранилище
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
tempColorFrame = ColorImageFrameToBitmap(colorFrame);
}
}
// Получение кадра потока глубины
using (SkeletonFrame skelFrame = e.OpenSkeletonFrame())
{
if (skelFrame != null)
{
Image tempSkeletonFrame = new Bitmap(this.pictureBoxSkeleton.Width, this.pictureBoxSkeleton.Height);
// Отображение кадра скелетного потока и кадра видеопотока
this.pictureBoxSkeleton.BackColor = Color.Black;
if (checkBoxСolor.Checked)
{
tempSkeletonFrame = tempColorFrame;
}
Skeleton[] skeletons = new Skeleton[skelFrame.SkeletonArrayLength];
skelFrame.CopySkeletonDataTo(skeletons);
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
// Нарисовать элемент скелета, если он находится в поле зрения камеры
DrawSkeletons(tempSkeletonFrame, skel);
if (BVHFile != null)
{
if (BVHFile.isRecording == true && BVHFile.isInitializing == true)
{
BVHFile.Entry(skel);
if (BVHFile.intializingCounter > initFrames)
{
BVHFile.startWritingEntry();
}
}
if (BVHFile.isRecording == true && BVHFile.isInitializing == false)
{
BVHFile.Motion(skel);
this.textBoxSensorStatus.Text = "Recording.";
this.textBoxSensorStatus.BackColor = Color.Green;
}
}
}
}
}
this.pictureBoxSkeleton.Image = tempSkeletonFrame;
}
}
}
else
{
fpsEnd -= 1;
}
}
void sensor_allFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (windowClosing)
{
return;
}
int value;
if (int.TryParse(this.textBox_init.Text, out value))
{
initFrames = value;
}
if (fpsEnd == 1)
{
//FPS Suggestion. Bei niedrigen Frameraten werden empfangene Frames übersprungen (nicht angezeigt)
Int16 fps = Convert.ToInt16(this.dropDown_fps.Text);
switch (fps)
{
case 30:
fpsEnd = 1;
break;
case 15:
fpsEnd = 2;
break;
case 10:
fpsEnd = 3;
break;
case 5:
fpsEnd = 6;
break;
case 1:
fpsEnd = 30;
break;
}
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
// Kinect Color Frame to Bitmap
tempColorFrame = ColorImageFrameToBitmap(colorFrame);
this.pictureBox_colorPic.BackgroundImage = tempColorFrame; // this.pictureBox_colorPic.Image = new Bitmap(tempColorFrame, this.pictureBox_colorPic.Width, this.pictureBox_colorPic.Height);
// Too slow ifnot scaled down by 10x
//this.pictureBox_colorPic.BackgroundImage = BitmapManipulator.ConvertImageToHeatmapBitMap(BitmapManipulator.ScaleBitmap(tempColorFrame, 0.1, 0.1, System.Drawing.Drawing2D.InterpolationMode.Default), Heatmap, false);
}
}
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
// Kinect Depth Frame to Bitmap
Bitmap tempDepthFrame = DepthImageFrameToBitmap(depthFrame);
this.pictureBox_depthPic.BackgroundImage = tempDepthFrame; // this.pictureBox_depthPic.Image = new Bitmap(tempDepthFrame, this.pictureBox_depthPic.Width, this.pictureBox_depthPic.Height);
objectsFound = 0;
depthBmp = ImageHelpers.SliceDepthImage(depthFrame, (int)trackBarDepthMinDistance.Value, (int)trackBarDepthMaxDistance.Value);
Image<Bgr, Byte> openCVImg = new Image<Bgr, byte>(depthBmp);
Image<Gray, byte> gray_image = openCVImg.Convert<Gray, byte>();
using (MemStorage stor = new MemStorage())
{
//Find contours with no holes try CV_RETR_EXTERNAL to find holes
Contour<System.Drawing.Point> contours = gray_image.FindContours(
Emgu.CV.CvEnum.CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE,
Emgu.CV.CvEnum.RETR_TYPE.CV_RETR_EXTERNAL,
stor);
for (int i = 0; contours != null; contours = contours.HNext)
{
i++;
if ((contours.Area > Math.Pow(trackBarObjectMinSize.Value, 2)) && (contours.Area < Math.Pow(trackBarObjectMaxSize.Value, 2)))
{
MCvBox2D box = contours.GetMinAreaRect();
openCVImg.Draw(box, new Bgr(System.Drawing.Color.Red), 2);
objectsFound++;
}
}
}
pictureBox_depthPicSmoothed.BackgroundImage = openCVImg.Bitmap;
richTextBoxObjectFound.Text = objectsFound.ToString();
// The Smoothed Image will apply both a filter and a weighted moving average over the
// depth data from the Kinect (depending on UI selections)
//pictureBox_depthPicSmoothed.BackgroundImage = CreateSmoothImageFromDepthArray(tempDepthFrame); // pictureBox_depthPicSmoothed.Image = CreateSmoothImageFromDepthArray(tempDepthFrame);
// Create a pseudo color of the depth map
// Too slow for 30 frames per second if not scaled down by 10x
//this.pictureBox_depthPicSmoothed.BackgroundImage = BitmapManipulator.ConvertImageToHeatmapBitMap(BitmapManipulator.ScaleBitmap(tempDepthFrame, 0.1, 0.1, System.Drawing.Drawing2D.InterpolationMode.Default), Heatmap, false);
// Create a byte arrya of the depth data
//ConvertDepthFrameData(sender, depthFrame);
DepthImagePixel[] depth = depthFrame.GetRawPixelData();
pictureBox_colorPic.BackgroundImage = LightBuzz.Vitruvius.WinForms.DepthExtensions.ToBitmap(depthFrame, PixelFormat.Format32bppRgb, LightBuzz.Vitruvius.WinForms.DepthImageMode.Colors);
}
}
using (SkeletonFrame skelFrame = e.OpenSkeletonFrame())
{
if (skelFrame != null)
{
Image tempSkeletonFrame = new Bitmap(this.pictureBox_skeleton.Width, this.pictureBox_skeleton.Height);
// make the background black if there is no image
this.pictureBox_skeleton.BackColor = Color.Black;
this.pictureBox_skeleton.BackgroundImage = null;
if (checkBox_colorCam.Checked)
{
tempSkeletonFrame = new Bitmap(tempColorFrame);
}
if (this.checkBoxShowSkeleton.Checked)
{
Skeleton[] skeletons = new Skeleton[skelFrame.SkeletonArrayLength];
skelFrame.CopySkeletonDataTo(skeletons);
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
//Zeichne Skelett
DrawSkeletons(tempSkeletonFrame, skel);
if (skel != null)
{
double height = LightBuzz.Vitruvius.SkeletonExtensions.Height(skel);
}
if (NGEFile != null)
{
if (NGEFile.isRecording == true && NGEFile.isInitializing == true)
{
NGEFile.Entry(skel);
if (NGEFile.intializingCounter > initFrames)
{
NGEFile.startWritingEntry();
}
}
if (NGEFile.isRecording == true && NGEFile.isInitializing == false)
{
NGEFile.Motion(skel);
this.textBox_sensorStatus.Text = "Record";
this.textBox_sensorStatus.BackColor = Color.Green;
}
}
}
}
}
this.pictureBox_skeleton.BackgroundImage = tempSkeletonFrame; // this.pictureBox_skeleton.Image = tempSkeletonFrame;
//this.pictureBox_skeleton.Image = new Bitmap(tempSkeletonFrame, this.pictureBox_skeleton.Width, this.pictureBox_skeleton.Height);
}
}
}
}
else
{
fpsEnd -= 1;
}
UpdateFps();
}
/// <summary>
/// RGBカメラ、スケルトンのフレーム更新イベント
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
try {
KinectSensor kinect = sender as KinectSensor;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame()) {
if (colorFrame != null)
{
byte[] colorPixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixel);
imageRgb.Source = BitmapSource.Create(colorFrame.Width, colorFrame.Height, 96, 96,
PixelFormats.Bgr32, null, colorPixel, colorFrame.Width * colorFrame.BytesPerPixel);
}
}
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame()) {
if (skeletonFrame != null)
{
// トラッキングされているスケルトンのジョイントを描画する
Skeleton skeleton = skeletonFrame.GetFirstTrackedSkeleton();
if ((skeleton != null) && (skeleton.TrackingState == SkeletonTrackingState.Tracked))
{
Joint hand = skeleton.Joints[JointType.HandRight];
if (hand.TrackingState == JointTrackingState.Tracked)
{
ImageSource source = imageRgb.Source;
DrawingVisual drawingVisual = new DrawingVisual();
using (DrawingContext drawingContext = drawingVisual.RenderOpen()) {
//バイト列をビットマップに展開
//描画可能なビットマップを作る
drawingContext.DrawImage(imageRgb.Source,
new Rect(0, 0, source.Width, source.Height));
// 手の位置に円を描画
DrawSkeletonPoint(drawingContext, hand);
}
// 描画可能なビットマップを作る
// http://stackoverflow.com/questions/831860/generate-bitmapsource-from-uielement
RenderTargetBitmap bitmap = new RenderTargetBitmap((int)source.Width,
(int)source.Height, 96, 96, PixelFormats.Default);
bitmap.Render(drawingVisual);
imageRgb.Source = bitmap;
// Frame中の手の位置をディスプレイの位置に対応付ける
ColorImagePoint point = kinect.MapSkeletonPointToColor(hand.Position, // スケルトン座標 → RGB画像座標
kinect.ColorStream.Format);
System.Windows.Forms.Screen screen = System.Windows.Forms.Screen.AllScreens[0]; // メインディスプレイの情報を取得
point.X = (point.X * screen.Bounds.Width) / kinect.ColorStream.FrameWidth;
point.Y = (point.Y * screen.Bounds.Height) / kinect.ColorStream.FrameHeight;
// マウスカーソルの移動
SendInput.MouseMove(point.X, point.Y, screen);
// クリック動作
if (IsClicked(skeletonFrame, point))
{
SendInput.LeftClick();
}
}
}
}
}
}
catch (Exception ex) {
MessageBox.Show(ex.Message);
}
}
/// <summary>
/// Function for processing each skeleton
/// </summary>
/// <param name="e">All frames ready event arguments</param>
private void ProcessSkeletons(AllFramesReadyEventArgs e)
{
// Clear current relationship results
Relationships.Clear();
using (SkeletonFrame skeletonData = e.OpenSkeletonFrame())
{
if (skeletonData == null)
{
return;
}
Skeletons = new Skeleton[skeletonData.SkeletonArrayLength];
skeletonData.CopySkeletonDataTo(Skeletons);
// Cycle Through Each Skeleton
foreach (Skeleton skeleton in Skeletons)
{
if (skeleton.TrackingState != SkeletonTrackingState.Tracked)
{
continue;
}
if (!Relationships.ContainsKey(skeleton.TrackingId))
{
Relationships.Add(skeleton.TrackingId, new Dictionary <JointType, Dictionary <string, Dictionary <Relationship, Single> > >());
}
// Cycle Through Each Actor
foreach (KeyValuePair <JointType, Dictionary <string, List <Relationship> > > actor in JointRelationshipsUsed)
{
SkeletonPoint actorPos = NormalizeJoint(skeleton.Joints[actor.Key]);
if (!Relationships[skeleton.TrackingId].ContainsKey(actor.Key))
{
Relationships[skeleton.TrackingId].Add(actor.Key, new Dictionary <string, Dictionary <Relationship, Single> >());
}
// Cycle Through Each Relative
foreach (KeyValuePair <string, List <Relationship> > relative in actor.Value)
{
if (!Relationships[skeleton.TrackingId][actor.Key].ContainsKey(relative.Key))
{
Relationships[skeleton.TrackingId][actor.Key].Add(relative.Key, new Dictionary <Relationship, Single>());
}
// Cycle Through Each Relationship
foreach (Relationship relation in relative.Value)
{
JointType? relativeJoint = relative.Key.ParseJoint();
SkeletonPoint relativePos = new SkeletonPoint();
if (relativeJoint != null)
{
relativePos = NormalizeJoint(skeleton.Joints[relativeJoint.Value]);
}
else
{
relativePos = StaticReferences[relative.Key];
}
switch (relation)
{
case Relationship.Above:
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, Convert.ToSingle(actorPos.Y >= relativePos.Y));
break;
case Relationship.Below:
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, Convert.ToSingle(actorPos.Y < relativePos.Y));
break;
case Relationship.Behind:
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, Convert.ToSingle(actorPos.Z >= relativePos.Z));
break;
case Relationship.InfrontOf:
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, Convert.ToSingle(actorPos.Z < relativePos.Z));
break;
case Relationship.RightOf:
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, Convert.ToSingle(actorPos.X >= relativePos.X));
break;
case Relationship.LeftOf:
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, Convert.ToSingle(actorPos.X < relativePos.X));
break;
case Relationship.Distance:
SkeletonPoint deltaPos = new SkeletonPoint()
{
X = actorPos.X - relativePos.X, Y = actorPos.Y - relativePos.Y, Z = actorPos.Z - relativePos.Z
};
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, Convert.ToSingle(Math.Sqrt((deltaPos.X * deltaPos.X) + (deltaPos.Y * deltaPos.Y) + (deltaPos.Z * deltaPos.Z))));
break;
case Relationship.XChange:
if (ReferenceRelationships.ContainsKey(skeleton.TrackingId))
{
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, ReferenceRelationships[skeleton.TrackingId][actor.Key].X - actorPos.X);
}
break;
case Relationship.YChange:
float curY = NormalizeJoint(skeleton.Joints[actor.Key]).Y;
if (ReferenceRelationships.ContainsKey(skeleton.TrackingId))
{
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, ReferenceRelationships[skeleton.TrackingId][actor.Key].Y - actorPos.Y);
}
break;
case Relationship.ZChange:
float curZ = NormalizeJoint(skeleton.Joints[actor.Key]).Z;
if (ReferenceRelationships.ContainsKey(skeleton.TrackingId))
{
Relationships[skeleton.TrackingId][actor.Key][relative.Key].Add(relation, ReferenceRelationships[skeleton.TrackingId][actor.Key].Z - actorPos.Z);
}
break;
default:
break;
}
}
}
}
// Now that the current relationships have been determined process the result for gesture recognition
ProcessGestures(skeleton, Relationships[skeleton.TrackingId]);
}
}
}
//function for event-handling. Every data-update from the sensor is handled in this function.
//If there is any data it copies it to a bitmap making it possible to overwrite the Image-control in XAML.
public void framesready(object sender, AllFramesReadyEventArgs e, System.Windows.Controls.Image image, KinectSensor sensor)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame == null)
{
return;
}
// Important rendering objects.
Bitmap bmap = Drawing.ImageToBitmap(colorFrame);
Graphics g = Graphics.FromImage(bmap);
SkeletonFrame SFrame = e.OpenSkeletonFrame();
//If the frame would be null you can't do anything.
if (SFrame == null)
{
return;
}
//Create skeleton-array for skeleton-data-storing
Skeleton[] Skeletons = new Skeleton[SFrame.SkeletonArrayLength];
//-------set important values for the slider-control. And set values that are good for----
// back -angle while running.
slider.Maximum = 80;
slider.Minimum = -20;
int sliderValue = (int)slider.Value;
if (sliderValue >= -5 && sliderValue <= 15)
{
System.Windows.Media.Color color = new System.Windows.Media.Color();
color = System.Windows.Media.Color.FromRgb(0, 255, 0);
slider.Background = new System.Windows.Media.SolidColorBrush(color);
}
else
{
System.Windows.Media.Color color = new System.Windows.Media.Color();
color = System.Windows.Media.Color.FromRgb(255, 0, 0);
slider.Background = new System.Windows.Media.SolidColorBrush(color);
}
//--------------------------------------------------------------------------------------
SFrame.CopySkeletonDataTo(Skeletons);
foreach (Skeleton S in Skeletons)
{
if (S.TrackingState == SkeletonTrackingState.Tracked)
{
if (sensor == _sensor)
{
Drawing.DrawTrackedSkeletonJoint(S.Joints, S, g, sensor);
if ((0f <= S.Joints[JointType.FootLeft].Position.Z || S.Joints[JointType.FootLeft].Position.Z < 0f))
{
time.Add(MilliSeconds.ToString());
Drawing.WritePositionToFile(S.Joints[JointType.FootLeft], FootPositions, time);
}
// Drawing.WriteAngleToFile(S.Joints[JointType.KneeLeft], S.Joints[JointType.AnkleLeft], S.Joints[JointType.HipLeft], S.Joints[JointType.AnkleRight], kneeup, heelkick);
textBox.Text = Drawing.calculateAngleFoot(S.Joints).ToString();
angle_foot = Drawing.calculateAngleFoot(S.Joints);
}
else
{
Drawing.DrawSkeletonSidewaySensor(S.Joints, S, g, sensor);
try
{
slider.Value = Drawing.calculateAngleBack(S.Joints);
angle_back = slider.Value;
}
catch (ArgumentException)
{
MessageBox.Show("");
}
Drawing.WriteAngleToFile(S.Joints[JointType.KneeLeft], S.Joints[JointType.AnkleLeft], S.Joints[JointType.HipLeft], S.Joints[JointType.AnkleRight], kneeup, heelkick);
}
}
}
//Change the source of the Image-instance in the XAML-file to the current frame.
image.Source = Drawing.Convert(bmap);
}
}
private void AllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for changes in any of the data this function is receiving
// and reset things appropriately.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.DestroyFaceTracker();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.DestroyFaceTracker();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
this.colorImageWritableBitmap = null;
this.ColorImage.Source = null;
this.theMaterial.Brush = null;
}
if (this.skeletonData != null && this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = null;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
if (this.colorImageWritableBitmap == null)
{
this.colorImageWritableBitmap = new WriteableBitmap(
colorImageFrame.Width, colorImageFrame.Height, 96, 96, PixelFormats.Bgr32, null);
this.ColorImage.Source = this.colorImageWritableBitmap;
this.theMaterial.Brush = new ImageBrush(this.colorImageWritableBitmap)
{
ViewportUnits = BrushMappingMode.Absolute
};
}
if (this.skeletonData == null)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
// Copy data received in this event to our buffers.
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
this.colorImageWritableBitmap.WritePixels(
new Int32Rect(0, 0, colorImageFrame.Width, colorImageFrame.Height),
this.colorImage,
colorImageFrame.Width * Bgr32BytesPerPixel,
0);
// Find a skeleton to track.
// First see if our old one is good.
// When a skeleton is in PositionOnly tracking state, don't pick a new one
// as it may become fully tracked again.
Skeleton skeletonOfInterest =
this.skeletonData.FirstOrDefault(
skeleton =>
skeleton.TrackingId == this.trackingId &&
skeleton.TrackingState != SkeletonTrackingState.NotTracked);
if (skeletonOfInterest == null)
{
// Old one wasn't around. Find any skeleton that is being tracked and use it.
skeletonOfInterest =
this.skeletonData.FirstOrDefault(
skeleton => skeleton.TrackingState == SkeletonTrackingState.Tracked);
if (skeletonOfInterest != null)
{
// This may be a different person so reset the tracker which
// could have tuned itself to the previous person.
if (this.faceTracker != null)
{
this.faceTracker.ResetTracking();
}
this.trackingId = skeletonOfInterest.TrackingId;
}
}
bool displayFaceMesh = false;
if (skeletonOfInterest != null && skeletonOfInterest.TrackingState == SkeletonTrackingState.Tracked)
{
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(this.Kinect);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame faceTrackFrame = this.faceTracker.Track(
this.colorImageFormat,
this.colorImage,
this.depthImageFormat,
this.depthImage,
skeletonOfInterest);
if (faceTrackFrame.TrackSuccessful)
{
this.UpdateMesh(faceTrackFrame);
// Only display the face mesh if there was a successful track.
displayFaceMesh = true;
}
}
}
else
{
this.trackingId = -1;
}
this.viewport3d.Visibility = displayFaceMesh ? Visibility.Visible : Visibility.Hidden;
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
/// <summary>
/// RGBカメラ、距離カメラ、骨格のフレーム更新イベント
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
try {
// Kinectのインスタンスを取得する
KinectSensor kinect = sender as KinectSensor;
if (kinect == null)
{
return;
}
// RGBカメラのフレームデータを取得する
using (ColorImageFrame colorFrame = e.OpenColorImageFrame()) {
if (colorFrame != null)
{
// RGBカメラのピクセルデータを取得する
byte[] colorPixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixel);
// ピクセルデータをビットマップに変換する
Bitmap bitmap = new Bitmap(kinect.ColorStream.FrameWidth, kinect.ColorStream.FrameHeight,
System.Drawing.Imaging.PixelFormat.Format32bppRgb);
Rectangle rect = new Rectangle(0, 0, bitmap.Width, bitmap.Height);
BitmapData data = bitmap.LockBits(rect, ImageLockMode.WriteOnly,
PixelFormat.Format32bppRgb);
Marshal.Copy(colorPixel, 0, data.Scan0, colorPixel.Length);
bitmap.UnlockBits(data);
pictureBoxRgb.Image = bitmap;
}
}
// 書き込み用のビットマップデータを作成(32bit bitmap)
// 16bpp グレースケールは表示できない
// 距離カメラのフレームデータを取得する
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame()) {
if (depthFrame != null)
{
// 距離データを画像化して表示
Bitmap bitmap = new Bitmap(kinect.DepthStream.FrameWidth, kinect.DepthStream.FrameHeight,
System.Drawing.Imaging.PixelFormat.Format32bppRgb);
Rectangle rect = new Rectangle(0, 0, bitmap.Width, bitmap.Height);
BitmapData data = bitmap.LockBits(rect, ImageLockMode.WriteOnly,
System.Drawing.Imaging.PixelFormat.Format32bppRgb);
byte[] gray = ConvertDepthColor(kinect, depthFrame);
Marshal.Copy(gray, 0, data.Scan0, gray.Length);
bitmap.UnlockBits(data);
pictureBoxDepth.Image = bitmap;
}
}
// スケルトンのフレームを取得する
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame()) {
if (skeletonFrame != null)
{
Graphics g = Graphics.FromImage(pictureBoxRgb.Image);
// スケルトンのデータを取得する
Skeleton[] skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
// トラッキングされているスケルトンのジョイントを描画する
foreach (var skeleton in skeletons)
{
// スケルトンがトラッキング状態(デフォルトモード)の場合は、ジョイントを描画する
if (skeleton.TrackingState == SkeletonTrackingState.Tracked)
{
// ジョイントを描画する
foreach (Joint joint in skeleton.Joints)
{
// ジョイントがトラッキングされていなければ次へ
if (joint.TrackingState != JointTrackingState.Tracked)
{
continue;
}
// スケルトンの座標を、RGBカメラの座標に変換して円を書く
DrawEllipse(kinect, g, joint.Position);
}
}
// スケルトンが位置追跡(ニアモードの)の場合は、スケルトン位置(Center hip)を描画する
else if (skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// スケルトンの座標を、RGBカメラの座標に変換して円を書く
DrawEllipse(kinect, g, skeleton.Position);
}
}
}
}
}
catch (Exception ex) {
MessageBox.Show(ex.Message);
}
}
void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (windowClosing)
{
return;
}
if (replay != null && !replay.IsFinished)
{
return;
}
if (fpsEnd == 1)
{
fpsEnd = SelectFPS();
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
System.Drawing.Image tempStreamFrame = new Bitmap((int)this.image_stream.MinWidth, (int)this.image_stream.MinHeight);
// Kinect Color Frame to Bitmap
tempColorFrame = ColorImageFrameToBitmap(colorFrame);
tempStreamFrame = tempColorFrame;
// Help to translate system Drawing.Image to Windows.Media.ImageSource
BitmapImage bi = new BitmapImage();
bi.BeginInit();
// Save to a memory stream...
tempStreamFrame.Save(ms_Stream, ImageFormat.Bmp);
// Rewind the stream...
ms_Stream.Seek(0, SeekOrigin.Begin);
// Tell the WPF image to use this stream...
bi.StreamSource = ms_Stream;
bi.EndInit();
this.image_stream.Source = bi;
// Record
if (recorder != null && recorder.Options != 0)
{
recorder.Record(colorFrame);
}
}
}
using (SkeletonFrame skelFrame = e.OpenSkeletonFrame())
{
if (skelFrame != null)
{
Skeleton[] skeletons = new Skeleton[skelFrame.SkeletonArrayLength];
skelFrame.CopySkeletonDataTo(skeletons);
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
if (BVHFile != null)
{
if (BVHFile.IsRecording == true && BVHFile.IsInitializing == true)
{
BVHFile.Entry(skel);
if (BVHFile.intializingCounter > initFrames)
{
BVHFile.StartWritingEntry();
}
}
if (BVHFile.IsRecording == true && BVHFile.IsInitializing == false)
{
BVHFile.Motion(skel);
Controls.ConsoleControl.LogEntries.Add(new LogEntry(DateTime.Now, "Recording..."));
}
}
}
}
}
}
}
}
else
{
fpsEnd -= 1;
}
}
// Reads the skeleton
public void UpdateSkeleton(object sender, AllFramesReadyEventArgs imageFrames)
{
using (SkeletonFrame skeletonFrame = imageFrames.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
if ((SkeletonData == null) || (SkeletonData.Length != skeletonFrame.SkeletonArrayLength))
{
SkeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
skeletonFrame.CopySkeletonDataTo(SkeletonData);
}
}
if (SkeletonData != null)
{
//Console.WriteLine(skeletonData.Length);
foreach (Skeleton skel in SkeletonData)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
Skeleton = skel;
}
}
}
}
/// <summary>
/// Event handler for Kinect sensor's SkeletonFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (shuttingDown)
{
return;
}
KinectSensor sensor = (KinectSensor)sender;
ColorImageFrame colorFrame = e.OpenColorImageFrame();
if (colorFrame == null) return;
if (colorPixelData[sensor] == null)
colorPixelData[sensor] = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixelData[sensor]);
colorFrame = null;
DepthImageFrame depthFrame = e.OpenDepthImageFrame();
if (depthFrame == null) return;
if (depthPixelData[sensor] == null)
depthPixelData[sensor] = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixelData[sensor]);
depthFrame = null;
SkeletonFrame skeletonFrame = e.OpenSkeletonFrame();
if (skeletonFrame == null) return;
skeletonFrame.CopySkeletonDataTo(skeletons[sensor]);
skeletonFrame = null;
SensorFrameHelper(sensor, true);
}
private void KinectSensorOnAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (frameProccessed[1] == false)
{
frameProccessed[1] = true;
}
else
{
frameProccessed[1] = false;
return;
}
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = e.OpenColorImageFrame();
depthImageFrame = e.OpenDepthImageFrame();
skeletonFrame = e.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
if (this.depthImageFormat != depthImageFrame.Format)
{
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
using (depthImageFrame)
{
if (depthImageFrame != null && skeletonData != null)
{
foreach (Skeleton sd in skeletonData)
{
if (sd.TrackingState == SkeletonTrackingState.Tracked || sd.TrackingState == SkeletonTrackingState.PositionOnly)
{
Joint joint = sd.Joints[JointType.Head];
DepthImagePoint depthPoint;
CoordinateMapper coordinateMapper = new CoordinateMapper(frontSensor);
depthPoint = coordinateMapper.MapSkeletonPointToDepthPoint(joint.Position, DepthImageFormat.Resolution320x240Fps30);
point = new System.Windows.Point((int)(frontSensor.ColorStream.FrameWidth * depthPoint.X
/ depthImageFrame.Width),
(int)(frontSensor.ColorStream.FrameHeight * depthPoint.Y
/ depthImageFrame.Height));
/* textBlock1.Text = string.Format("X:{0:0.00} Y:{1:0.00} Z:{2:0.00}",
* point.X,
* point.Y,
* joint.Position.Z); */
Canvas.SetLeft(headEllipse, point.X - headEllipse.Width / 2);
Canvas.SetTop(headEllipse, point.Y - headEllipse.Height / 2);
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(frontSensor);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTrack
// is unable to be instantiated. Catch that exception
// and don't track a face.
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, sd);
if (frame.TrackSuccessful)
{
faceTriangles = frame.GetTriangles();
this.facePoints = frame.GetProjected3DShape();
var faceModelPts = new List <Point>();
var faceModel = new List <FaceModelTriangle>();
for (int i = 0; i < this.facePoints.Count; i++)
{
faceModelPts.Add(new Point(this.facePoints[i].X + 0.5f, this.facePoints[i].Y + 0.5f));
}
foreach (var t in faceTriangles)
{
var triangle = new FaceModelTriangle();
triangle.P1 = faceModelPts[t.First];
//triangle.P2 = faceModelPts[t.Second];
//triangle.P3 = faceModelPts[t.Third];
faceModel.Add(triangle);
}
Canvas.SetLeft(noseEllipse, faceModel[108].P1.X - noseEllipse.Width / 2);
Canvas.SetTop(noseEllipse, faceModel[108].P1.Y - noseEllipse.Height / 2);
nosePoint = new Point(faceModel[108].P1.X, faceModel[108].P1.Y);
}
}
}
}
}
}
getAttentionAngle(nosePoint);
}
}
private void run(object sender, AllFramesReadyEventArgs e)
{
//if (!takeFrame)
using (ColorImageFrame frame_colour = e.OpenColorImageFrame())
using (DepthImageFrame frame_depth = e.OpenDepthImageFrame())
using (SkeletonFrame frame_skel = e.OpenSkeletonFrame())
{
frames++;
if (frames % gap != 0)
{
//try { e.OpenColorImageFrame().Dispose(); }
//catch (Exception noFrameException) { };
takeFrame = true;
return;
}
else
{
takeFrame = false;
}
if (null != frame_colour)
{
byte[] rawColorImage = new byte[frame_colour.PixelDataLength];
frame_colour.CopyPixelDataTo(rawColorImage);
ProcessFrame(rawColorImage);
if (null != frame_depth)
{
DepthImagePixel[] depthImage = new DepthImagePixel[frame_depth.PixelDataLength];
frame_depth.CopyDepthImagePixelDataTo(depthImage);
int newX = Math.Max(x - 150, 0);
depth = depthImage[x + (y * 640)].Depth;
lbl_depth.Content = depth;
/*
* //double x_pos = Math.Round((2.2 * 2 * Math.Tan(57) * (this.x - 320))/ 640, 4);
* double x_pos = 0.00425 * (this.x - 320);
*
* double y_pos = Math.Round((2.2 * 2 * Math.Tan(21.5) * (this.y - 240) * -1) / 480, 4);
* double y_pos2 = (y_pos * -1) -0.45;
* // +1.05
* //Console.WriteLine("Depth: " + depth + ", " +
* //label3.Content = "X/Y = " + x_pos + ", " + y_pos + " (" + y_pos2 + ")";
*
* double actual_y_skel = (y_pos2) * 1000; // -1.6
* this.y_actual = actual_y_skel;
* this.x_actual = x_pos;
* //double actual_x_skel = (x_pos - 2.2) * 1000;
*/
//double x_pos = Math.Round((2.2 * 2 * Math.Tan(57) * tempX) / 640, 4);
double x_pos = 0.00425 * (this.x - 320);
double y_pos = Math.Round((2.2 * 2 * Math.Tan(21.5) * (this.y - 240) * -1) / 480, 4);
//double y_pos2 = (y_pos * -1) + 1.05;
double y_pos2 = (y_pos * -1) - 0.155;
this.x_actual = x_pos;
this.y_actual = y_pos2;
}
}
processSkeleton(frame_skel);
//ProcessFrame(MaskedRGB);
}
}
private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
handleSkeletonFrame(e.OpenSkeletonFrame());
handleDepthImageFrame(e.OpenDepthImageFrame());
handleColorImageFrame(e.OpenColorImageFrame());
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.ResetFaceTracking();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.ResetFaceTracking();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
// Update the list of trackers and the trackers with the current frame information
var i = 0;
foreach (Skeleton skeleton in this.skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked ||
skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// We want keep a record of any skeleton, tracked or untracked.
if (!this.trackedSkeletons.ContainsKey(skeleton.TrackingId))
{
this.trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());
}
var position = skeleton.Position;
if (position.X != 0 && position.Y != 0 && position.Z != 0)
{
Console.WriteLine($"Face {i}: X {position.X}, Y {position.Y}, Z {position.Z}");
string text = position.X + "\r\n" + position.Y + "\r\n" + position.Z;
System.IO.File.WriteAllText(@"C:\Users\Mykayla\Desktop\transforms\coords_" + file_index + ".txt", text);
file_index++;
}
// Give each tracker the upated frame.
SkeletonFaceTracker skeletonFaceTracker;
if (this.trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))
{
skeletonFaceTracker.OnFrameReady(this.Kinect, colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);
skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;
}
}
i += 1;
}
this.RemoveOldTrackers(skeletonFrame.FrameNumber);
this.InvalidateVisual();
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
private void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
bool depthReceived = false;
bool colorReceived = false;
using (DepthImageFrame framesDistancia = e.OpenDepthImageFrame())
{
if (framesDistancia == null)
{
return;
}
framesDistancia.CopyDepthImagePixelDataTo(this.depthPixels);
depthReceived = true;
if (datosDistancia == null)
{
datosDistancia = new short[framesDistancia.PixelDataLength];
}
if (colorImagenDistancia == null)
{
colorImagenDistancia = new byte[framesDistancia.PixelDataLength * 4];
}
framesDistancia.CopyPixelDataTo(datosDistancia);
}
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
colorFrame.CopyPixelDataTo(this.colorPixels);
colorReceived = true;
System.Drawing.Bitmap bmp = EmguCVHelper.ImageToBitmap(colorFrame);
Image <Hsv, Byte> currentFrameHSV = new Image <Hsv, byte>(bmp);
Image <Gray, Byte> grayFrame = currentFrameHSV.Convert <Gray, Byte>();
Image <Gray, Byte> imageHSVDest = currentFrameHSV.InRange(lowerLimit, upperLimit);
imageHSVDest.Erode(100);
VectorOfVectorOfPoint vectorOfPoint = EmguCVHelper.FindContours(imageHSVDest);
for (int i = 0; i < vectorOfPoint.Size; i++)
{
var contour = vectorOfPoint[i];
var area = CvInvoke.ContourArea(contour);
if (area > 100)
{
System.Drawing.Rectangle rec = CvInvoke.BoundingRectangle(contour);
Point p1 = new Point(rec.X, rec.Y);
Point p2 = new Point(rec.X + rec.Width, rec.Y + rec.Height);
ObjetoX = (p1.X + p2.X) / 2;
ObjetoY = (p1.Y + p2.Y) / 2;
if (true == depthReceived)
{
this.sensor.CoordinateMapper.MapDepthFrameToColorFrame(
DepthFormat,
this.depthPixels,
ColorFormat,
this.colorCoordinates);
int depthIndex = (int)ObjetoX + ((int)ObjetoY * this.depthWidth);
DepthImagePixel depthPixel = this.depthPixels[depthIndex];
ObjetoZ = datosDistancia[depthIndex] >> 3;
int X = (int)ObjetoX / this.colorToDepthDivisor;
int Y = (int)ObjetoY / this.colorToDepthDivisor;
}
if (ObjetoZ > 0)
{
skelObjeto = DistanceHelper.ObtenerSkelPoint((int)ObjetoX, (int)ObjetoY,
ObjetoZ, this.sensor);
flagObjeto = true;
}
}
}
colorFrame.CopyPixelDataTo(this.colorPixels);
// Write the pixel data into our bitmap
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
//dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
dc.DrawImage(this.colorBitmap, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
}
//Toma de mediciones de mano, hombro y codo derecho:
ManoDerecha = skel.Joints[JointType.HandRight];
//Joint munecaDer = skel.Joints[JointType.WristRight];
CodoDerecho = skel.Joints[JointType.ElbowRight];
HombroDerecho = skel.Joints[JointType.ShoulderRight];
//Dibujo un punto negro sobre el objeto detectado
Point objeto = new Point(this.ObjetoX, this.ObjetoY);
dc.DrawEllipse(Brushes.Black, new Pen(Brushes.Black, 5), objeto, 5, 5);
if ((HombroDerecho.TrackingState == JointTrackingState.Tracked) &&
(ManoDerecha.TrackingState == JointTrackingState.Tracked) &&
(CodoDerecho.TrackingState == JointTrackingState.Tracked))
{
if (flagObjeto && !flagSkeleton)
{
CalcularAngulosFinales();
}
//Console.WriteLine($"Mano X Y Z {handRight.Position.X} {handRight.Position.Y} {handRight.Position.Z}");
//Console.WriteLine($"Objeto X Y Z {skelObjeto.X} {skelObjeto.Y} {skelObjeto.Z}");
if (DistanceHelper.ObtenerDistancia(ManoDerecha, skelObjeto) < 0.1)
{
//significa que se llegó al objeto, por lo que se cierra la ventana y se envían
//los datos.
resultado = true;
this.Close();
}
}
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
private void nui_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{ //DepthStream과 SkeletonStream에 동시에 추가한 이벤트 핸들러
SkeletonFrame sf = e.OpenSkeletonFrame();
//현재 인식한 골격정보(스캘리톤)을 sf라는 변수에 저장
if (sf == null)
{
return;
}
//골격이 인식되지 못하면, 즉 사람이 인식되지 않으면 보여줄 상자, 이를 이은 선을 보여줄 필요가 없으므로 종료
Skeleton[] skeletonData = new Skeleton[sf.SkeletonArrayLength];
//스캘리톤(골격정보)를 저장하라 배열을 인식된 수만큼 크기 지정
sf.CopySkeletonDataTo(skeletonData);
//현재 SkeletonFrame안에서 스캘리톤 데이터를 복사
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{ //현재 DepthImageFrame 안에서 데이터 복사
if (depthImageFrame != null)
{ //데이터가 있다면
foreach (Skeleton sd in skeletonData)
{ //복사해온 스캘리톤 데이터를 하나씩 차근차근 반복한다
if (sd.TrackingState == SkeletonTrackingState.Tracked)
{ //인식된 사용자 인덱스 중 추적이 되는 Tracked에 해당하는 골격정보만 사용
//만들 조인트만큼(키넥트가 인식하는 것만큼> 20) 조인트 배열 선언
for (int j = 0; j < nMax; j++)
{ //조인트 생성(초기화 및 설정)
joints[j] = sd.Joints[(JointType)j];
}
//여기까지 찾아진 골격상태에서 각 골격의 정보를 얻어오기 위함
for (int j = 0; j < nMax; j++)
{
DepthImagePoint depthPoint;
depthPoint = depthImageFrame.MapFromSkeletonPoint(joints[j].Position);
points[j] = new Point((int)((user_img.Width * depthPoint.X / depthImageFrame.Width) + 340),
(int)(user_img.Height * depthPoint.Y / depthImageFrame.Height));
}
//여기까지 각 조인트정보로부터 좌표를 얻기 위함
for (int j = 0; j < nMax; j++)
{
m_rect[j].Visibility = Visibility.Visible;
//아까 만들었던 사각형을 보이도록 함
Canvas.SetTop(m_rect[j],
points[j].Y - (m_rect[j].Height / 2));
Canvas.SetLeft(m_rect[j], points[j].X - (m_rect[j].Width / 2));
//사각형 배치
}
//여기까지 가져온 각 조인트의 정보를 화면에 표시하는 코드
//엉덩이 중앙부터 머리까지 연결되는 선을 긋는 코드
PointCollection pc0 = new PointCollection(4);
//이을 관절 개수만큼 크기를 지정하고 위치를 저장할 변수
pc0.Add(points[(int)JointType.HipCenter]); //엉덩이 중간
pc0.Add(points[(int)JointType.Spine]); //등뼈
pc0.Add(points[(int)JointType.ShoulderCenter]); //어깨 중간
pc0.Add(points[(int)JointType.Head]); //머리
m_poly[0].Points = pc0; //관절들 위치를 저장한 변수를 선으로 그리는 함수로 선언한 배열에 넣는다
m_poly[0].Visibility = Visibility.Visible;
//넣었으니 활성화시켜 위치를 토대로 그린 선을 보여준다
//왼쪽 손부터 어깨까지 연결되는 선을 긋는 코드
PointCollection pc1 = new PointCollection(5);
pc1.Add(points[(int)JointType.ShoulderCenter]); //어깨 중간
pc1.Add(points[(int)JointType.ShoulderLeft]); //왼쪽 어깨
pc1.Add(points[(int)JointType.ElbowLeft]); //왼쪽 팔꿈치
pc1.Add(points[(int)JointType.WristLeft]); //왼쪽 손목
pc1.Add(points[(int)JointType.HandLeft]); //왼손
m_poly[1].Points = pc1;
m_poly[1].Visibility = Visibility.Visible;
//오른쪽 손부터 어깨까지 연결되는 선을 긋는 코드
PointCollection pc2 = new PointCollection(5);
pc2.Add(points[(int)JointType.ShoulderCenter]); //어깨 중간
pc2.Add(points[(int)JointType.ShoulderRight]); //오른쪽 어깨
pc2.Add(points[(int)JointType.ElbowRight]); //오른쪽 팔꿈치
pc2.Add(points[(int)JointType.WristRight]); //오른쪽 손목
pc2.Add(points[(int)JointType.HandRight]); //오른손
m_poly[2].Points = pc2;
m_poly[2].Visibility = Visibility.Visible;
//왼발부터 엉덩이까지 연결되는 선을 긋는 코드
PointCollection pc3 = new PointCollection(5);
pc3.Add(points[(int)JointType.HipCenter]); //엉덩이 중간
pc3.Add(points[(int)JointType.HipLeft]); //엉덩이 왼쪽
pc3.Add(points[(int)JointType.KneeLeft]); //왼쪽 무릎
pc3.Add(points[(int)JointType.AnkleLeft]); //왼쪽 발목
pc3.Add(points[(int)JointType.FootLeft]); //왼쪽 발
m_poly[3].Points = pc3;
m_poly[3].Visibility = Visibility.Visible;
//오른발부터 엉덩이까지 연결되는 선을 긋는 코드
PointCollection pc4 = new PointCollection(5);
pc4.Add(points[(int)JointType.HipCenter]); //엉덩이 중간
pc4.Add(points[(int)JointType.HipRight]); //엉덩이 오른쪽
pc4.Add(points[(int)JointType.KneeRight]); //오른쪽 무릎
pc4.Add(points[(int)JointType.AnkleRight]); //오른쪽 발목
pc4.Add(points[(int)JointType.FootRight]); //오른쪽 발
m_poly[4].Points = pc4;
m_poly[4].Visibility = Visibility.Visible;
Thread check = new Thread(new ThreadStart(step));
check.Start();
}
}
}
}
}
private void KinectAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
// Have we already been "shut down" by the user of this viewer,
// or has the SkeletonStream been disabled since this event was posted?
if ((this.Kinect == null) || !((KinectSensor)sender).SkeletonStream.IsEnabled)
{
return;
}
bool haveSkeletonData = false;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
if (this.skeletonCanvases == null)
{
this.CreateListOfSkeletonCanvases();
}
if ((this.skeletonData == null) || (this.skeletonData.Length != skeletonFrame.SkeletonArrayLength))
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
haveSkeletonData = true;
}
}
if (haveSkeletonData)
{
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (depthImageFrame != null)
{
int trackedSkeletons = 0;
foreach (Skeleton skeleton in this.skeletonData)
{
Dictionary <JointType, JointMapping> jointMapping = this.jointMappings[trackedSkeletons];
jointMapping.Clear();
KinectSkeleton skeletonCanvas = this.skeletonCanvases[trackedSkeletons++];
skeletonCanvas.ShowBones = this.ShowBones;
skeletonCanvas.ShowJoints = this.ShowJoints;
skeletonCanvas.ShowCenter = this.ShowCenter;
// Transform the data into the correct space
// For each joint, we determine the exact X/Y coordinates for the target view
foreach (Joint joint in skeleton.Joints)
{
Console.WriteLine("Here they are: " + joint.Position.X + "" + joint.Position.Y + "" + "" + joint.Position.Z);
Point mappedPoint = this.GetPosition2DLocation(depthImageFrame, joint.Position);
jointMapping[joint.JointType] = new JointMapping
{
Joint = joint,
MappedPoint = mappedPoint
};
}
// Look up the center point
Point centerPoint = this.GetPosition2DLocation(depthImageFrame, skeleton.Position);
// Scale the skeleton thickness
// 1.0 is the desired size at 640 width
double scale = this.RenderSize.Width / 640;
skeletonCanvas.RefreshSkeleton(skeleton, jointMapping, centerPoint, scale);
}
if (ImageType == ImageType.Depth)
{
this.ChooseTrackedSkeletons(this.skeletonData);
}
}
}
}
}
void KinectFaceNode_AllFrameReady(object sender, AllFramesReadyEventArgs e)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
colorImageFrame = e.OpenColorImageFrame();
depthImageFrame = e.OpenDepthImageFrame();
skeletonFrame = e.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
return;
}
if (first)
{
first = false;
this.olddepth = depthImageFrame.Format;
}
else
{
if (this.olddepth != depthImageFrame.Format)
{
//Need a reset
if (this.depthImage != null)
{
this.depthImage = null;
}
foreach (SkeletonFaceTracker sft in this.trackedSkeletons.Values)
{
sft.Dispose();
}
this.trackedSkeletons.Clear();
this.olddepth = depthImageFrame.Format;
}
}
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
foreach (Skeleton skeleton in this.skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked ||
skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// We want keep a record of any skeleton, tracked or untracked.
if (!this.trackedSkeletons.ContainsKey(skeleton.TrackingId))
{
this.trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());
}
// Give each tracker the upated frame.
SkeletonFaceTracker skeletonFaceTracker;
if (this.trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))
{
skeletonFaceTracker.OnFrameReady(this.runtime.Runtime, colorImageFrame.Format, colorImage, depthImageFrame.Format, depthImage, skeleton);
skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;
}
}
}
this.RemoveOldTrackers(skeletonFrame.FrameNumber);
colorImageFrame.Dispose();
depthImageFrame.Dispose();
skeletonFrame.Dispose();
this.FInvalidate = true;
}
void nui_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = e.OpenColorImageFrame();
depthImageFrame = e.OpenDepthImageFrame();
skeletonFrame = e.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
if (this.depthImageFormat != depthImageFrame.Format)
{
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
using (depthImageFrame)
{
if (depthImageFrame != null)
{
foreach (Skeleton skeleton in skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked || skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
/////////// 머리 정보를 받아온다 ///////////////
Joint joint = skeleton.Joints[JointType.Head];
DepthImagePoint depthPoint;
depthPoint = depthImageFrame.MapFromSkeletonPoint(joint.Position);
System.Windows.Point point = new System.Windows.Point((int)(image1.ActualWidth * depthPoint.X
/ depthImageFrame.Width),
(int)(image1.ActualHeight * depthPoint.Y
/ depthImageFrame.Height));
textBlock1.Text = string.Format("X:{0:0.00} Y:{1:0.00} Z:{2:0.00}", point.X, point.Y, joint.Position.Z);
// 이전 헤드의 위치를 저장한다.
m_prevHeadX = m_headX;
m_prevHeadY = m_headY;
m_headX = point.X;
m_headY = point.Y;
if (Math.Abs(m_prevHeadX - point.X) < 10)
{
m_headX = m_prevHeadX;
}
if (Math.Abs(m_prevHeadY - point.Y) < 10)
{
m_headY = m_prevHeadY;
}
Canvas.SetLeft(ellipse1, point.X - ellipse1.Width / 2);
Canvas.SetTop(ellipse1, point.Y - ellipse1.Height / 2);
////////////// face 정보를 받아온다//////////////////////
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(nui1);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame frame = this.faceTracker.Track(
colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);
if (frame.TrackSuccessful)
{
facePoints = frame.GetProjected3DShape();
textBlock2.Text = string.Format("noseX:{0:0.00} noseY:{1:0.00} ", facePoints[107].X, facePoints[107].Y);
m_noseX = facePoints[107].X;
m_noseY = facePoints[107].Y;
Canvas.SetLeft(ellipse2, facePoints[107].X - ellipse2.Width / 2);
Canvas.SetTop(ellipse2, facePoints[107].Y - ellipse2.Width / 2);
}
}
///////////////고개의 각도를 계산 ////////////////////
lineOfSight.X1 = m_headX;
lineOfSight.Y1 = m_headY;
lineOfSight.X2 = m_noseX;
lineOfSight.Y2 = m_noseY;
Canvas.SetLeft(m_sightRect, m_headX - m_sightRect.Width / 2);
Canvas.SetTop(m_sightRect, m_headY);
CheckWhichSight(depthImageFrame, m_noseX, m_noseY);
}
}
}
}
}
private void OnAllFrameReady(object sender, AllFramesReadyEventArgs e)
{
if (this.isShutDown)
{
return;
}
#region Skeleton Data Process Region
// 1. Process Skeleton Data
// Grab Skeleton Frame
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null && this.skeletons != null)
{
// Copy Skeleton Datas
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
#endregion
#region Depth Data Process Region
// 2. Process Depth Data
// Grab Depth Frame
short depthValue;
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
// Copy Depth Pixel Data
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
// Convert Depth to RGB
for (int i = 0; i < this.depthPixels.Length; i++)
{
// Get Depth Value For This Pixel
depthValue = depthPixels[i].Depth;
unsafe
{
if (depthValue >= this.maxDepth || depthValue <= this.minDepth)
{
this.depthImage.ImageDataPtr[i] = (byte)0;
}
else
{
this.depthImage.ImageDataPtr[i] = this.depthLookupTable[depthValue];
}
}
}
if (this.leftHand.TrackingState == JointTrackingState.Tracked)
{
DepthImagePoint ldHand = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(this.leftHand.Position, DepthImageFormat.Resolution640x480Fps30);
int topleft_x = ldHand.X - Configuration.HAND_REGION_WIDTH / 2;
int topleft_y = ldHand.Y - Configuration.HAND_REGION_HEIGHT / 2;
if (topleft_x < 0)
{
topleft_x = 0;
}
if (topleft_x + Configuration.HAND_REGION_WIDTH >= this.sensor.ColorStream.FrameWidth)
{
topleft_x = this.sensor.ColorStream.FrameWidth - Configuration.HAND_REGION_WIDTH;
}
if (topleft_y < 0)
{
topleft_y = 0;
}
if (topleft_y + Configuration.HAND_REGION_HEIGHT >= this.sensor.ColorStream.FrameHeight)
{
topleft_y = this.sensor.ColorStream.FrameHeight - Configuration.HAND_REGION_HEIGHT;
}
CvRect ldHandRect = new CvRect(topleft_x, topleft_y, Configuration.HAND_REGION_WIDTH, Configuration.HAND_REGION_HEIGHT);
//Cv.Rectangle( this.depthImage, ldHandRect, new CvScalar( 0, 0, 255 ), 5 ); // Used for Visualization
Cv.SetImageROI(this.depthImage, ldHandRect);
Cv.Copy(this.depthImage, this.leftHandDepthImage);
Cv.ResetImageROI(this.depthImage);
// Filter Hand Depth Image
Cv.Smooth(this.leftHandDepthImage, this.leftHandDepthImage, SmoothType.Median);
}
if (this.rightHand.TrackingState == JointTrackingState.Tracked)
{
DepthImagePoint rdHand = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(this.rightHand.Position, DepthImageFormat.Resolution640x480Fps30);
int topleft_x = rdHand.X - Configuration.HAND_REGION_WIDTH / 2;
int topleft_y = rdHand.Y - Configuration.HAND_REGION_HEIGHT / 2;
if (topleft_x < 0)
{
topleft_x = 0;
}
if (topleft_x + Configuration.HAND_REGION_WIDTH >= this.sensor.ColorStream.FrameWidth)
{
topleft_x = this.sensor.ColorStream.FrameWidth - Configuration.HAND_REGION_WIDTH;
}
if (topleft_y < 0)
{
topleft_y = 0;
}
if (topleft_y + Configuration.HAND_REGION_HEIGHT >= this.sensor.ColorStream.FrameHeight)
{
topleft_y = this.sensor.ColorStream.FrameHeight - Configuration.HAND_REGION_HEIGHT;
}
CvRect rdHandRect = new CvRect(topleft_x, topleft_y, Configuration.HAND_REGION_WIDTH, Configuration.HAND_REGION_HEIGHT);
//Cv.Rectangle( this.depthImage, rdHandRect, new CvScalar( 0, 0, 255 ), 5 ); // Used for Visualization
Cv.SetImageROI(this.depthImage, rdHandRect);
Cv.Copy(this.depthImage, this.rightHandDepthImage);
Cv.ResetImageROI(this.depthImage);
// Filter Hand Depth Image
Cv.Smooth(this.rightHandDepthImage, this.rightHandDepthImage, SmoothType.Median);
}
}
}
#endregion
#region Color Data Process Region
// 3. Process Color Data
// Grab Color Frame
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
// Copy Pixel Data
unsafe
{
colorFrame.CopyPixelDataTo(this.colorImage.ImageData, colorFrame.PixelDataLength);
}
// Draw Skeleton Position
if (skeletons != null)
{
// Find Appropriate Skeleton
Skeleton targetSkeleton = null;
for (int i = 0; i < skeletons.Length; i++)
{
// Skip Invalid State
if (skeletons[i] == null)
{
continue;
}
// Only Fully Tracked Skeleton
if (skeletons[i].TrackingState == SkeletonTrackingState.Tracked)
{
// Set Target Skeleton - If exists Set to nearest.
if (targetSkeleton == null)
{
targetSkeleton = skeletons[i];
}
else if (targetSkeleton.Position.Z > skeletons[i].Position.Z)
{
targetSkeleton = skeletons[i];
}
}
}
if (targetSkeleton != null)
{
// Left Hand Position
this.leftHand = targetSkeleton.Joints[JointType.HandLeft];
// Check Tracked Status
if (this.leftHand.TrackingState == JointTrackingState.Tracked)
{
this.leftHandFound = true;
leftHandPoint = this.sensor.CoordinateMapper.MapSkeletonPointToColorPoint(leftHand.Position, ColorImageFormat.RgbResolution640x480Fps30);
this.leftHandPosition.X = leftHandPoint.X;
this.leftHandPosition.Y = leftHandPoint.Y;
int topleft_x = leftHandPoint.X - Configuration.HAND_REGION_WIDTH / 2;
int topleft_y = leftHandPoint.Y - Configuration.HAND_REGION_HEIGHT / 2;
// Bound Check
if (topleft_x < 0)
{
topleft_x = 0;
}
if (topleft_x + Configuration.HAND_REGION_WIDTH >= this.sensor.ColorStream.FrameWidth)
{
topleft_x = this.sensor.ColorStream.FrameWidth - Configuration.HAND_REGION_WIDTH;
}
if (topleft_y < 0)
{
topleft_y = 0;
}
if (topleft_y + Configuration.HAND_REGION_HEIGHT >= this.sensor.ColorStream.FrameHeight)
{
topleft_y = this.sensor.ColorStream.FrameHeight - Configuration.HAND_REGION_HEIGHT;
}
// Set Hand Position
leftHandRect = new CvRect(topleft_x, topleft_y, Configuration.HAND_REGION_WIDTH, Configuration.HAND_REGION_HEIGHT);
Cv.Rectangle(this.colorImage, this.leftHandRect, new CvScalar(0, 0, 255), 1); // Used for Visualization
Cv.SetImageROI(this.colorImage, this.leftHandRect);
// Copy Data
Cv.Copy(this.colorImage, this.leftHandImage);
// Reset ROI
Cv.ResetImageROI(this.colorImage);
// Smooth Color Hand Image
Cv.Smooth(this.leftHandImage, this.leftHandImage, SmoothType.Median);
// Only Hand Region
CropNear(this.leftHandDepthImage);
// Filter With Depth Image
FilterFarObjects(this.leftHandImage, this.leftHandDepthImage);
// Detect By Skin Color Model
this.skinDetector.FilterSkinColorRegion(this.leftHandImage, this.leftHandSkinImage, 0.25f);
// Smooth Color Hand Skin Image
//Cv.Smooth( this.leftHandSkinImage, this.leftHandSkinImage, SmoothType.Median );
Cv.Smooth(this.leftHandSkinImage, this.leftHandSkinImage, SmoothType.Median, 5);
Cv.Erode(this.leftHandSkinImage, this.leftHandSkinImage);
Cv.Dilate(this.leftHandSkinImage, this.leftHandSkinImage);
// Find Object
Cv.Sub(this.leftHandDepthImage, this.leftHandSkinImage, this.leftObjectRemainedImage);
Cv.Erode(this.leftObjectRemainedImage, this.leftObjectRemainedImage);
Cv.Smooth(this.leftObjectRemainedImage, this.leftObjectRemainedImage, SmoothType.Median);
// Filter Objects Only
FilterFarObjects(this.leftHandImage, this.leftObjectRemainedImage);
Cv.CvtColor(this.leftHandImage, this.leftObjectHSVImage, ColorConversion.BgraToBgr);
Cv.CvtColor(this.leftObjectHSVImage, this.leftObjectHSVImage, ColorConversion.BgrToHsv);
Cv.Split(this.leftObjectHSVImage, this.leftObjectHImage, this.leftObjectSImage, this.leftObjectVImage, null);
}
else
{
this.leftHandFound = false;
}
// Right Hand Position
this.rightHand = targetSkeleton.Joints[JointType.HandRight];
if (this.rightHand.TrackingState == JointTrackingState.Tracked)
{
this.rightHandFound = true;
rightHandPoint = this.sensor.CoordinateMapper.MapSkeletonPointToColorPoint(rightHand.Position, ColorImageFormat.RgbResolution640x480Fps30);
this.rightHandPosition.X = rightHandPoint.X;
this.rightHandPosition.Y = rightHandPoint.Y;
int topleft_x = rightHandPoint.X - Configuration.HAND_REGION_WIDTH / 2;
int topleft_y = rightHandPoint.Y - Configuration.HAND_REGION_HEIGHT / 2;
// Bound Check
if (topleft_x < 0)
{
topleft_x = 0;
}
if (topleft_x + Configuration.HAND_REGION_WIDTH >= this.sensor.ColorStream.FrameWidth)
{
topleft_x = this.sensor.ColorStream.FrameWidth - Configuration.HAND_REGION_WIDTH;
}
if (topleft_y < 0)
{
topleft_y = 0;
}
if (topleft_y + Configuration.HAND_REGION_HEIGHT >= this.sensor.ColorStream.FrameHeight)
{
topleft_y = this.sensor.ColorStream.FrameHeight - Configuration.HAND_REGION_HEIGHT;
}
// Set Hand Position
rightHandRect = new CvRect(topleft_x, topleft_y, Configuration.HAND_REGION_WIDTH, Configuration.HAND_REGION_HEIGHT);
Cv.Rectangle(this.colorImage, this.rightHandRect, new CvScalar(0, 0, 255), 1); // Used for Visualization
Cv.SetImageROI(this.colorImage, this.rightHandRect);
// Copy Data
Cv.Copy(this.colorImage, this.rightHandImage);
// Reset ROI
Cv.ResetImageROI(this.colorImage);
// Smooth Color Hand Image
Cv.Smooth(this.rightHandImage, this.rightHandImage, SmoothType.Median);
CropNear(this.rightHandDepthImage);
// Filter With Depth Image
FilterFarObjects(this.rightHandImage, this.rightHandDepthImage);
// Detect By Skin Color Model
this.skinDetector.FilterSkinColorRegion(this.rightHandImage, this.rightHandSkinImage, 0.25f);
// Smooth Color Hand Skin Image
//Cv.Smooth( this.rightHandSkinImage, this.rightHandSkinImage, SmoothType.Median );
Cv.Smooth(this.rightHandSkinImage, this.rightHandSkinImage, SmoothType.Median, 5);
Cv.Erode(this.rightHandSkinImage, this.rightHandSkinImage);
Cv.Dilate(this.rightHandSkinImage, this.rightHandSkinImage);
// Find Object
Cv.Sub(this.rightHandDepthImage, this.rightHandSkinImage, this.rightObjectRemainedImage);
Cv.Erode(this.rightObjectRemainedImage, this.rightObjectRemainedImage);
Cv.Smooth(this.rightObjectRemainedImage, this.rightObjectRemainedImage, SmoothType.Median);
// Filter Objects Only
FilterFarObjects(this.rightHandImage, this.rightObjectRemainedImage);
Cv.CvtColor(this.rightHandImage, this.rightObjectHSVImage, ColorConversion.BgraToBgr);
Cv.CvtColor(this.rightObjectHSVImage, this.rightObjectHSVImage, ColorConversion.BgrToHsv);
Cv.Split(this.rightObjectHSVImage, this.rightObjectHImage, this.rightObjectSImage, this.rightObjectVImage, null);
}
else
{
this.rightHandFound = false;
}
}
}
#endregion
#region Image Display Region
// Show Depth Image
Cv.ShowImage("Depth Image", this.depthImage);
Cv.ShowImage("Left Hand Depth Image", this.leftHandDepthImage);
Cv.ShowImage("Right Hand Depth Image", this.rightHandDepthImage);
// Show Color Image
Cv.ShowImage("Color Image", this.colorImage);
Cv.ShowImage("Left Hand Image", this.leftHandImage);
Cv.ShowImage("Right Hand Image", this.rightHandImage);
Cv.ShowImage("Left Hand Skin Image", this.leftHandSkinImage);
Cv.ShowImage("Right Hand Skin Image", this.rightHandSkinImage);
// Show Object Only Image
Cv.ShowImage("Left Hand Object Image", this.leftObjectRemainedImage);
Cv.ShowImage("Right Hand Object Image", this.rightObjectRemainedImage);
// Show Object HSV Image
Cv.ShowImage("Left Hand H Image", this.leftObjectHImage);
Cv.ShowImage("Left Hand S Image", this.leftObjectSImage);
Cv.ShowImage("Left Hand V Image", this.leftObjectVImage);
Cv.ShowImage("Right Hand H Image", this.rightObjectHImage);
Cv.ShowImage("Right Hand S Image", this.rightObjectSImage);
Cv.ShowImage("Right Hand V Image", this.rightObjectVImage);
#endregion
}
}
}
private void AllFrameReady(object sender, AllFramesReadyEventArgs e)
{
//Console.Clear();
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(this.skeletons);
Skeleton skel = skeletons[0];
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
SkeletonPoint rightHand = skeletons[0].Joints[JointType.HandRight].Position;
SkeletonPoint head = skeletons[0].Joints[JointType.Head].Position;
rightHandPosition = SkeletonPointToScreen(rightHand);
headPosition = SkeletonPointToScreen(head);
}
}
}
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
// Copy the pixel data from the image to a temporary array
colorFrame.CopyPixelDataTo(this.colorPixels);
// Write the pixel data into our bitmap
this.ColorWriteBitmap.WritePixels(
new System.Windows.Int32Rect(0, 0, this.ColorWriteBitmap.PixelWidth, this.ColorWriteBitmap.PixelHeight),
this.colorPixels,
this.ColorWriteBitmap.PixelWidth * sizeof(int),
0);
}
}
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
var sw = Stopwatch.StartNew();
// Copy the pixel data from the image to a temporary array
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
// short[] depthData = new short[depthFrame.PixelDataLength];
// Get the min and max reliable depth for the current frame
int minDepth = depthFrame.MinDepth;
int maxDepth = depthFrame.MaxDepth;
int width = depthFrame.Width;
int height = depthFrame.Height;
if (headPosition.X == 0)
{
headDepth = 100;
}
else
{
headDepth = depthPixels[headPosition.X + headPosition.Y * 640].Depth;
}
sw.Restart();
//*********** Convert cull and transform*****************
colorizer.TransformCullAndConvertDepthFrame(
depthPixels, minDepth, maxDepth, colorPixels,
AngleRotateTan,
(short)(headDepth - (short)CullingThresh), headPosition);
Image <Bgra, byte> depthImg;
//Console.WriteLine("iteration:" + sw.ElapsedMilliseconds);
sw.Restart();
Image <Gray, Byte> rightFront = null;
Image <Gray, Byte> leftFront = null;
depthImg = ImageConverter.Array2Image(colorPixels, width, height, width * 4);
PointF rightVector = PointF.Empty;
PointF leftVector = PointF.Empty;
bool isSkip = false;
bool leftHandRaise = false;
if (skeletons != null && skeletons[0].TrackingState == SkeletonTrackingState.Tracked)
{
PointF hr = SkeletonPointToScreen(skeletons[0].Joints[JointType.HandRight].Position);
PointF hl = SkeletonPointToScreen(skeletons[0].Joints[JointType.HandLeft].Position);
PointF er = SkeletonPointToScreen(skeletons[0].Joints[JointType.ElbowRight].Position);
PointF el = SkeletonPointToScreen(skeletons[0].Joints[JointType.ElbowLeft].Position);
PointF hip = SkeletonPointToScreen(skeletons[0].Joints[JointType.HipCenter].Position);
// hand is lower than hip
//Console.WriteLine(skeletons[0].Joints[JointType.HandRight].Position.Y);
//Console.WriteLine(skeletons[0].Joints[JointType.HipCenter].Position.Y);
//Console.WriteLine("-------------");
if (skeletons[0].Joints[JointType.HandRight].Position.Y <
skeletons[0].Joints[JointType.HipCenter].Position.Y + 0.05)
{
isSkip = true;
}
if (skeletons[0].Joints[JointType.HandLeft].Position.Y >
skeletons[0].Joints[JointType.HipCenter].Position.Y)
{
leftHandRaise = true;
}
rightVector.X = (hr.X - er.X);
rightVector.Y = (hr.Y - er.Y);
leftVector.X = (hl.X - el.X);
leftVector.Y = (hl.Y - el.Y);
}
HandShapeModel handModel = null;
if (!isSkip)
{
//handModel = m_OpenCVController.FindHandPart(ref depthImg, out rightFront, out leftFront, headDepth - (int)CullingThresh, rightVector, leftVector,leftHandRaise);
}
// no hands detected
if (handModel == null)
{
handModel = new HandShapeModel(0, HandEnum.None);
}
//sw.Restart();
// database processing
DBManager db = DBManager.GetSingleton();
if (db != null)
{
if (skeletons != null)
{
handModel.SetSkeletonData(skeletons[0]);
}
db.AddFrameData(handModel);
}
// not recording show prob
else
{
//Image<Bgr, byte>[] result = HandShapeClassifier.GetSingleton()
//.RecognizeGesture(handModel.hogRight, 3);
////Console.WriteLine(sw.ElapsedMilliseconds);
//if (result != null)
//{
// ImageConverter.UpdateWriteBMP(WrtBMP_Candidate1, result[0].Convert<Gray, byte>().ToBitmap());
// ImageConverter.UpdateWriteBMP(WrtBMP_Candidate2, result[1].Convert<Gray, byte>().ToBitmap());
// ImageConverter.UpdateWriteBMP(WrtBMP_Candidate3, result[2].Convert<Gray, byte>().ToBitmap());
//}
}
string currentSign = db == null ? "0" : db.CurrentSign.ToString();
string path = @"J:\Kinect data\Aaron 141-180\hands\" + currentSign + " " + handModel.frame.ToString();
// UI update
if (rightFront != null)
{
Bitmap right = rightFront.ToBitmap();
//right.Save(path + " r.jpg");
ImageConverter.UpdateWriteBMP(WrtBMP_RightHandFront, right);
}
if (leftFront != null)
{
Bitmap left = leftFront.ToBitmap();
//left.Save(path + " l.jpg");
ImageConverter.UpdateWriteBMP(WrtBMP_LeftHandFront, left);
}
if (sw.ElapsedMilliseconds > 15)
{
Console.WriteLine("Find hand:" + sw.ElapsedMilliseconds);
}
sw.Restart();
//**************************draw gray histogram
//Bitmap histo = m_OpenCVController.Histogram(depthImg);
//ImageConverter.UpdateWriteBMP(GrayWriteBitmap, histo);
// draw hand position from kinect
// DrawHandPosition(depthBMP, rightHandPosition, System.Drawing.Brushes.Purple);
//*******************upadte UI
ImageConverter.UpdateWriteBMP(DepthWriteBitmap, depthImg.ToBitmap());
// Console.WriteLine("Update UI:" + sw.ElapsedMilliseconds);
}
}
}
private void AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (colorFrame == null || depthFrame == null || skeletonFrame == null)
{
ErrorWhileRecivingData(skeletonFrame, depthFrame, colorFrame);
return;
}
Skeleton[] skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
short[,] depths = new short[depthFrame.Width, depthFrame.Height];
short[] fromDepthFrame = new short[depthFrame.Width * depthFrame.Height];
depthFrame.CopyPixelDataTo(fromDepthFrame);
DebuggingTable.LatestCreated["size"] = fromDepthFrame.Length.ToString();
for (int i = 0; i < fromDepthFrame.Length; i++)
{
depths[i / depthFrame.Height, i % depthFrame.Height] = fromDepthFrame[i];
}
byte[] colorPixels = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixels);
/*
* //background removal
* if (BackgroundRemoval)
* {
* Skeleton skeleton = skeletons.FirstOrDefault();
* int maxDepth = -1, minDepth = -1;
* if (skeleton != default(Skeleton))
* {
* short max = skeleton.Joints.Max(
* joint => depths[(int)(depthFrame.Width * joint.Position.X),
* (int)(depthFrame.Height * joint.Position.Y)]);
* short min = skeleton.Joints.Max(
* joint => depths[(int)(depthFrame.Width * joint.Position.X),
* (int)(depthFrame.Height * joint.Position.Y)]);
* int diff = max - min;
* maxDepth = max + diff;
* minDepth = min - diff;
* }
* for (int x = 0; x < colorFrame.Width; x++)
* {
* for (int y = 0; y < colorFrame.Height; y++)
* {
* bool isProbablyPerson;
* if (skeleton == default(Skeleton))
* {
* isProbablyPerson = false;
* }
* else
* {
* short depth = depths[x, y];
* isProbablyPerson = depth > minDepth && depth < maxDepth;
* }
* colorPixels[(y * colorFrame.Width + x) * 4] = (byte)(isProbablyPerson ? 255 : 0);
* }
* }*/
DataRecieved(skeletons, depths, colorPixels);
}
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
if (this.depthImageFormat != depthImageFrame.Format)
{
this.ResetFaceTracking();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.ResetFaceTracking();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// información del esqueleto
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
foreach (Skeleton skeleton in this.skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked ||
skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
if (!this.trackedSkeletons.ContainsKey(skeleton.TrackingId))
{
this.trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());
}
SkeletonFaceTracker skeletonFaceTracker;
if (this.trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))
{
skeletonFaceTracker.OnFrameReady(this.Kinect, colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);
skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;
}
}
}
this.RemoveOldTrackers(skeletonFrame.FrameNumber);
this.InvalidateVisual();
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
void SensorAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
RenderClippedEdges(skel, dc);
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
SetDepthPoints(skel, e);
if (m_gestureController != null)
{
m_gestureController.UpdateAllGestures(skel, m_headDepthPoint, m_leftHandDepthPoint, m_rightHandDepthPoint);
}
break;
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
//Get raw image
using (DepthImageFrame depth = e.OpenDepthImageFrame())
{
if (depth != null)
{
//Create array for pixel data and copy it from the image frame
short[] pixelData = new short[depth.PixelDataLength];
depth.CopyPixelDataTo(pixelData);
byte[] convertedPixels = ConvertDepthFrame(pixelData, ((KinectSensor)sender).DepthStream, 640 * 480 * 4);
m_colorImageData.ColorImage = convertedPixels;
m_colorImageData.Height = depth.Height;
m_colorImageData.Width = depth.Width;
}
}
}
///<summary>
///RGBカメラ、距離カメラ、骨格のフレーム更新イベント
///</summary>
///<param name="sender"></param>
///<param name="e"></param>
void kinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
try
{
//Kinectのインスタンスを取得する
KinectSensor kinect = sender as KinectSensor;
if (kinect == null)
{
return;
}
//RGBカメラのフレームデータを取得する
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
//RGBカメラのピクセルデータを取得する
byte[] colorPixel = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorPixel);
//ピクセルデータをビットマップに変換する
Bitmap bitmap =
new Bitmap(kinect.ColorStream.FrameWidth,
kinect.ColorStream.FrameHeight,
System.Drawing.Imaging.PixelFormat.Format32bppRgb);
Rectangle rect = new Rectangle(0, 0, bitmap.Width, bitmap.Height);
BitmapData data = bitmap.LockBits(rect, System.Drawing.Imaging.ImageLockMode.WriteOnly,
System.Drawing.Imaging.PixelFormat.Format32bppRgb);
Marshal.Copy(colorPixel, 0, data.Scan0, colorPixel.Length);
bitmap.UnlockBits(data);
pictureBoxRgb.Image = bitmap;
}
}
//スケルトンのフレームを取得する
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
const int R = 5;
Graphics g = Graphics.FromImage(pictureBoxRgb.Image);
skeletons =
new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
//トラッキングされているスケルトンのジョイントを描画する
foreach (var skeleton in skeletons)
{
//スケルトンがトラッキングされてなければ次へ
if (skeleton.TrackingState != SkeletonTrackingState.Tracked)
{
continue;
}
//ジョイントを描画する
foreach (Joint joint in skeleton.Joints)
{
//ジョイントがトラッキングされていなければ次へ
if (joint.TrackingState != JointTrackingState.Tracked)
{
continue;
}
//スケルトンの座標を、RGBカメラの座標に変換して円を書く
ColorImagePoint point = kinect.MapSkeletonPointToColor(joint.Position, kinect.ColorStream.Format);
g.DrawEllipse(new Pen(Brushes.Red),
new Rectangle(point.X - R, point.Y - R, R * 2, R * 2));
}
}
}
//////////////////////////////////////////メソッド
Judge(kinect, skeletonFrame);
//////////////////////////////////////////////
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
void _sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
using (SkeletonFrame frame = e.OpenSkeletonFrame())
{
WriteImageSkeleton(frame);
}
using (ColorImageFrame frame = e.OpenColorImageFrame())
// using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (frame != null)
{
byte[] pixelData = new byte[frame.PixelDataLength];
frame.CopyPixelDataTo(pixelData);
int stride = frame.Width * 4;
BitmapSource source = BitmapSource.Create(frame.Width, frame.Height, 96.0, 96.0, PixelFormats.Bgr32, null, pixelData, stride);
this.image1.Source = source;
if (this._movieRecordingOn)
{
System.Drawing.Bitmap firstFrame = new System.Drawing.Bitmap(source.PixelWidth, source.PixelHeight, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
System.Drawing.Imaging.BitmapData bitmapdata = firstFrame.LockBits(new System.Drawing.Rectangle(System.Drawing.Point.Empty, firstFrame.Size), System.Drawing.Imaging.ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
source.CopyPixels(Int32Rect.Empty, bitmapdata.Scan0, bitmapdata.Height * bitmapdata.Stride, bitmapdata.Stride);
firstFrame.UnlockBits(bitmapdata);
if (this._colorFrameCount == 0)
{
this._firstColorFrameTimestamp = frame.Timestamp;
this._colorFrameCount++;
}
else
{
float colorFrameTime = ((float)(frame.Timestamp - this._firstColorFrameTimestamp)) / 1000f;
//string filename = this.fileNameTextBox.Text + _colorFrameCount.ToString() + "_" + colorFrameTime.ToString("000.000") + ".png";
//firstFrame.Save(filename);
_frameList.Add(new System.Drawing.Bitmap(firstFrame));
_frameTimes.Add(colorFrameTime);
this._colorFrameCount++;
}
firstFrame.Dispose();
}
}
}
}
private void KinectAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
// Have we already been "shut down" by the user of this viewer,
// or has the SkeletonStream been disabled since this event was posted?
if ((this.Kinect == null) || !((KinectSensor)sender).SkeletonStream.IsEnabled)
{
return;
}
// File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt", " 0 ");
bool haveSkeletonData = false;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
// File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt", " 1 ");
if (skeletonFrame != null)
{
if (this.skeletonCanvases == null)
{
// File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt", " 2 ");
this.CreateListOfSkeletonCanvases();
}
if ((this.skeletonData == null) || (this.skeletonData.Length != skeletonFrame.SkeletonArrayLength))
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
// File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt", " 3 ");
}
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
haveSkeletonData = true;
}
}
if (haveSkeletonData)
{
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (depthImageFrame != null)
{
// File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt", " 4 ");
int trackedSkeletons = 0;
foreach (Skeleton skeleton in this.skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked)
{
// File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt","Tracked");
}
else if (skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt", trackedSkeletons.ToString() + " 10 ");
}
else if (skeleton.TrackingState == SkeletonTrackingState.NotTracked)
{
//File.AppendAllText(@"C:\Users\pk1601cs33\hell.txt", "Nottrack");
}
Dictionary <JointType, JointMapping> jointMapping = this.jointMappings[trackedSkeletons];
jointMapping.Clear();
KinectSkeleton skeletonCanvas = this.skeletonCanvases[trackedSkeletons++];
skeletonCanvas.ShowBones = this.ShowBones;
skeletonCanvas.ShowJoints = this.ShowJoints;
skeletonCanvas.ShowCenter = this.ShowCenter;
foreach (Joint joint in skeleton.Joints)
{
Point mappedPoint = this.GetPosition2DLocation(depthImageFrame, joint.Position);
jointMapping[joint.JointType] = new JointMapping
{
Joint = joint,
MappedPoint = mappedPoint
};
Joint asd = joint;
if (asd.TrackingState == JointTrackingState.Tracked)
{
Vector3D elbowl = new Vector3D(skeleton.Joints[JointType.ElbowLeft].Position.X, skeleton.Joints[JointType.ElbowLeft].Position.Y, skeleton.Joints[JointType.ElbowLeft].Position.Z);
Vector3D WristLeft = new Vector3D(skeleton.Joints[JointType.WristLeft].Position.X, skeleton.Joints[JointType.WristLeft].Position.Y, skeleton.Joints[JointType.WristLeft].Position.Z);
Vector3D ShoulderLeft = new Vector3D(skeleton.Joints[JointType.ShoulderLeft].Position.X, skeleton.Joints[JointType.ShoulderLeft].Position.Y, skeleton.Joints[JointType.ShoulderLeft].Position.Z);
Vector3D Head = new Vector3D(skeleton.Joints[JointType.ShoulderCenter].Position.X, skeleton.Joints[JointType.ShoulderCenter].Position.Y, skeleton.Joints[JointType.ShoulderCenter].Position.Z);
Vector3D Neck = new Vector3D(skeleton.Joints[JointType.Spine].Position.X, skeleton.Joints[JointType.Spine].Position.Y, skeleton.Joints[JointType.Spine].Position.Z);
//for two hand
Vector3D shoulderright = new Vector3D(skeleton.Joints[JointType.ShoulderRight].Position.X, skeleton.Joints[JointType.ShoulderRight].Position.Y, skeleton.Joints[JointType.ShoulderRight].Position.Z);
Vector3D elbowright = new Vector3D(skeleton.Joints[JointType.ElbowRight].Position.X, skeleton.Joints[JointType.ElbowRight].Position.Y, skeleton.Joints[JointType.ElbowRight].Position.Z);
//vector for high knees
Vector3D ankleleft = new Vector3D(skeleton.Joints[JointType.AnkleLeft].Position.X, skeleton.Joints[JointType.AnkleLeft].Position.Y, skeleton.Joints[JointType.AnkleLeft].Position.Z);
Vector3D kneeleft = new Vector3D(skeleton.Joints[JointType.KneeLeft].Position.X, skeleton.Joints[JointType.KneeLeft].Position.Y, skeleton.Joints[JointType.KneeLeft].Position.Z);
Vector3D hipleft = new Vector3D(skeleton.Joints[JointType.HipLeft].Position.X, skeleton.Joints[JointType.HipLeft].Position.Y, skeleton.Joints[JointType.HipLeft].Position.Z);
//Vector3D SpineShoulder = new Vector3D(skeleton.Joints[JointType.SpineShoulder].Position.X, skeleton.Joints[JointType.SpineShoulder].Position.Y, skeleton.Joints[JointType.SpineShoulder].Position.Z);
LeftElbowAngle = AngleBetweenTwoVectors(elbowl - ShoulderLeft, elbowl - WristLeft);
rotationAngle = AngleBetweenTwoVectors(elbowl - ShoulderLeft, Neck - Head);
rottwohand = AngleBetweenTwoVectors(kneeleft - ankleleft, kneeleft - hipleft);
footrot = AngleBetweenTwoVectors(ShoulderLeft - elbowl, shoulderright - elbowright);
if (footrot >= 0 && footrot <= 100)
{
if (tempcount4 == 0)
{
countnumber4++;
}
tempcount4 = 1;
}
else
{
if (tempcount4 == 1)
{
// countnumber3++;
}
tempcount4 = 0;
}
if (rottwohand >= 0 && rottwohand <= 120)
{
if (tempcount3 == 0)
{
countnumber3++;
}
tempcount3 = 1;
}
else
{
if (tempcount3 == 1)
{
// countnumber3++;
}
tempcount3 = 0;
}
if (LeftElbowAngle >= 0 && LeftElbowAngle <= 90)
{
if (tempcount1 == 0)
{
countnumber1++;
}
tempcount1 = 1;
}
else
{
if (tempcount1 == 1)
{
//countnumber1++;
}
tempcount1 = 0;
}
if (rotationAngle >= 0 && rotationAngle <= 90)
{
if (tempcount2 == 0)
{
countnumber2++;
}
tempcount2 = 1;
}
else
{
if (tempcount2 == 1)
{
countnumber2++;
}
tempcount2 = 0;
}
// double angle=AngleBetweenTwoVectors(ElbowLeft, WristLeft);
// Console.WriteLine("angle1 = " + LeftElbowAngle.ToString() + "count1 = " + countnumber1.ToString() + "result1= " + tempcount1.ToString());
// Console.WriteLine("angle2 = " + rotationAngle.ToString() + "count2 = " + countnumber2.ToString() + "result2= " + tempcount2.ToString());
}
}
// Console.WriteLine("angle1 = " + LeftElbowAngle.ToString() + "ElbowRotation= " + countnumber1.ToString());
// Console.WriteLine("angle2 = " + rotationAngle.ToString() + "LefthandRotation = " + countnumber2.ToString());
//Console.WriteLine("angle3 = " + rottwohand.ToString() + "HighKnees = " + countnumber3.ToString());
Console.WriteLine("angle4 = " + footrot.ToString() + "BothHandSwing = " + (countnumber4 - 1).ToString());
Point centerPoint = this.GetPosition2DLocation(depthImageFrame, skeleton.Position);
// Scale the skeleton thickness
// 1.0 is the desired size at 640 width
double scale = this.RenderSize.Width / 640;
skeletonCanvas.RefreshSkeleton(skeleton, jointMapping, centerPoint, scale);
}
if (ImageType == ImageType.Depth)
{
this.ChooseTrackedSkeletons(this.skeletonData);
}
}
}
}
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.ResetFaceTracking();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.ResetFaceTracking();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
// Update the list of trackers and the trackers with the current frame information
foreach (Skeleton skeleton in this.skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked
|| skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// We want keep a record of any skeleton, tracked or untracked.
if (!this.trackedSkeletons.ContainsKey(skeleton.TrackingId))
{
this.trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());
}
// Give each tracker the upated frame.
SkeletonFaceTracker skeletonFaceTracker;
if (this.trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))
{
skeletonFaceTracker.OnFrameReady(this.Kinect, colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);
skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;
}
}
}
this.RemoveOldTrackers(skeletonFrame.FrameNumber);
this.InvalidateVisual();
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
private void KinectAllFramesReady(object sender, AllFramesReadyEventArgs e)
{
if (!((KinectSensor)sender).SkeletonStream.IsEnabled)
{
return;
}
KinectSensor sensor = sender as KinectSensor;
foreach (var skeletonCanvas in this.skeletonCanvases)
{
skeletonCanvas.Skeleton = null;
}
// Have we already been "shut down" by the user of this viewer,
// or has the SkeletonStream been disabled since this event was posted?
if ((null == this.KinectSensorManager) ||
(null == sensor) ||
(null == sensor.SkeletonStream) ||
!sensor.SkeletonStream.IsEnabled)
{
return;
}
bool haveSkeletonData = false;
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
if ((this.skeletonData == null) || (this.skeletonData.Length != skeletonFrame.SkeletonArrayLength))
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
haveSkeletonData = true;
}
}
if (haveSkeletonData)
{
ColorImageFormat colorFormat = ColorImageFormat.Undefined;
int colorWidth = 0;
int colorHeight = 0;
DepthImageFormat depthFormat = DepthImageFormat.Undefined;
int depthWidth = 0;
int depthHeight = 0;
switch (this.ImageType)
{
case ImageType.Color:
// Retrieve the current color format, from the frame if present, and from the sensor if not.
using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
{
if (null != colorImageFrame)
{
colorFormat = colorImageFrame.Format;
colorWidth = colorImageFrame.Width;
colorHeight = colorImageFrame.Height;
}
else if (null != sensor.ColorStream)
{
colorFormat = sensor.ColorStream.Format;
colorWidth = sensor.ColorStream.FrameWidth;
colorHeight = sensor.ColorStream.FrameHeight;
}
}
break;
case ImageType.Depth:
// Retrieve the current depth format, from the frame if present, and from the sensor if not.
using (DepthImageFrame depthImageFrame = e.OpenDepthImageFrame())
{
if (null != depthImageFrame)
{
depthFormat = depthImageFrame.Format;
depthWidth = depthImageFrame.Width;
depthHeight = depthImageFrame.Height;
}
else if (null != sensor.DepthStream)
{
depthFormat = sensor.DepthStream.Format;
depthWidth = sensor.DepthStream.FrameWidth;
depthHeight = sensor.DepthStream.FrameHeight;
}
}
break;
}
for (int i = 0; i < this.skeletonData.Length && i < this.skeletonCanvases.Count; i++)
{
var skeleton = this.skeletonData[i];
var skeletonCanvas = this.skeletonCanvases[i];
var jointMapping = this.jointMappings[i];
jointMapping.Clear();
try
{
// Transform the data into the correct space
// For each joint, we determine the exact X/Y coordinates for the target view
foreach (Joint joint in skeleton.Joints)
{
Point mappedPoint = Get2DPosition(
sensor,
this.ImageType,
this.RenderSize,
joint.Position,
colorFormat,
colorWidth,
colorHeight,
depthFormat,
depthWidth,
depthHeight);
jointMapping[joint.JointType] = new JointMapping
{
Joint = joint,
MappedPoint = mappedPoint
};
}
}
catch (UnauthorizedAccessException)
{
// Kinect is no longer available.
return;
}
// Look up the center point
Point centerPoint = Get2DPosition(
sensor,
this.ImageType,
this.RenderSize,
skeleton.Position,
colorFormat,
colorWidth,
colorHeight,
depthFormat,
depthWidth,
depthHeight);
// Scale the skeleton thickness
// 1.0 is the desired size at 640 width
double scale = this.RenderSize.Width / 640;
skeletonCanvas.Skeleton = skeleton;
skeletonCanvas.JointMappings = jointMapping;
skeletonCanvas.Center = centerPoint;
skeletonCanvas.ScaleFactor = scale;
}
}
}
void kinect_AllFramesReady(object sender, AllFramesReadyEventArgs imageFrames)
{
using (SkeletonFrame skeletonFrame = imageFrames.OpenSkeletonFrame())
if (skeletonFrame != null)
{
if ((skeletonData == null) || (this.skeletonData.Length != skeletonFrame.SkeletonArrayLength))
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
//Copy the skeleton data to our array
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
}
if (skeletonData != null)
foreach (Skeleton skel in skeletonData)
if (skel.TrackingState == SkeletonTrackingState.Tracked)
skeleton = skel;
}
void Sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
// Color
using (var frame = e.OpenColorImageFrame())
{
if (frame != null)
{
if (_mode == CameraMode.Color)
{
camera.Source = frame.ToBitmap();
}
}
}
// Depth
using (var frame = e.OpenDepthImageFrame())
{
if (frame != null)
{
if (_mode == CameraMode.Depth)
{
camera.Source = frame.ToBitmap();
}
}
}
// Body
using (var frame = e.OpenSkeletonFrame())
{
if (frame != null)
{
canvas.Children.Clear();
frame.CopySkeletonDataTo(_totalbodies);
foreach (var body in _totalbodies)
{
if (body.TrackingState == SkeletonTrackingState.Tracked)
{
// COORDINATE MAPPING
foreach (Joint joint in body.Joints)
{
// 3D coordinates in meters
SkeletonPoint skeletonPoint = joint.Position;
// 2D coordinates in pixels
Point point = new Point();
if (_mode == CameraMode.Color)
{
// Skeleton-to-Color mapping
ColorImagePoint colorPoint = _sensor.CoordinateMapper.MapSkeletonPointToColorPoint(skeletonPoint, ColorImageFormat.RgbResolution640x480Fps30);
point.X = colorPoint.X;
point.Y = colorPoint.Y;
}
else if (_mode == CameraMode.Depth) // Remember to change the Image and Canvas size to 320x240.
{
// Skeleton-to-Depth mapping
DepthImagePoint depthPoint = _sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skeletonPoint, DepthImageFormat.Resolution320x240Fps30);
point.X = depthPoint.X;
point.Y = depthPoint.Y;
}
// DRAWING...
Ellipse ellipse = new Ellipse
{
Fill = Brushes.LightBlue,
Width = 20,
Height = 20
};
Canvas.SetLeft(ellipse, point.X - ellipse.Width / 2);
Canvas.SetTop(ellipse, point.Y - ellipse.Height / 2);
canvas.Children.Add(ellipse);
}
}
}
}
}
}
