public PointDepth3D GetDepth3DPosition(FingerType id)
{
if (this[id].TrackingState == FingerTrackingState.Tracked)
{
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.sensor);
return(mapper.MapSkeletonPointToDepthPoint(this[id].Position, this.sensor.DepthStream.Format));
}
return(new PointDepth3D());
}
/// <summary>
/// Depth Frame Ready
/// According to the Hand position tracked by Kinect, extract small Rectangular pixels matrix for hand tracking
/// Extract pixels for each frame, each pixel in matrix has the X,Y,Depth information
/// Construct Hand instance, do hand tracking, draw with returning positions of fingertips and palm
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void sensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (!skeletonReadyFlag)
{
return;
}
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.sensor);
PointDepth3D palmDepth3D = mapper.MapSkeletonPointToDepthPoint(rightHand, this.sensor.DepthStream.Format);
int index = palmDepth3D.Y * DepthFrameWidth + palmDepth3D.X;
if (index < 0 || index > this.depthPixels.Length)
{
return;
}
short currDepth = depthPixels[index].Depth;
int indexColor = 0;
int rectSize = 0;
for (int i = 0; i < this.DepthFrameWidth; i++)
{
for (int j = 0; j < this.DepthFrameHeight; j++)
{
indexColor = (j * this.DepthFrameWidth + i) * 4;
if (KinectUtil.isInTrackRegion(i, j, palmDepth3D.X, palmDepth3D.Y))
{
int indexDepthPixels = j * this.DepthFrameWidth + i;
rectDepth3D[rectSize++] = new PointDepth3D(i, j, depthPixels[indexDepthPixels].Depth);
//Draw depth pixel according to different distance
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
if (depthPixels[indexDepthPixels].Depth >= currDepth - 100 &&
depthPixels[indexDepthPixels].Depth <= currDepth + 100)
{
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 255;
this.depthColor[indexColor + RED] = 255;
this.depthColor[indexColor + AlPHA] = 0;
}
}
else
{
this.depthColor[indexColor + BLUE] = 0;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
}
}
}
#region
//for (int i = 0,depthColorIndex = 0; i < this.depthPixels.Length; i++, depthColorIndex += 4)
//{
// if (pointRight.X >= (int)(i % this.sensor.DepthStream.FrameWidth) - 50 &&
// pointRight.X <= (int)(i % this.sensor.DepthStream.FrameWidth) + 50 &&
// pointRight.Y >= (int)(i / this.sensor.DepthStream.FrameWidth) - 40 &&
// pointRight.Y <= (int)(i / this.sensor.DepthStream.FrameWidth) + 60)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// if (depthPixels[i].Depth >= nearDepth - 100 && depthPixels[i].Depth <= nearDepth + 100)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 255;
// this.depthColor[depthColorIndex + RED] = 255;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
// }
// else
// {
// this.depthColor[depthColorIndex + BLUE] = 0;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
//}
#endregion
//Construct Hand instance for tracker, then do hand tracking
if (rectSize == rectWidth * rectHeight)
{
detector.RightHand = new Hand(rectDepth3D, palmDepth3D, rectWidth, rectHeight);
detector.DetectAndSmooth(timeStamp);
//Fingers.Identify(this.Sketelon3DFingerTips,timeStamp);
//Fingers.Identify2(this.Sketelon3DFingerTips,rightHand, rightWrist);
Fingers.Identify3(this.Sketelon3DFingerTips, timeStamp);
timeStamp = (++timeStamp) % KinectUtil.LOOP_TIMES;
foreach (var element in detector.Depth3DFingerTips)
{
int k = (element.Y * DepthFrameWidth + element.X) * 4;
for (int i = k - 20; i < k + 20; i += 4)
{
depthColor[i + BLUE] = 0;
depthColor[i + GREEN] = 0;
depthColor[i + RED] = 255;
}
}
}
this.depthBitmap.WritePixels(
new Int32Rect(0, 0, this.depthBitmap.PixelWidth, this.depthBitmap.PixelHeight),
this.depthColor,
this.depthBitmap.PixelWidth * sizeof(int),
0);
readyEvent.afterDepthReady();
}
}
}
/// <summary>
/// Depth Frame Ready
/// According to the Hand position tracked by Kinect, extract small Rectangular pixels matrix for hand tracking
/// Extract pixels for each frame, each pixel in matrix has the X,Y,Depth information
/// Construct Hand instance, do hand tracking, draw with returning positions of fingertips and palm
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void sensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (!skeletonReadyFlag)
return;
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.sensor);
PointDepth3D palmDepth3D = mapper.MapSkeletonPointToDepthPoint(rightHand, this.sensor.DepthStream.Format);
int index = palmDepth3D.Y * DepthFrameWidth + palmDepth3D.X;
if (index < 0 || index > this.depthPixels.Length)
return;
short currDepth = depthPixels[index].Depth;
int indexColor = 0;
int rectSize = 0;
for (int i = 0; i < this.DepthFrameWidth; i++)
{
for (int j = 0; j < this.DepthFrameHeight; j++)
{
indexColor = (j * this.DepthFrameWidth + i) * 4;
if (KinectUtil.isInTrackRegion(i, j, palmDepth3D.X, palmDepth3D.Y))
{
int indexDepthPixels = j * this.DepthFrameWidth + i;
rectDepth3D[rectSize++] = new PointDepth3D(i, j, depthPixels[indexDepthPixels].Depth);
//Draw depth pixel according to different distance
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
if (depthPixels[indexDepthPixels].Depth >= currDepth - 100
&& depthPixels[indexDepthPixels].Depth <= currDepth + 100)
{
this.depthColor[indexColor + BLUE] = 255;
this.depthColor[indexColor + GREEN] = 255;
this.depthColor[indexColor + RED] = 255;
this.depthColor[indexColor + AlPHA] = 0;
}
}
else
{
this.depthColor[indexColor + BLUE] = 0;
this.depthColor[indexColor + GREEN] = 0;
this.depthColor[indexColor + RED] = 0;
this.depthColor[indexColor + AlPHA] = 0;
}
}
}
#region
//for (int i = 0,depthColorIndex = 0; i < this.depthPixels.Length; i++, depthColorIndex += 4)
//{
// if (pointRight.X >= (int)(i % this.sensor.DepthStream.FrameWidth) - 50 &&
// pointRight.X <= (int)(i % this.sensor.DepthStream.FrameWidth) + 50 &&
// pointRight.Y >= (int)(i / this.sensor.DepthStream.FrameWidth) - 40 &&
// pointRight.Y <= (int)(i / this.sensor.DepthStream.FrameWidth) + 60)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// if (depthPixels[i].Depth >= nearDepth - 100 && depthPixels[i].Depth <= nearDepth + 100)
// {
// this.depthColor[depthColorIndex + BLUE] = 255;
// this.depthColor[depthColorIndex + GREEN] = 255;
// this.depthColor[depthColorIndex + RED] = 255;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
// }
// else
// {
// this.depthColor[depthColorIndex + BLUE] = 0;
// this.depthColor[depthColorIndex + GREEN] = 0;
// this.depthColor[depthColorIndex + RED] = 0;
// this.depthColor[depthColorIndex + AlPHA] = 0;
// }
//}
#endregion
//Construct Hand instance for tracker, then do hand tracking
if (rectSize == rectWidth * rectHeight)
{
detector.RightHand = new Hand(rectDepth3D, palmDepth3D, rectWidth, rectHeight);
detector.DetectAndSmooth(timeStamp);
//Fingers.Identify(this.Sketelon3DFingerTips,timeStamp);
//Fingers.Identify2(this.Sketelon3DFingerTips,rightHand, rightWrist);
Fingers.Identify3(this.Sketelon3DFingerTips,timeStamp);
timeStamp = (++timeStamp) % KinectUtil.LOOP_TIMES;
foreach (var element in detector.Depth3DFingerTips)
{
int k = (element.Y * DepthFrameWidth + element.X) * 4;
for (int i = k - 20; i < k + 20; i += 4)
{
depthColor[i + BLUE] = 0;
depthColor[i + GREEN] = 0;
depthColor[i + RED] = 255;
}
}
}
this.depthBitmap.WritePixels(
new Int32Rect(0, 0, this.depthBitmap.PixelWidth, this.depthBitmap.PixelHeight),
this.depthColor,
this.depthBitmap.PixelWidth * sizeof(int),
0);
readyEvent.afterDepthReady();
}
}
}
public PointDepth3D GetDepth3DPosition(FingerType id)
{
if (this[id].TrackingState == FingerTrackingState.Tracked)
{
CoordinateMapperPlus mapper = new CoordinateMapperPlus(this.sensor);
return mapper.MapSkeletonPointToDepthPoint(this[id].Position, this.sensor.DepthStream.Format);
}
return new PointDepth3D();
}