213 lines
8.8 KiB
C#
213 lines
8.8 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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#region License
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//
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// This file is part of the ANX.Framework created by the "ANX.Framework developer group".
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//
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// This file is released under the Ms-PL license.
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//
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//
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//
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// Microsoft Public License (Ms-PL)
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//
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// This license governs use of the accompanying software. If you use the software, you accept this license.
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// If you do not accept the license, do not use the software.
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//
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// 2.Definitions
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// The terms "reproduce," "reproduction," "derivative works," and "distribution" have the same meaning
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// here as under U.S. copyright law.
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// A "contribution" is the original software, or any additions or changes to the software.
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// A "contributor" is any person that distributes its contribution under this license.
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// "Licensed patents" are a contributor's patent claims that read directly on its contribution.
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//
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// 2.Grant of Rights
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// (A) Copyright Grant- Subject to the terms of this license, including the license conditions and limitations
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// in section 3, each contributor grants you a non-exclusive, worldwide, royalty-free copyright license to
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// reproduce its contribution, prepare derivative works of its contribution, and distribute its contribution
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// or any derivative works that you create.
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// (B) Patent Grant- Subject to the terms of this license, including the license conditions and limitations in
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// section 3, each contributor grants you a non-exclusive, worldwide, royalty-free license under its licensed
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// patents to make, have made, use, sell, offer for sale, import, and/or otherwise dispose of its contribution
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// in the software or derivative works of the contribution in the software.
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//
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// 3.Conditions and Limitations
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// (A) No Trademark License- This license does not grant you rights to use any contributors' name, logo, or trademarks.
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// (B) If you bring a patent claim against any contributor over patents that you claim are infringed by the software, your
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// patent license from such contributor to the software ends automatically.
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// (C) If you distribute any portion of the software, you must retain all copyright, patent, trademark, and attribution
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// notices that are present in the software.
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// (D) If you distribute any portion of the software in source code form, you may do so only under this license by including
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// a complete copy of this license with your distribution. If you distribute any portion of the software in compiled or
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// object code form, you may only do so under a license that complies with this license.
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// (E) The software is licensed "as-is." You bear the risk of using it. The contributors give no express warranties, guarantees,
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// or conditions. You may have additional consumer rights under your local laws which this license cannot change. To the
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// extent permitted under your local laws, the contributors exclude the implied warranties of merchantability, fitness for a
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// particular purpose and non-infringement.
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#endregion // License
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namespace ANX.InputSystem.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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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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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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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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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(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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