- Started Windows, Metro and Linux Platform-Plugins - Moved the RecordingSample to the Samples folder - Started two samples for using the graphics device in a WinForms and Wpf Editor - Refactorings in the AddIn-System - Moved the Window initialization-code to the Platform modules - Changed the License text in all code files which is now way smaller - Started ProjectConverter tool which converts all the projects and solution to the target configuration - Changed the SupportedPlatform names in the Resource files - Changed the WIN8 define to WINDOWSMETRO which is actually meant - Removed NLog and started our own Logger class - Many more stuff...
180 lines
6.4 KiB
C#
180 lines
6.4 KiB
C#
#region Using Statements
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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 ANX.Framework;
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using ANX.Framework.Graphics;
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using ANX.Framework.NonXNA;
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using Microsoft.Research.Kinect.Nui;
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using ANX.Framework.Input.MotionSensing;
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#endregion // Using Statements
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// This file is part of the ANX.Framework created by the
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// "ANX.Framework developer group" and released under the Ms-PL license.
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// For details see: http://anxframework.codeplex.com/license
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namespace ANX.InputDevices.Windows.Kinect
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{
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public class Kinect : IMotionSensingDevice
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{
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#region Private Members
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private Runtime pNui;
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private Vector3[] cache;
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private GraphicsDevice graphicsDevice;
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private Texture2D rgb;
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private Texture2D depth;
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#endregion // Private Members
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public Kinect()
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{
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if (Runtime.Kinects.Count > 0)
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{
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pNui = Runtime.Kinects[0];
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pNui.Initialize(RuntimeOptions.UseDepthAndPlayerIndex | RuntimeOptions.UseSkeletalTracking | RuntimeOptions.UseColor);
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pNui.SkeletonEngine.TransformSmooth = true;
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}
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//else
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//{
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// throw new Exception("No Kinect was detected, please connect it to your Computer before running this program and make sure you install the Kinect SDK from Microsoft.");
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//}
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this.cache = new Vector3[21];
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//init for the first time
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for (int i = 0; i < 21; ++i)
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{
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this.cache[i] = Vector3.Zero;
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}
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//Added parameters which where used in our Kinect project
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var parameters = new TransformSmoothParameters
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{
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Smoothing = 0.5f,
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Correction = 0.2f,
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Prediction = 0.04f,
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JitterRadius = 0.9f,
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MaxDeviationRadius = 0.9f
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};
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if (pNui != null)
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{
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pNui.SkeletonEngine.SmoothParameters = parameters;
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try
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{
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pNui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color);
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pNui.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution320x240, ImageType.DepthAndPlayerIndex);
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}
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catch (InvalidOperationException)
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{
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// Display error message; omitted for space return;
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}
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//lastTime = DateTime.Now;
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pNui.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(pNui_SkeletonFrameReady);
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pNui.DepthFrameReady += new EventHandler<ImageFrameReadyEventArgs>(pNui_DepthFrameReady);
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pNui.VideoFrameReady += new EventHandler<ImageFrameReadyEventArgs>(pNui_VideoFrameReady);
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// move down all the way
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pNui.NuiCamera.ElevationAngle = -15;
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System.Threading.Thread.Sleep(1500);
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// move up all the way
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pNui.NuiCamera.ElevationAngle = 20;
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}
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}
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void pNui_VideoFrameReady(object sender, ImageFrameReadyEventArgs e)
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{
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if (this.graphicsDevice != null)
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{
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if (this.rgb == null)
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{
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this.rgb = new Texture2D(this.graphicsDevice, e.ImageFrame.Image.Width, e.ImageFrame.Image.Height);
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}
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//TODO: this works only if the image is in RGBA32 Format. Other formats does need a conversion first.
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this.rgb.SetData<byte>(e.ImageFrame.Image.Bits);
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}
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}
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void pNui_DepthFrameReady(object sender, ImageFrameReadyEventArgs e)
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{
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if (this.graphicsDevice != null)
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{
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if (this.depth == null)
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{
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this.depth = new Texture2D(this.graphicsDevice, e.ImageFrame.Image.Width, e.ImageFrame.Image.Height);
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}
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//TODO: this works only if the image is in RGBA32 Format. Other formats does need a conversion first.
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//TODO: special surface format: this.depth.SetData<byte>(e.ImageFrame.Image.Bits);
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}
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}
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private void pNui_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
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{
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foreach (SkeletonData data in e.SkeletonFrame.Skeletons)
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{
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//Tracked that defines whether a skeleton is 'tracked' or not.
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//The untracked skeletons only give their position.
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if (SkeletonTrackingState.Tracked != data.TrackingState) continue;
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//Each joint has a Position property that is defined by a Vector4: (x, y, z, w).
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//The first three attributes define the position in camera space.
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//The last attribute (w)
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//gives the quality level (between 0 and 2) of the
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foreach (Joint joint in data.Joints)
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{
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if (joint.Position.W < 0.6f) return;// Quality check
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cache[(int)joint.ID] = toVector3(joint.Position);
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}
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}
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}
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private Vector3 toVector3(Vector vector)
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{
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//evtl -z
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return new Vector3(vector.X, vector.Y, vector.Z);
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}
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public MotionSensingDeviceState GetState()
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{
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return new MotionSensingDeviceState(Runtime.Kinects.Count > 0, rgb, depth, cache[0], cache[1], cache[2], cache[3], cache[4], cache[5], cache[6], cache[7], cache[8], cache[9], cache[10], cache[11], cache[12], cache[13], cache[14], cache[15], cache[16], cache[17], cache[18], cache[19], cache[20]);
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}
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public GraphicsDevice GraphicsDevice
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{
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get
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{
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return graphicsDevice;
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}
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set
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{
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graphicsDevice = value;
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}
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}
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public MotionSensingDeviceType DeviceType
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{
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get { return MotionSensingDeviceType.Kinect; }
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}
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public void Dispose()
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{
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if (pNui != null)
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{
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pNui.Uninitialize();
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pNui = null;
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}
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}
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}
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}
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