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KinectExercise_FrancoBroda
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ADD : BodyStream Fonctionnel

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bodyStream
lobroda 1 year ago
parent fc4d30d8d3
commit f04be294ac
8 changed files with 260 additions and 38 deletions
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278
KinectConnection/BodyImageStream.cs
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@ -7,80 +7,294 @@ using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Shapes;
namespace KinectConnection
{
public class BodyImageStream : KinectStream
{
private BodyFrameReader reader;
private Body[] bodies = null;
private Canvas drawingCanvas = null;
/// <summary>
/// The writeable bitmap.
/// </summary>
private WriteableBitmap bitmap = null;
public Body[] Bodies
// so that we can bind to it in the MainWindow.xaml
public WriteableBitmap Bitmap
{
get { return bodies; }
set { SetProperty(ref bodies, value); }
get { return this.bitmap; }
}
public Dictionary<JointType, Point> JointPoints { get; private set; }
private BodyFrameReader bodyFrameReader = null;
private Body[] bodies = null;
private DrawingGroup drawingGroup = new DrawingGroup();
private List<Pen> bodyColors = new List<Pen>();
private CoordinateMapper coordinateMapper = null;
private List<Tuple<JointType, JointType>> bones = new List<Tuple<JointType, JointType>>();
private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));
private readonly Brush inferredJointBrush = Brushes.Yellow;
private const double HandSize = 30;
private const double JointThickness = 3;
private readonly Brush handClosedBrush = new SolidColorBrush(Color.FromArgb(128, 255, 0, 0));
private readonly Brush handOpenBrush = new SolidColorBrush(Color.FromArgb(128, 0, 255, 0));
private readonly Brush handLassoBrush = new SolidColorBrush(Color.FromArgb(128, 0, 0, 255));
private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);
private const double ClipBoundsThickness = 10;
private DrawingImage imageSource = new DrawingImage();
private FrameDescription frameDescription;
private int displayHeight;
private int displayWidth;
public override ImageSource Source
{
get { return this.imageSource; }
}
public BodyImageStream() : base()
{
// Initialize the bodies array
this.bodies = new Body[this.KinectSensor.BodyFrameSource.BodyCount];
JointPoints = new Dictionary<JointType, Point>();
this.coordinateMapper = this.KinectSensor.CoordinateMapper;
frameDescription = this.KinectSensor.DepthFrameSource.FrameDescription;
displayHeight = frameDescription.Height;
displayWidth = frameDescription.Width;
// Torso
this.bones.Add(new Tuple<JointType, JointType>(JointType.Head, JointType.Neck));
this.bones.Add(new Tuple<JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipLeft));
// Right Arm
this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.HandRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.ThumbRight));
// Left Arm
this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
this.bones.Add(new Tuple<JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.ThumbLeft));
// Right Leg
this.bones.Add(new Tuple<JointType, JointType>(JointType.HipRight, JointType.KneeRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleRight, JointType.FootRight));
// Left Leg
this.bones.Add(new Tuple<JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft));
this.bodyColors.Add(new Pen(Brushes.Red, 6));
this.bodyColors.Add(new Pen(Brushes.Orange, 6));
this.bodyColors.Add(new Pen(Brushes.Green, 6));
this.bodyColors.Add(new Pen(Brushes.Blue, 6));
this.bodyColors.Add(new Pen(Brushes.Indigo, 6));
this.bodyColors.Add(new Pen(Brushes.Violet, 6));
this.imageSource = new DrawingImage(this.drawingGroup);
}
public override void Start()
{
// Open the reader for the body frames
this.reader = this.KinectSensor.BodyFrameSource.OpenReader();
this.bitmap = new WriteableBitmap(1920, 1080, 96.0, 96.0, PixelFormats.Pbgra32, null);
if (this.KinectSensor != null)
{
this.bodyFrameReader = this.KinectSensor.BodyFrameSource.OpenReader();
// Subscribe to the event
this.reader.FrameArrived += this.Reader_BodyFrameArrived;
if (this.bodyFrameReader != null)
{
this.bodyFrameReader.FrameArrived += this.Reader_BodyFrameArrived;
}
}
}
public override void Stop()
{
if (this.reader != null)
{
// Unsubscribe from the event
this.reader.FrameArrived -= this.Reader_BodyFrameArrived;
// Dispose the reader to free resources
this.reader.Dispose();
this.reader = null;
}
throw new NotImplementedException();
}
private void Reader_BodyFrameArrived(object sender, BodyFrameArrivedEventArgs e)
{
bool dataReceived = false;
using (BodyFrame bodyFrame = e.FrameReference.AcquireFrame())
{
if (bodyFrame != null)
{
if (this.bodies == null)
{
this.bodies = new Body[bodyFrame.BodyCount];
}
// The first time GetAndRefreshBodyData is called, Kinect will allocate each Body in the array.
// As long as those body objects are not disposed and not set to null in the array,
// those body objects will be re-used.
bodyFrame.GetAndRefreshBodyData(this.bodies);
dataReceived = true;
}
}
// Process the body data
foreach (var body in bodies)
if (dataReceived)
{
using (DrawingContext dc = this.drawingGroup.Open())
{
// Draw a transparent background to set the render size
dc.DrawRectangle(Brushes.Black, null, new Rect(0.0, 0.0, displayWidth, displayHeight));
int penIndex = 0;
foreach (Body body in this.bodies)
{
Pen drawPen = this.bodyColors[penIndex++];
if (body.IsTracked)
{
foreach (JointType jointType in body.Joints.Keys)
this.DrawClippedEdges(body, dc);
IReadOnlyDictionary<JointType, Joint> joints = body.Joints;
// convert the joint points to depth (display) space
Dictionary<JointType, Point> jointPoints = new Dictionary<JointType, Point>();
foreach (JointType jointType in joints.Keys)
{
// 3D
CameraSpacePoint cameraSpacePoint = body.Joints[jointType].Position;
// 2D
ColorSpacePoint colorSpacePoint = this.KinectSensor.CoordinateMapper.MapCameraPointToColorSpace(cameraSpacePoint);
// sometimes the depth(Z) of an inferred joint may show as negative
// clamp down to 0.1f to prevent coordinatemapper from returning (-Infinity, -Infinity)
CameraSpacePoint position = joints[jointType].Position;
if (position.Z < 0)
{
position.Z = 0.1f;
}
JointPoints[jointType] = new Point(colorSpacePoint.X, colorSpacePoint.Y);
DepthSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToDepthSpace(position);
jointPoints[jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
}
this.DrawBody(joints, jointPoints, dc, drawPen);
this.DrawHand(body.HandLeftState, jointPoints[JointType.HandLeft], dc);
this.DrawHand(body.HandRightState, jointPoints[JointType.HandRight], dc);
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, displayWidth, displayHeight));
}
}
}
private void DrawBody(IReadOnlyDictionary<JointType, Joint> joints, IDictionary<JointType, Point> jointPoints, DrawingContext drawingContext, Pen drawingPen)
{
// Draw the bones
foreach (var bone in this.bones)
{
this.DrawBone(joints, jointPoints, bone.Item1, bone.Item2, drawingContext, drawingPen);
}
// Draw the joints
foreach (JointType jointType in joints.Keys)
{
Brush drawBrush = null;
TrackingState trackingState = joints[jointType].TrackingState;
if (trackingState == TrackingState.Tracked)
{
drawBrush = this.trackedJointBrush;
}
else if (trackingState == TrackingState.Inferred)
{
drawBrush = this.inferredJointBrush;
}
if (drawBrush != null)
{
drawingContext.DrawEllipse(drawBrush, null, jointPoints[jointType], JointThickness, JointThickness);
}
}
}
private void DrawHand(HandState handState, Point handPosition, DrawingContext drawingContext)
{
switch (handState)
{
case HandState.Closed:
drawingContext.DrawEllipse(this.handClosedBrush, null, handPosition, HandSize, HandSize);
break;
case HandState.Open:
drawingContext.DrawEllipse(this.handOpenBrush, null, handPosition, HandSize, HandSize);
break;
case HandState.Lasso:
drawingContext.DrawEllipse(this.handLassoBrush, null, handPosition, HandSize, HandSize);
break;
}
}
private void DrawBone(IReadOnlyDictionary<JointType, Joint> joints, IDictionary<JointType, Point> jointPoints, JointType jointType0, JointType jointType1, DrawingContext drawingContext, Pen drawingPen)
{
Joint joint0 = joints[jointType0];
Joint joint1 = joints[jointType1];
// If we can't find either of these joints, exit
if (joint0.TrackingState == TrackingState.NotTracked ||
joint1.TrackingState == TrackingState.NotTracked)
{
return;
}
// We assume all drawn bones are inferred unless BOTH joints are tracked
Pen drawPen = this.inferredBonePen;
if ((joint0.TrackingState == TrackingState.Tracked) && (joint1.TrackingState == TrackingState.Tracked))
{
drawPen = drawingPen;
}
drawingContext.DrawLine(drawPen, jointPoints[jointType0], jointPoints[jointType1]);
}
private void DrawClippedEdges(Body body, DrawingContext drawingContext)
{
FrameEdges clippedEdges = body.ClippedEdges;
if (clippedEdges.HasFlag(FrameEdges.Bottom))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, displayHeight - ClipBoundsThickness, displayWidth, ClipBoundsThickness));
}
if (clippedEdges.HasFlag(FrameEdges.Top))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, displayWidth, ClipBoundsThickness));
}
if (clippedEdges.HasFlag(FrameEdges.Left))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, ClipBoundsThickness, displayHeight));
}
if (clippedEdges.HasFlag(FrameEdges.Right))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(displayWidth - ClipBoundsThickness, 0, ClipBoundsThickness, displayHeight));
}
}
}

3
KinectConnection/ColorImageStream.cs
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@ -16,8 +16,7 @@ namespace KinectConnection
/// </summary>
private WriteableBitmap bitmap = null;
// so that we can bind to it in the MainWindow.xaml
public WriteableBitmap Bitmap
public override ImageSource Source
{
get { return this.bitmap; }
}

3
KinectConnection/DepthImageStream.cs
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@ -1,4 +1,5 @@
using System;
using System.Windows.Media;
namespace KinectConnection
{
@ -7,6 +8,8 @@ namespace KinectConnection
/// </summary>
public class DepthImageStream : KinectStream
{
public override ImageSource Source => throw new NotImplementedException();
public override void Start()
{
throw new NotImplementedException();

3
KinectConnection/InfraredImageStream.cs
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@ -1,4 +1,5 @@
using System;
using System.Windows.Media;
namespace KinectConnection
{
@ -7,6 +8,8 @@ namespace KinectConnection
/// </summary>
public class InfraredImageStream : KinectStream
{
public override ImageSource Source => throw new NotImplementedException();
public override void Start()
{
throw new NotImplementedException();

4
KinectConnection/KinectStream.cs
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@ -1,5 +1,6 @@
using CommunityToolkit.Mvvm.ComponentModel;
using Microsoft.Kinect;
using System.Windows.Media;
namespace KinectConnection
{
@ -10,8 +11,11 @@ namespace KinectConnection
{
// Redondant d'avoir KinectSensor et KinectManager ici ? (car sensor dans manager)
public KinectSensor KinectSensor { get; set; }
public KinectManager KinectManager { get; set; }
public abstract ImageSource Source { get; }
public abstract void Start();
public abstract void Stop();

1
KinectSensorStreams/KinectSensorStreams.csproj
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@ -12,6 +12,7 @@
<ItemGroup>
<PackageReference Include="CommunityToolkit.Mvvm" Version="8.2.2" />
<PackageReference Include="Microsoft.Extensions.DependencyInjection" Version="8.0.0" />
<PackageReference Include="Microsoft.Kinect" Version="2.0.1410.19000" />
</ItemGroup>
<ItemGroup>

3
KinectSensorStreams/View/MainWindow.xaml
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@ -114,8 +114,7 @@
HorizontalAlignment="Center"
Height="400"
Width="400">
<!--<Image Source="{Binding KinectStream.Bitmap}"/>-->
<Grid x:Name="DisplayGrid" Background="Black" Width="512" Height="414"/>
<Image Source="{Binding KinectStream.Source}"/>
</Viewbox>
</Grid>
</Grid>

1
KinectSensorStreams/ViewModel/MainWindowVM.cs
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@ -58,7 +58,6 @@ namespace KinectSensorStreams.ViewModel
// kinect stream => color stream for now
KinectStream = KinectStreamsFactory[KinectStreams.Body];
StartCommand = new RelayCommand(Start);
// [Question] : StartCommand ici peut être mieux que BeginInit() dans MainWindow.xaml.cs ?
ColorCommand = new RelayCommand(Color);

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