static void Main(string[] args)
{
var window = new ProgramWindow(1000, 50, 640, 480);
window.ResizeGraphics();
window.Load();
var program = new PointCloudProgram(15f);
window.SetProgram(program);
program.Draw().All((xp, yp) =>
{
var x = 0.5 - xp;
var y = 0.5 - yp;
var i = Math.Sqrt(x * x + y * y) * 2.5;
if (i > 1)
i = 1;
i = Math.Pow(1 - i, 3);
byte ii = (byte)(i * 255);
return Color.FromArgb(ii, 255, 255, 255);
}).Finish();
program.SetProjection(pc);
}
public Rendering(PointCloudProgram output)
{
this.output = output;
}
public static void Run(string[] args)
{
var camfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
if (!File.Exists(camfile) || !File.Exists(projfile))
{
Console.WriteLine("Either calib file could not be found.");
return;
}
var cc = Utils.DeSerializeObject<CalibrationResult>(camfile);
var pc = Utils.DeSerializeObject<CalibrationResult>(projfile);
var window = ProgramWindow.OpenOnSecondary();
var program = new PointCloudProgram(29f);
window.SetProgram(program);
program.Draw().All((xp, yp) =>
{
var x = 0.5 - xp;
var y = 0.5 - yp;
var i = Math.Sqrt(x * x + y * y) * 2.5;
if (i > 1)
i = 1;
i = Math.Pow(1 - i, 3);
byte ii = (byte)(i * 255);
return Color.FromArgb(ii, 255, 255, 255);
}).Finish();
KinectSensor sensor = KinectSensor.KinectSensors.First();
var format = DepthImageFormat.Resolution80x60Fps30;
DepthCamera depthCam = new DepthCamera(sensor, format);
SkeletonCamera skeletonCam = new SkeletonCamera(sensor);
TriplexCamera triplex = new TriplexCamera(depthCam, skeletonCam);
KinectCalibrator kc = new KinectCalibrator(cc);
sensor.Start();
sensor.SkeletonStream.Enable();
program.SetProjection(pc, kc.GetModelView());
Rendering rend = new Rendering(program);
float dt = 0;
{
float[] hand = new float[] { 0.124f, -0.9f, 1.7f, 1f };
{
var t = program.SetLight0Pos(hand);
Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
}
window.KeyPress += (o, e) =>
{
if (e.KeyChar == 'w')
hand[1] += 0.1f;
else if (e.KeyChar == 's')
hand[1] -= 0.1f;
if (e.KeyChar == 'a')
hand[0] += 0.1f;
else if (e.KeyChar == 'd')
hand[0] -= 0.1f;
if (e.KeyChar == 'r')
hand[2] += 0.1f;
else if (e.KeyChar == 'f')
hand[2] -= 0.1f;
var t = program.SetLight0Pos(hand);
Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
};
}
while (true)
{
var players = triplex.Trigger(1000);
if (players == null)
continue;
rend.Render(players, sensor, format);
window.RenderFrame();
window.ProcessEvents();
}
//program.SetPositions(new Vector3[] { new Vector3(0.0f, -0.1f, 0) });
//window.RenderFrame();
Func<float[]> getHand = () =>
{
using (var frame = sensor.SkeletonStream.OpenNextFrame(100))
{
if (frame == null)
return null;
Skeleton[] skeletons = new Skeleton[frame.SkeletonArrayLength];
frame.CopySkeletonDataTo(skeletons);
var rhand = skeletons.Where(sk => sk.TrackingState == SkeletonTrackingState.Tracked)
.SelectMany(sk => sk.Joints).Where(j => j.TrackingState != JointTrackingState.NotTracked)
.Where(j => j.JointType == JointType.HandRight)
.Select(j => j.Position).ToArray();
if (rhand.Length > 0)
return kc.ToGlobal(rhand.First());
else
return null;
}
};
while (true)
{
var test = depthCam.GetDepth(10000);
if (test == null)
continue;
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
sw.Start();
var points = test.Select(f => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, f))
.Select(p => new Vector3(p.X, p.Y, p.Z)).ToArray();
program.SetPositions(points);
window.RenderFrame();
sw.Stop();
Console.WriteLine("Time: " + sw.ElapsedMilliseconds);
window.ProcessEvents();
//System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
//sw.Start();
//var sp = test.Select(f => sensor.CoordinateMapper.MapDepthPointToSkeletonPoint(format, f));
//var globals = sp.Select(p => new float[] { p.X, p.Y, p.Z, 1 }).ToArray();
////var globals = kc.ToGlobal(sp).Where(g => g[2] > 0.1f).ToArray();
//sw.Stop();
//Console.WriteLine("Time: " + sw.ElapsedMilliseconds);
//program.SetLight0Pos(new float[] { 0.16f, -0.14f, 0.24f, 1 });
//var hand = getHand();
//if (hand != null)
//{
// var t = program.SetLight0Pos(hand);
// Console.Write("({0}, {1}, {2}) ", hand[0], hand[1], hand[2]);
// Console.WriteLine("({0}, {1}, {2})", t.X, t.Y, t.Z);
// //Console.Write("Done ");
//}
//program.SetPositions(globals);
//window.RenderFrame();
//window.ProcessEvents();
//{
// var projected = pc.Transform(globals.Where(g => g[2] > -0.0f).ToArray());
// projector.DrawPoints(projected,2, Color.Gray);
//}
}
}
