So I tried using Kinect and programming for skeleton tracking.
* Note :
OpenNI : http://www.openni.org/
Prime Sense : http://www.primesense.com/
SensorKinect : https://github.com/avin2/SensorKinect
XNA 4.0 : http://msdn.microsoft.com/en-En/xna/default.aspx
TrackingConfig.xml
<OpenNI> <Licenses> <License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/> </Licenses> <Log writeToConsole="true" writeToFile="false"> <!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) --> <LogLevel value="3"/> <Masks> <Mask name="ALL" on="false"/> </Masks> <Dumps> </Dumps> </Log> <ProductionNodes> <Node type="Image" name="Image1"> <Configuration> <MapOutputMode xRes="640" yRes="480" FPS="30"/> <Mirror on="true"/> </Configuration> </Node> <Node type="Depth"> <Configuration> <MapOutputMode xRes="640" yRes="480" FPS="30"/> <Mirror on="true"/> </Configuration> </Node> <Node type="Gesture" /> <Node type="Hands" /> </ProductionNodes> </OpenNI>
MainWindow.xaml
<Window x:Class="KinectWPF.MainWindow" xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" Title="Kinect Demo" Height="960" Width="640" xmlns:kinect="clr-namespace:KinectWPF"> <Grid Background="White"> <Grid.RowDefinitions> <RowDefinition Height="*" /> <RowDefinition Height="*" /> </Grid.RowDefinitions> <Image Name="imgDepth" Width="640" Height="480" /> <WindowsFormsHost Background="Transparent" Name="windowsFormsHost1" Width="640" Height="480" Grid.Row="1"> <kinect:KinectCustomControl x:Name="KinectCustomControl" /> </WindowsFormsHost> </Grid> </Window>
MainWindow.xaml.cs
using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Windows; using System.Windows.Controls; using System.Windows.Data; using System.Windows.Documents; using System.Windows.Input; using System.Windows.Media; using System.Windows.Media.Imaging; using System.Windows.Navigation; using System.Windows.Shapes; using xn; using System.ComponentModel; using System.Threading; namespace KinectWPF { /// <summary> /// Interaction logic for MainWindow.xaml /// </summary> public partial class MainWindow : Window { private const string CONFIGURATION = @"TrackingConfig.xml"; private readonly int DPI_X = 96; private readonly int DPI_Y = 96; private Thread _thread; private bool _isRunning = true; public Context _context; public ImageGenerator _image; public DepthGenerator _depth; private WriteableBitmap _imageBmp; private WriteableBitmap _depthBmp; private ImageMetaData _imgMD = new ImageMetaData(); private DepthMetaData _depthMD = new DepthMetaData(); public int[] _histogram; BackgroundWorker _worker = new BackgroundWorker(); public ImageSource RawImageSource { get { if (_imageBmp != null) { _imageBmp.Lock(); _imageBmp.WritePixels(new Int32Rect(0, 0, _imgMD.XRes, _imgMD.YRes), _imgMD.ImageMapPtr, (int)_imgMD.DataSize, _imageBmp.BackBufferStride); _imageBmp.Unlock(); } return _imageBmp; } } public ImageSource DepthImageSource { get { if (_depthBmp != null) { UpdateHistogram(_depthMD); _depthBmp.Lock(); unsafe { ushort* pDepth = (ushort*)_depth.GetDepthMapPtr().ToPointer(); for (int y = 0; y < _depthMD.YRes; ++y) { byte* pDest = (byte*)_depthBmp.BackBuffer.ToPointer() + y * _depthBmp.BackBufferStride; for (int x = 0; x < _depthMD.XRes; ++x, ++pDepth, pDest += 3) { byte pixel = (byte)_histogram[*pDepth]; pDest[0] = 0; pDest[1] = pixel; pDest[2] = pixel; } } } _depthBmp.AddDirtyRect(new Int32Rect(0, 0, _depthMD.XRes, _depthMD.YRes)); _depthBmp.Unlock(); } return _depthBmp; } } public MainWindow() { InitializeComponent(); CompositionTarget.Rendering += new EventHandler(CompositionTarget_Rendering); this.Closing += new CancelEventHandler(Window_Closing); InitializeKinect(CONFIGURATION); InitializeBitmaps(); InitializeThread(); } private void InitializeKinect(string configuration) { _context = new Context(configuration); if (_context == null) throw new Exception("configuration file is not found."); _image = _context.FindExistingNode(NodeType.Image) as ImageGenerator; if (_image == null) throw new Exception("Viewer must have a image node!"); _depth = _context.FindExistingNode(NodeType.Depth) as DepthGenerator; if (_depth == null) throw new Exception("Viewer must have a depth node!"); _histogram = new int[_depth.GetDeviceMaxDepth()]; } private void InitializeBitmaps() { MapOutputMode mapMode = _depth.GetMapOutputMode(); int width = (int)mapMode.nXRes; int height = (int)mapMode.nYRes; _imageBmp = new WriteableBitmap(width, height, DPI_X, DPI_Y, PixelFormats.Rgb24, null); _depthBmp = new WriteableBitmap(width, height, DPI_X, DPI_Y, PixelFormats.Rgb24, null); } private void InitializeThread() { _worker.DoWork += new DoWorkEventHandler(Worker_DoWork); _thread = new Thread(CameraThread); _thread.IsBackground = true; _isRunning = true; _thread.Start(); } private unsafe void CameraThread() { while (_isRunning) { _context.WaitAndUpdateAll(); _image.GetMetaData(_imgMD); _depth.GetMetaData(_depthMD); } } public unsafe void UpdateHistogram(DepthMetaData depthMD) { for (int i = 0; i < _histogram.Length; ++i) _histogram[i] = 0; ushort* pDepth = (ushort*)depthMD.DepthMapPtr.ToPointer(); int points = 0; for (int y = 0; y < depthMD.YRes; ++y) { for (int x = 0; x < depthMD.XRes; ++x, ++pDepth) { ushort depthVal = *pDepth; if (depthVal != 0) { _histogram[depthVal]++; points++; } } } for (int i = 1; i < _histogram.Length; i++) { _histogram[i] += _histogram[i - 1]; } if (points > 0) { for (int i = 1; i < _histogram.Length; i++) { _histogram[i] = (int)(256 * (1.0f - (_histogram[i] / (float)points))); } } } private void Dispose() { _imageBmp = null; _depthBmp = null; _isRunning = false; if (_thread != null) { _thread.Join(); _thread = null; } if (_worker != null) { _worker.Dispose(); _worker = null; } if (_depth != null) { _depth.Dispose(); _depth = null; } if (_image != null) { _image.Dispose(); _image = null; } if (_context != null) { _context.Dispose(); _context = null; } } private void Worker_DoWork(object sender, DoWorkEventArgs e) { Dispatcher.BeginInvoke((Action)delegate { imgDepth.Source = DepthImageSource; }); } private void Window_Closing(object sender, CancelEventArgs e) { this.Dispose(); } private void CompositionTarget_Rendering(object sender, EventArgs e) { if (!_worker.IsBusy) { _worker.RunWorkerAsync(); } } } }
KinectCustomControl.cs
using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Text; using System.Windows.Forms; using xn; using Microsoft.Xna.Framework; using Microsoft.Xna.Framework.Graphics; using Color = Microsoft.Xna.Framework.Color; namespace KinectWPF { public partial class KinectCustomControl : Control { private const string CONFIGURATION = @"TrackingConfig.xml"; private GraphicsDevice _device = null; private PresentationParameters _pp = null; private BasicEffect _effect = null; private List<VertexPositionColor> _vertices; private System.Windows.Forms.Timer _timer; Context _context; DepthGenerator _depth; UserGenerator _users; SkeletonCapability _skeleton; PoseDetectionCapability _pose; Dictionary<uint, Dictionary<SkeletonJoint, SkeletonJointPosition>> _joints; private readonly float _nearPlaneDistance = 1.0f; private readonly float _farPlaneDistance = 2000.0f; public KinectCustomControl() { InitializeComponent(); } protected override void OnCreateControl() { if (this.DesignMode == false) { InitializeKinect(CONFIGURATION); InitializeXnaFramework(); InitializeUserGenerator(); InitializePoseDetectionCapability(); InitializeSkeletonCapability(SkeletonProfile.Upper); _users.StartGenerating(); } base.OnCreateControl(); } private void InitializeXnaFramework() { _vertices = new List<VertexPositionColor>(); try { _pp = new PresentationParameters(); _pp.BackBufferWidth = 640; _pp.BackBufferHeight = 480; _pp.BackBufferFormat = SurfaceFormat.Color; _pp.DeviceWindowHandle = this.Handle; _pp.DepthStencilFormat = DepthFormat.Depth16; _pp.IsFullScreen = false; _device = new GraphicsDevice(GraphicsAdapter.DefaultAdapter, GraphicsProfile.Reach, _pp); _effect = new BasicEffect(_device); _effect.VertexColorEnabled = true; _effect.View = Matrix.CreateLookAt( new Vector3(0.0f, 0.0f, -1000.0f), Vector3.Zero, Vector3.Down); Matrix world = Matrix.Identity; world *= Matrix.CreateTranslation(new Vector3(-_device.Viewport.Width/2.0f, -_device.Viewport.Height/2.0f, -500.0f)); world *= Matrix.CreateScale(1.0f, 1.0f, 1.0f); _effect.World = world; _effect.Projection = Matrix.CreatePerspectiveFieldOfView( MathHelper.ToRadians(45.0f), _device.Viewport.AspectRatio, _nearPlaneDistance, _farPlaneDistance); } catch (Exception ex) { System.Diagnostics.Trace.WriteLine(ex.ToString()); } } private void InitializeKinect(string config) { _context = new Context(config); if(_context==null) throw new Exception("configuration file is not found."); _depth = _context.FindExistingNode(NodeType.Depth) as DepthGenerator; if (_depth == null) throw new Exception("Viewer must have a depth node!"); } private void InitializeUserGenerator() { _users = new UserGenerator(_context); _users.NewUser += new UserGenerator.NewUserHandler(UserGesture_NewUser); _users.LostUser += new UserGenerator.LostUserHandler(UserGesture_LostUser); } private void InitializePoseDetectionCapability() { _pose = new PoseDetectionCapability(_users); _pose.PoseDetected += new PoseDetectionCapability.PoseDetectedHandler(PoseDetectionCapability_PoseDetected); } private void InitializeSkeletonCapability(SkeletonProfile profile) { _skeleton = new SkeletonCapability(_users); _skeleton.CalibrationEnd += new SkeletonCapability.CalibrationEndHandler(SkeletonCapability_CalibrationEnd); _skeleton.SetSkeletonProfile(profile); _joints = new Dictionary<uint, Dictionary<SkeletonJoint, SkeletonJointPosition>>(); } private void SkeletonCapability_CalibrationEnd(ProductionNode node, uint id, bool success) { if (success) { _skeleton.StartTracking(id); _joints.Add(id, new Dictionary<SkeletonJoint, SkeletonJointPosition>()); } else { _pose.StartPoseDetection(_skeleton.GetCalibrationPose(), id); } } private void PoseDetectionCapability_PoseDetected(ProductionNode node, string pose, uint id) { _pose.StopPoseDetection(id); _skeleton.RequestCalibration(id, true); } private void UserGesture_LostUser(ProductionNode node, uint id) { _joints.Remove(id); } private void UserGesture_NewUser(ProductionNode node, uint id) { _pose.StartPoseDetection(_skeleton.GetCalibrationPose(), id); } private void SetUserSkeletonJointPositions(uint user) { SetSkeletonJointPosition(user, SkeletonJoint.Head); SetSkeletonJointPosition(user, SkeletonJoint.LeftHand); SetSkeletonJointPosition(user, SkeletonJoint.RightHand); SetSkeletonJointPosition(user, SkeletonJoint.Neck); SetSkeletonJointPosition(user, SkeletonJoint.LeftShoulder); SetSkeletonJointPosition(user, SkeletonJoint.LeftElbow); SetSkeletonJointPosition(user, SkeletonJoint.RightShoulder); SetSkeletonJointPosition(user, SkeletonJoint.RightElbow); SetSkeletonJointPosition(user, SkeletonJoint.Torso); // Uncomment When the SkeletonProfile is set as All ( or Lower ) /* GetSkeletonJointPosition(user, SkeletonJoint.LeftHip); GetSkeletonJointPosition(user, SkeletonJoint.LeftKnee); GetSkeletonJointPosition(user, SkeletonJoint.LeftFoot); GetSkeletonJointPosition(user, SkeletonJoint.RightHip); GetSkeletonJointPosition(user, SkeletonJoint.RightKnee); GetSkeletonJointPosition(user, SkeletonJoint.RightFoot); */ } private void SetSkeletonJointPosition(uint user, SkeletonJoint joint) { try { SkeletonJointPosition pos = new SkeletonJointPosition(); _skeleton.GetSkeletonJointPosition(user, joint, ref pos); if (pos.position.Z == 0) pos.fConfidence = 0; else pos.position = _depth.ConvertRealWorldToProjective(pos.position); _joints[user][joint] = pos; } catch (Exception ex) { System.Diagnostics.Trace.WriteLine(ex.ToString()); } } protected override void OnPaint(PaintEventArgs pe) { base.OnPaint(pe); } protected override void OnPaintBackground(PaintEventArgs pevent) { //base.OnPaintBackground(pevent); } private void DrawSkeleton(Color color, uint user) { SetUserSkeletonJointPositions(user); Dictionary<SkeletonJoint, SkeletonJointPosition> dict = _joints[user]; SetVertexPositionColors(dict, SkeletonJoint.Head, SkeletonJoint.Neck, color); SetVertexPositionColors(dict, SkeletonJoint.Neck, SkeletonJoint.RightShoulder, color); SetVertexPositionColors(dict, SkeletonJoint.Neck, SkeletonJoint.LeftShoulder, color); SetVertexPositionColors(dict, SkeletonJoint.RightShoulder, SkeletonJoint.RightElbow, color); SetVertexPositionColors(dict, SkeletonJoint.RightElbow, SkeletonJoint.RightHand, color); SetVertexPositionColors(dict, SkeletonJoint.LeftShoulder, SkeletonJoint.LeftElbow, color); SetVertexPositionColors(dict, SkeletonJoint.LeftElbow, SkeletonJoint.LeftHand, color); SetVertexPositionColors(dict, SkeletonJoint.RightHip, SkeletonJoint.Torso, color); SetVertexPositionColors(dict, SkeletonJoint.LeftHip, SkeletonJoint.Torso, color); SetVertexPositionColors(dict, SkeletonJoint.RightHip, SkeletonJoint.LeftHip, color); SetVertexPositionColors(dict, SkeletonJoint.RightHip, SkeletonJoint.RightKnee, color); SetVertexPositionColors(dict, SkeletonJoint.RightKnee, SkeletonJoint.RightFoot, color); SetVertexPositionColors(dict, SkeletonJoint.LeftHip, SkeletonJoint.LeftKnee, color); SetVertexPositionColors(dict, SkeletonJoint.LeftKnee, SkeletonJoint.LeftFoot, color); if (_vertices.Count == 0) return; VertexPositionColor[] vertexis = new VertexPositionColor[_vertices.Count()]; for (int i = 0; i < _vertices.Count(); i++) { vertexis[i] = _vertices[i]; } _device.DrawUserPrimitives(PrimitiveType.LineList, vertexis, 0, vertexis.Length / 2); } private void Timer_Tick(object sender, EventArgs e) { SkeletonThread(); } private void SetVertexPositionColors(Dictionary<SkeletonJoint, SkeletonJointPosition> joints, SkeletonJoint joint0, SkeletonJoint joint1, Color color) { if (!joints.ContainsKey(joint0) || !joints.ContainsKey(joint1)) return ; try { SkeletonJointPosition p1 = joints[joint0]; SkeletonJointPosition p2 = joints[joint1]; Vector3 v1 = new Vector3(p1.position.X, p1.position.Y, p1.position.Z); Vector3 v2 = new Vector3(p2.position.X, p2.position.Y, p2.position.Z); _vertices.Add(new VertexPositionColor(v1, color)); _vertices.Add(new VertexPositionColor(v2, color)); } catch (Exception ex) { System.Diagnostics.Trace.WriteLine(ex.ToString()); } } private unsafe void SkeletonThread() { DepthMetaData depthMD = new DepthMetaData(); try { _context.WaitAndUpdateAll(); } catch (Exception ex) { System.Diagnostics.Trace.WriteLine(ex.ToString()); } _depth.GetMetaData(depthMD); lock (this) { if (_device == null) return; _device.Clear(Color.White); _effect.Techniques[0].Passes[0].Apply(); uint[] users = _users.GetUsers(); foreach (uint user in users) { if (_skeleton.IsTracking(user)) { // Tracking _vertices.Clear(); DrawSkeleton(Color.Red, user); } else if (_skeleton.IsCalibrating(user)) { // Calibrating } else { // Looking for pose or something else. } } try { _device.Present(); } catch (Exception ex) { System.Diagnostics.Trace.WriteLine(ex.ToString()); } } } } }
KinectCustomControl.Designer.cs
namespace KinectWPF { partial class KinectCustomControl { /// <summary> /// Required designer variable. /// </summary> private System.ComponentModel.IContainer components = null; /// <summary> /// Clean up any resources being used. /// </summary> /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param> protected override void Dispose(bool disposing) { if (disposing && (components != null)) { components.Dispose(); } if (_timer != null) { _timer.Dispose(); _timer = null; } if (_skeleton != null) { _skeleton.Dispose(); _skeleton = null; } if (_pose != null) { _pose.Dispose(); _pose = null; } if (_users != null) { _users.Dispose(); _users = null; } if (_depth != null) { _depth.Dispose(); _depth = null; } if (_context != null) { _context.Dispose(); _context = null; } if (_effect != null) { _effect.Dispose(); _effect = null; } if (_device != null) { _device.Dispose(); _device = null; } base.Dispose(disposing); } #region Component Designer generated code /// <summary> /// Required method for Designer support - do not modify /// the contents of this method with the code editor. /// </summary> private void InitializeComponent() { components = new System.ComponentModel.Container(); _timer = new System.Windows.Forms.Timer(components); SuspendLayout(); _timer.Enabled = true; _timer.Interval = 10; _timer.Tick += Timer_Tick; ResumeLayout(false); } #endregion } }
Well, this is my first time to use Microsoft.Xna.Framework, and actually, I even tried the same thing by use of DirectX as the picture below.
But I don't know where the best coordinate point as the origin is for the drawing, I mean, different axes between Kinect's and Application's....
So, the knowledge of mathematics is needed..... about matrix or something like that.
Anyway, Kinect is very insteresting.
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