This commit is contained in:
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@ -36,9 +36,13 @@
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<WarningLevel>4</WarningLevel>
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</PropertyGroup>
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<ItemGroup>
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<Reference Include="Microsoft.Research.Kinect, Version=1.0.0.45, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL" />
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<Reference Include="Microsoft.Kinect, Version=1.7.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
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<SpecificVersion>False</SpecificVersion>
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<HintPath>C:\Program Files\Microsoft SDKs\Kinect\v1.7\Assemblies\Microsoft.Kinect.dll</HintPath>
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</Reference>
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<Reference Include="System" />
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<Reference Include="System.Data" />
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<Reference Include="System.Drawing" />
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<Reference Include="System.Xml" />
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<Reference Include="Microsoft.CSharp" />
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<Reference Include="System.Core" />
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@ -1,11 +1,9 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using Microsoft.Kinect;
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using System.Drawing;
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namespace KinectWorkshop
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{
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public class DepthFrameConverter
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/*public class DepthFrameConverter
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{
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const int RED_IDX = 2;
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const int GREEN_IDX = 1;
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@ -14,71 +12,94 @@ namespace KinectWorkshop
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// Converts a 16-bit grayscale depth frame which includes player indexes into a 32-bit frame
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// that displays different players in different colors
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public byte[] ConvertDepthFrameWithUser(byte[] depthFrame16)
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public byte[] ConvertDepthFrameWithUser(DepthImagePixel[] depthFrame, int width, int height)
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{
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for (int i16 = 0, i32 = 0; i16 < depthFrame16.Length && i32 < depthFrame32.Length; i16 += 2, i32 += 4)
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Color c = Color.Empty;
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byte[] ret = new byte[width * height * 4];
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for (int x = 1; x < width; x++)
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{
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int player = depthFrame16[i16] & 0x07;
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//if ((y - 1) * 320 + x * 4 == i16)
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//{
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// player = 8;
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//}
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int realDepth = (depthFrame16[i16 + 1] << 5) | (depthFrame16[i16] >> 3);
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// transform 13-bit depth information into an 8-bit intensity appropriate
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// for display (we disregard information in most significant bit)
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byte intensity = (byte)(255 - (255 * realDepth / 0x0fff));
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depthFrame32[i32 + RED_IDX] = 0;
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depthFrame32[i32 + GREEN_IDX] = 0;
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depthFrame32[i32 + BLUE_IDX] = 0;
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// choose different display colors based on player
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switch (player)
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for (int y = 0; y < height; y++)
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{
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case 0:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity / 2);
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break;
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case 1:
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depthFrame32[i32 + RED_IDX] = intensity;
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break;
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case 2:
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depthFrame32[i32 + GREEN_IDX] = intensity;
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break;
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case 3:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity / 4);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
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break;
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case 4:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity / 4);
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break;
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case 5:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 4);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
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break;
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case 6:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
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break;
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case 7:
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depthFrame32[i32 + RED_IDX] = (byte)(255 - intensity);
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depthFrame32[i32 + GREEN_IDX] = (byte)(255 - intensity);
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depthFrame32[i32 + BLUE_IDX] = (byte)(255 - intensity);
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break;
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case 8:
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depthFrame32[i32 + RED_IDX] = 255;
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depthFrame32[i32 + GREEN_IDX] = 0;
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depthFrame32[i32 + BLUE_IDX] = 0;
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break;
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int i = ((y * width) + x) * 4;
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short depth = (depthFrame[x + y * width]).Depth;
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c = Color.Empty;
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if(depth > 0 && depth <= 4000)
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{
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int depthdist = (int)((depth / 4090f) * 255f);
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c = System.Drawing.Color.FromArgb((int)(depthdist / 2f), depthdist, (int)(depthdist * 0.7f));
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}
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ret[i] = c.B;
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ret[i] = c.G;
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ret[i] = c.R;
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ret[i] = 255;
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}
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}
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return depthFrame32;
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/* for (int i16 = 0, i32 = 0; i16 < depthFrame16.Length && i32 < depthFrame32.Length; i16 += 2, i32 += 4)
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{
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int player = depthFrame16[i16] & 0x07;
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//if ((y - 1) * 320 + x * 4 == i16)
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//{
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// player = 8;
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//}
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int realDepth = (depthFrame16[i16 + 1] << 5) | (depthFrame16[i16] >> 3);
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// transform 13-bit depth information into an 8-bit intensity appropriate
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// for display (we disregard information in most significant bit)
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byte intensity = (byte)(255 - (255 * realDepth / 0x0fff));
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depthFrame32[i32 + RED_IDX] = 0;
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depthFrame32[i32 + GREEN_IDX] = 0;
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depthFrame32[i32 + BLUE_IDX] = 0;
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// choose different display colors based on player
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switch (player)
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{
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case 0:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity / 2);
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break;
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case 1:
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depthFrame32[i32 + RED_IDX] = intensity;
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break;
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case 2:
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depthFrame32[i32 + GREEN_IDX] = intensity;
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break;
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case 3:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity / 4);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
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break;
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case 4:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity / 4);
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break;
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case 5:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 4);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
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break;
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case 6:
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depthFrame32[i32 + RED_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + GREEN_IDX] = (byte)(intensity / 2);
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depthFrame32[i32 + BLUE_IDX] = (byte)(intensity);
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break;
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case 7:
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depthFrame32[i32 + RED_IDX] = (byte)(255 - intensity);
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depthFrame32[i32 + GREEN_IDX] = (byte)(255 - intensity);
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depthFrame32[i32 + BLUE_IDX] = (byte)(255 - intensity);
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break;
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case 8:
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depthFrame32[i32 + RED_IDX] = 255;
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depthFrame32[i32 + GREEN_IDX] = 0;
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depthFrame32[i32 + BLUE_IDX] = 0;
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break;
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}
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}
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return depthFrame32;*
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return ret;
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}
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internal byte[] ConvertDepthFrame(byte[] depthFrame16)
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@ -112,5 +133,5 @@ namespace KinectWorkshop
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}
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return depthFrame32;
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}
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}
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}*/
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}
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@ -4,12 +4,11 @@
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Title="MainWindow" Height="520" Width="660" Loaded="Window_Loaded" KeyUp="Window_KeyUp">
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<Grid>
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<Image Name="imgDepth" Width="640" Height="480" />
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<!--<StackPanel Orientation="Vertical">
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<!-- <StackPanel Orientation="Vertical">
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<Image Name="imgRgb" Width="320" Height="240" />
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<Image Name="imgDepthPlayer" Width="320" Height="240" />
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</StackPanel>-->
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</StackPanel> -->
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<Canvas Name="MainCanvas">
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</Canvas>
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<Canvas Name="MainCanvas"/>
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</Grid>
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</Window>
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@ -11,7 +11,7 @@ using System.Windows.Media;
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using System.Windows.Media.Imaging;
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using System.Windows.Navigation;
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using System.Windows.Shapes;
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using Microsoft.Research.Kinect.Nui;
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using Microsoft.Kinect;
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namespace Demo1
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{
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@ -21,7 +21,14 @@ namespace Demo1
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public partial class MainWindow : Window
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{
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private KinectWorkshop.DepthFrameConverter cv = new KinectWorkshop.DepthFrameConverter();
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private Camera _cam;
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private KinectSensor r;
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//private DepthImagePixel[] depthPixels;
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//private byte[] colorPixels;
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//private DepthImageFormat DepthFormat = DepthImageFormat.Resolution320x240Fps30;
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//private ColorImageFormat ColorFormat = ColorImageFormat.RgbResolution640x480Fps30;
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//private ColorImagePoint[] colorCoordinates;
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//private bool init = false;
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public MainWindow()
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{
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InitializeComponent();
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@ -29,24 +36,29 @@ namespace Demo1
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private void Window_Loaded(object sender, RoutedEventArgs e)
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{
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if (Runtime.Kinects.Count == 0)
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if (KinectSensor.KinectSensors.Count == 0)
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{
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MessageBox.Show("Keine Kinect");
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return;
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}
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try
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{
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Runtime r = Runtime.Kinects[0];
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r.Initialize(RuntimeOptions.UseSkeletalTracking | RuntimeOptions.UseDepthAndPlayerIndex);
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r = KinectSensor.KinectSensors[0];
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r.Start();
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//r.Initialize(RuntimeOptions.UseSkeletalTracking | RuntimeOptions.UseDepthAndPlayerIndex);
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//r.VideoFrameReady += new EventHandler<ImageFrameReadyEventArgs>(r_VideoFrameReady);
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//r.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
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r.DepthFrameReady += new EventHandler<ImageFrameReadyEventArgs>(r_DepthFrameReady);
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r.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.DepthAndPlayerIndex);
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r.SkeletonEngine.TransformSmooth = true;
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r.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(r_SkeletonFrameReady);
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_cam = r.NuiCamera;
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//r.DepthFrameReady += r_DepthFrameReady;
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//r.DepthStream.Enable();
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//r.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.DepthAndPlayerIndex);
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//r.SkeletonFrameReady += r_SkeletonFrameReady;
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r.SkeletonStream.Enable(new TransformSmoothParameters() { Smoothing = 0.1f });
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//r.SkeletonEngine.TransformSmooth = true;
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//r.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(r_SkeletonFrameReady);
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//_cam = r.NuiCamera;
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//r.AllFramesReady += R_AllFramesReady;
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r.SkeletonFrameReady += this.r_SkeletonFrameReady;
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}
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catch (Exception ex)
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{
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@ -54,46 +66,118 @@ namespace Demo1
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}
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}
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/*private void R_AllFramesReady(object sender, AllFramesReadyEventArgs e)
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{
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if(r == null)
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{
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return;
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}
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bool depthReceived = false;
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bool colorReceived = false;
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using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
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{
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if (null != depthFrame)
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{
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// Copy the pixel data from the image to a temporary array
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depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
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depthReceived = true;
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if(!init) {
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this.colorCoordinates = new ColorImagePoint[r.DepthStream.FramePixelDataLength];
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init = true;
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}
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}
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}
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using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
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{
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if (null != colorFrame)
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{
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// Copy the pixel data from the image to a temporary array
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colorFrame.CopyPixelDataTo(this.colorPixels);
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colorReceived = true;
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}
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}
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if (true == depthReceived)
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{
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r.CoordinateMapper.MapDepthFrameToColorFrame(
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DepthFormat,
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this.depthPixels,
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ColorFormat,
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this.colorCoordinates);
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// ...
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int depthIndex = x + (y * this.depthWidth);
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DepthImagePixel depthPixel = this.depthPixels[depthIndex];
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// scale color coordinates to depth resolution
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int X = colorImagePoint.X / this.colorToDepthDivisor;
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int Y = colorImagePoint.Y / this.colorToDepthDivisor;
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// depthPixel is the depth for the (X,Y) pixel in the color frame
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}
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}*/
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void r_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
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{
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SkeletonFrame skf = e.OpenSkeletonFrame();
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if(skf == null)
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{
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return;
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}
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Skeleton[] sks = new Skeleton[skf.SkeletonArrayLength];
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skf.CopySkeletonDataTo(sks);
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this.MainCanvas.Children.Clear();
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foreach (SkeletonData sk in e.SkeletonFrame.Skeletons)
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foreach (Skeleton sk in sks)
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{
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if (sk.TrackingState == SkeletonTrackingState.Tracked)
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{
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this.SetLines(sk);
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this.SetPoints(sk);
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this.drawPlayer(sk);
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}
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}
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}
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private void SetLines(SkeletonData sk)
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private void drawPlayer(Skeleton sk)
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{
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JointID[,] id = {
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{ JointID.Head, JointID.ShoulderCenter },
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{ JointID.ShoulderCenter, JointID.ShoulderLeft },
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{ JointID.ShoulderCenter, JointID.ShoulderRight },
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{ JointID.ShoulderLeft, JointID.ElbowLeft },
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{ JointID.ShoulderRight, JointID.ElbowRight },
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{ JointID.ElbowLeft, JointID.WristLeft },
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{ JointID.ElbowRight, JointID.WristRight },
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{ JointID.WristLeft, JointID.HandLeft },
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{ JointID.WristRight, JointID.HandRight },
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{ JointID.ShoulderCenter, JointID.Spine },
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{ JointID.Spine, JointID.HipCenter },
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{ JointID.HipCenter, JointID.HipLeft },
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{ JointID.HipCenter, JointID.HipRight },
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{ JointID.HipLeft, JointID.KneeLeft },
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{ JointID.HipRight, JointID.KneeRight },
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{ JointID.KneeLeft, JointID.AnkleLeft },
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{ JointID.KneeRight, JointID.AnkleRight },
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{ JointID.AnkleLeft, JointID.FootLeft },
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{ JointID.AnkleRight, JointID.FootRight }
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this.SetPoints(sk);
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this.SetLines(sk);
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}
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private void SetLines(Skeleton sk)
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{
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JointType[,] id = {
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{ JointType.Head, JointType.ShoulderCenter },
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{ JointType.ShoulderCenter, JointType.ShoulderLeft },
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{ JointType.ShoulderCenter, JointType.ShoulderRight },
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{ JointType.ShoulderLeft, JointType.ElbowLeft },
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{ JointType.ShoulderRight, JointType.ElbowRight },
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{ JointType.ElbowLeft, JointType.WristLeft },
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{ JointType.ElbowRight, JointType.WristRight },
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{ JointType.WristLeft, JointType.HandLeft },
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{ JointType.WristRight, JointType.HandRight },
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{ JointType.ShoulderCenter, JointType.Spine },
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{ JointType.Spine, JointType.HipCenter },
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{ JointType.HipCenter, JointType.HipLeft },
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{ JointType.HipCenter, JointType.HipRight },
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{ JointType.HipLeft, JointType.KneeLeft },
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{ JointType.HipRight, JointType.KneeRight },
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{ JointType.KneeLeft, JointType.AnkleLeft },
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{ JointType.KneeRight, JointType.AnkleRight },
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{ JointType.AnkleLeft, JointType.FootLeft },
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{ JointType.AnkleRight, JointType.FootRight }
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};
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for (int i = 0; i < id.Length / 2; i++)
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{
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Joint r1 = sk.Joints[id[i, 0]].ScaleTo(640, 480);
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Joint r2 = sk.Joints[id[i, 1]].ScaleTo(640, 480);
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/**** */
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Line l = new Line();
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l.Stroke = Brushes.Blue;
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l.StrokeThickness = 5.0;
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@ -101,11 +185,13 @@ namespace Demo1
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l.X1 = r1.Position.X;
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l.Y2 = r2.Position.Y;
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l.X2 = r2.Position.X;
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/**** */
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this.MainCanvas.Children.Add(l);
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}
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}
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|
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private void SetPoints(SkeletonData sk)
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private void SetPoints(Skeleton sk)
|
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{
|
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foreach (Joint joint in sk.Joints)
|
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{
|
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@ -121,28 +207,37 @@ namespace Demo1
|
||||
}
|
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}
|
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|
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void r_DepthFrameReady(object sender, ImageFrameReadyEventArgs e)
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/*void r_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
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{
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PlanarImage img = e.ImageFrame.Image;
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byte[] bh = cv.ConvertDepthFrameWithUser(img.Bits);
|
||||
imgDepth.Source = BitmapSource.Create(img.Width, img.Height,
|
||||
96, 96, PixelFormats.Bgr32, null,
|
||||
bh, img.Width * 4);
|
||||
//PlanarImage img = e.ImageFrame.Image;
|
||||
DepthImageFrame img = e.OpenDepthImageFrame();
|
||||
if(img == null)
|
||||
{
|
||||
return;
|
||||
}
|
||||
DepthImagePixel[] bs = new DepthImagePixel[img.PixelDataLength];
|
||||
img.CopyDepthImagePixelDataTo(bs);
|
||||
byte[] bh = cv.ConvertDepthFrameWithUser(bs, img.Width, img.Height);
|
||||
imgDepth.Source = BitmapSource.Create(img.Width, img.Height, 96, 96, PixelFormats.Bgr32, null, bh, img.Width * 4);
|
||||
//bh = cv.ConvertDepthFrameHiddenPlayer(img.Bits);
|
||||
//byte[] bh = cv.ConvertDepthFrame(img.Bits);
|
||||
//imgDepthPlayer.Source = BitmapSource.Create(img.Width, img.Height,
|
||||
// 96, 96, PixelFormats.Bgr32, null,
|
||||
// bh, img.Width * 4);
|
||||
}
|
||||
}*/
|
||||
|
||||
private void Window_KeyUp(object sender, KeyEventArgs e)
|
||||
{
|
||||
try
|
||||
{
|
||||
if (e.Key == Key.OemPlus)
|
||||
_cam.ElevationAngle += 1;
|
||||
if (e.Key == Key.OemMinus)
|
||||
_cam.ElevationAngle -= 1;
|
||||
if (e.Key == Key.Up)
|
||||
{
|
||||
int k = r.ElevationAngle;
|
||||
k++;
|
||||
r.ElevationAngle = k;
|
||||
}
|
||||
if (e.Key == Key.Down)
|
||||
r.ElevationAngle -= 1;
|
||||
}
|
||||
catch (ArgumentOutOfRangeException outOfRangeException)
|
||||
{
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
using Microsoft.Research.Kinect.Nui;
|
||||
using Microsoft.Kinect;
|
||||
using System.Windows;
|
||||
|
||||
namespace Demo1
|
||||
{
|
||||
@ -6,17 +7,15 @@ namespace Demo1
|
||||
{
|
||||
public static Joint ScaleTo(this Joint joint, int width, int height, float skeletonMaxX, float skeletonMaxY)
|
||||
{
|
||||
Vector pos = new Vector()
|
||||
SkeletonPoint pos = new SkeletonPoint()
|
||||
{
|
||||
X = Scale(width, skeletonMaxX, joint.Position.X),
|
||||
Y = Scale(height, skeletonMaxY, -joint.Position.Y),
|
||||
Z = joint.Position.Z,
|
||||
W = joint.Position.W
|
||||
Z = joint.Position.Z
|
||||
};
|
||||
|
||||
Joint j = new Joint()
|
||||
{
|
||||
ID = joint.ID,
|
||||
TrackingState = joint.TrackingState,
|
||||
Position = pos
|
||||
};
|
||||
|
||||
Loading…
Reference in New Issue
Block a user