我正在尝试编写一个向我显示当前颜色流并将其与骨架流叠加/组合的程序。
我以微软的skeletonviewer 为例并尝试实现颜色流。很好，颜色流正在运行，但骨架消失了......
所以现在我的问题要问你：我如何启用骨架，以便如果人站在 kinect 前面，颜色流和骨架就会出现？
这是我的代码：
namespace Microsoft.Samples.Kinect.SkeletonBasics
{
using System.IO;
using System.Windows;
using System.Windows.Media;
using Microsoft.Kinect;
using System;
using System.Windows.Media.Imaging;
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
/// <summary>
/// Width of output drawing
/// </summary>
private const float RenderWidth = 640.0f;
/// <summary>
/// Height of our output drawing
/// </summary>
private const float RenderHeight = 480.0f;
/// <summary>
/// Thickness of drawn joint lines
/// </summary>
private const double JointThickness = 3;
/// <summary>
/// Thickness of body center ellipse
/// </summary>
private const double BodyCenterThickness = 10;
/// <summary>
/// Thickness of clip edge rectangles
/// </summary>
private const double ClipBoundsThickness = 10;
/// <summary>
/// Brush used to draw skeleton center point
/// </summary>
private readonly Brush centerPointBrush = Brushes.Blue;
/// <summary>
/// Brush used for drawing joints that are currently tracked
/// </summary>
private readonly Brush trackedJointBrush = new SolidColorBrush(Color.FromArgb(255, 68, 192, 68));
/// <summary>
/// Brush used for drawing joints that are currently inferred
/// </summary>
private readonly Brush inferredJointBrush = Brushes.Yellow;
/// <summary>
/// Pen used for drawing bones that are currently tracked
/// </summary>
private readonly Pen trackedBonePen = new Pen(Brushes.Green, 6);
/// <summary>
/// Pen used for drawing bones that are currently inferred
/// </summary>
private readonly Pen inferredBonePen = new Pen(Brushes.Gray, 1);
/// <summary>
/// Active Kinect sensor
/// </summary>
//private KinectSensor sensor;
KinectSensor sensor = KinectSensor.KinectSensors[0];
private byte[] colorPixelData;
private WriteableBitmap outputImage;
/// <summary>
/// Drawing group for skeleton rendering output
/// </summary>
private DrawingGroup drawingGroup;
/// <summary>
/// Drawing image that we will display
/// </summary>
private DrawingImage imageSource;
/// <summary>
/// Initializes a new instance of the MainWindow class.
/// </summary>
public MainWindow()
{
InitializeComponent();
}
/// <summary>
/// Draws indicators to show which edges are clipping skeleton data
/// </summary>
/// <param name="skeleton">skeleton to draw clipping information for</param>
/// <param name="drawingContext">drawing context to draw to</param>
private static void RenderClippedEdges(Skeleton skeleton, DrawingContext drawingContext)
{
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Bottom))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, RenderHeight - ClipBoundsThickness, RenderWidth, ClipBoundsThickness));
}
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Top))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, RenderWidth, ClipBoundsThickness));
}
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Left))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(0, 0, ClipBoundsThickness, RenderHeight));
}
if (skeleton.ClippedEdges.HasFlag(FrameEdges.Right))
{
drawingContext.DrawRectangle(
Brushes.Red,
null,
new Rect(RenderWidth - ClipBoundsThickness, 0, ClipBoundsThickness, RenderHeight));
}
}
/// <summary>
/// Execute startup tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowLoaded(object sender, RoutedEventArgs e)
{
// Create the drawing group we'll use for drawing
this.drawingGroup = new DrawingGroup();
// Create an image source that we can use in our image control
this.imageSource = new DrawingImage(this.drawingGroup);
// Display the drawing using our image control
videoimage.Source = this.imageSource;
// Look through all sensors and start the first connected one.
// This requires that a Kinect is connected at the time of app startup.
// To make your app robust against plug/unplug,
// it is recommended to use KinectSensorChooser provided in Microsoft.Kinect.Toolkit
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status == KinectStatus.Connected)
{
this.sensor = potentialSensor;
break;
}
}
if (null != this.sensor)
{
// Turn on the skeleton stream to receive skeleton frames
this.sensor.SkeletonStream.Enable();
this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);
this.sensor.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(this.SensorColorFrameReady);
// Add an event handler to be called whenever there is new color frame data
this.sensor.SkeletonFrameReady += this.SensorSkeletonFrameReady;
// Start the sensor!
try
{
this.sensor.Start();
}
catch (IOException)
{
this.sensor = null;
}
}
if (null == this.sensor)
{
this.statusBarText.Text = Properties.Resources.NoKinectReady;
}
}
/// <summary>
/// Execute shutdown tasks
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void WindowClosing(object sender, System.ComponentModel.CancelEventArgs e)
{
if (null != this.sensor)
{
this.sensor.Stop();
}
}
/// <summary>
/// Event handler for Kinect sensor's SkeletonFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorSkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
Skeleton[] skeletons = new Skeleton[0];
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
if (skeletonFrame != null)
{
skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletons);
}
}
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, RenderWidth, RenderHeight));
if (skeletons.Length != 0)
{
foreach (Skeleton skel in skeletons)
{
RenderClippedEdges(skel, dc);
if (skel.TrackingState == SkeletonTrackingState.Tracked)
{
this.DrawBonesAndJoints(skel, dc);
}
else if (skel.TrackingState == SkeletonTrackingState.PositionOnly)
{
dc.DrawEllipse(
this.centerPointBrush,
null,
this.SkeletonPointToScreen(skel.Position),
BodyCenterThickness,
BodyCenterThickness);
}
}
}
// prevent drawing outside of our render area
this.drawingGroup.ClipGeometry = new RectangleGeometry(new Rect(0.0, 0.0, RenderWidth, RenderHeight));
}
}
private void SensorColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
this.colorPixelData = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(this.colorPixelData);
this.outputImage = new WriteableBitmap(colorFrame.Width, colorFrame.Height, 96, 96, PixelFormats.Bgr32, null);
this.outputImage.WritePixels(new Int32Rect(0, 0, colorFrame.Width, colorFrame.Height), this.colorPixelData, colorFrame.Width * 4, 0);
this.videoimage.Source = this.outputImage;
}
}
}
/// <summary>
/// Draws a skeleton's bones and joints
/// </summary>
/// <param name="skeleton">skeleton to draw</param>
/// <param name="drawingContext">drawing context to draw to</param>
private void DrawBonesAndJoints(Skeleton skeleton, DrawingContext drawingContext)
{
// Render Torso
this.DrawBone(skeleton, drawingContext, JointType.Head, JointType.ShoulderCenter);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderLeft);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.ShoulderRight);
this.DrawBone(skeleton, drawingContext, JointType.ShoulderCenter, JointType.Spine);
this.DrawBone(skeleton, drawingContext, JointType.Spine, JointType.HipCenter);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipLeft);
this.DrawBone(skeleton, drawingContext, JointType.HipCenter, JointType.HipRight);
// Left Arm
this.DrawBone(skeleton, drawingContext, JointType.ShoulderLeft, JointType.ElbowLeft);
this.DrawBone(skeleton, drawingContext, JointType.ElbowLeft, JointType.WristLeft);
this.DrawBone(skeleton, drawingContext, JointType.WristLeft, JointType.HandLeft);
// Right Arm
this.DrawBone(skeleton, drawingContext, JointType.ShoulderRight, JointType.ElbowRight);
this.DrawBone(skeleton, drawingContext, JointType.ElbowRight, JointType.WristRight);
this.DrawBone(skeleton, drawingContext, JointType.WristRight, JointType.HandRight);
// Left Leg
this.DrawBone(skeleton, drawingContext, JointType.HipLeft, JointType.KneeLeft);
this.DrawBone(skeleton, drawingContext, JointType.KneeLeft, JointType.AnkleLeft);
this.DrawBone(skeleton, drawingContext, JointType.AnkleLeft, JointType.FootLeft);
// Right Leg
this.DrawBone(skeleton, drawingContext, JointType.HipRight, JointType.KneeRight);
this.DrawBone(skeleton, drawingContext, JointType.KneeRight, JointType.AnkleRight);
this.DrawBone(skeleton, drawingContext, JointType.AnkleRight, JointType.FootRight);
// Render Joints
foreach (Joint joint in skeleton.Joints)
{
Brush drawBrush = null;
if (joint.TrackingState == JointTrackingState.Tracked)
{
drawBrush = this.trackedJointBrush;
}
else if (joint.TrackingState == JointTrackingState.Inferred)
{
drawBrush = this.inferredJointBrush;
}
if (drawBrush != null)
{
drawingContext.DrawEllipse(drawBrush, null, this.SkeletonPointToScreen(joint.Position), JointThickness, JointThickness);
}
}
}
/// <summary>
/// Maps a SkeletonPoint to lie within our render space and converts to Point
/// </summary>
/// <param name="skelpoint">point to map</param>
/// <returns>mapped point</returns>
private Point SkeletonPointToScreen(SkeletonPoint skelpoint)
{
// Convert point to depth space.
// We are not using depth directly, but we do want the points in our 640x480 output resolution.
DepthImagePoint depthPoint = this.sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(skelpoint, DepthImageFormat.Resolution640x480Fps30);
return new Point(depthPoint.X, depthPoint.Y);
}
private Point UpdateDraw(Joint joint)
{
//foreach (Joint joint in skeleton.Joints)
//{
ColorImagePoint colorPoint = this.sensor.CoordinateMapper.MapSkeletonPointToColorPoint(joint.Position, ColorImageFormat.RgbResolution640x480Fps30);
//var point = new Point((int)ColorImagePoint.X / 640.0 * this.ActualWidth, (int)ColorImagePoint.Y / 480.0 * this.ActualHeight);
return new Point(colorPoint.X, colorPoint.Y);
//}
}
/// <summary>
/// Draws a bone line between two joints
/// </summary>
/// <param name="skeleton">skeleton to draw bones from</param>
/// <param name="drawingContext">drawing context to draw to</param>
/// <param name="jointType0">joint to start drawing from</param>
/// <param name="jointType1">joint to end drawing at</param>
private void DrawBone(Skeleton skeleton, DrawingContext drawingContext, JointType jointType0, JointType jointType1)
{
Joint joint0 = skeleton.Joints[jointType0];
Joint joint1 = skeleton.Joints[jointType1];
// If we can't find either of these joints, exit
if (joint0.TrackingState == JointTrackingState.NotTracked ||
joint1.TrackingState == JointTrackingState.NotTracked)
{
return;
}
// Don't draw if both points are inferred
if (joint0.TrackingState == JointTrackingState.Inferred &&
joint1.TrackingState == JointTrackingState.Inferred)
{
return;
}
// We assume all drawn bones are inferred unless BOTH joints are tracked
Pen drawPen = this.inferredBonePen;
if (joint0.TrackingState == JointTrackingState.Tracked && joint1.TrackingState == JointTrackingState.Tracked)
{
drawPen = this.trackedBonePen;
}
drawingContext.DrawLine(drawPen, this.SkeletonPointToScreen(joint0.Position), this.SkeletonPointToScreen(joint1.Position));
}
/// <summary>
/// Handles the checking or unchecking of the seated mode combo box
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void CheckBoxSeatedModeChanged(object sender, RoutedEventArgs e)
{
if (null != this.sensor)
{
if (this.checkBoxSeatedMode.IsChecked.GetValueOrDefault())
{
this.sensor.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
}
else
{
this.sensor.SkeletonStream.TrackingMode = SkeletonTrackingMode.Default;
}
}
}
private void btnDown(object sender, RoutedEventArgs e)
{
try
{
sensor.ElevationAngle = sensor.ElevationAngle - 5;
}
catch (ArgumentOutOfRangeException outOfRangeException)
{
System.Windows.MessageBox.Show(outOfRangeException.Message);
System.Windows.MessageBox.Show("Die niedrigste Einstellung ist bereits erreicht.", "Ungütliger Winkel");
}
}
private void btnUp(object sender, RoutedEventArgs e)
{
try
{
sensor.ElevationAngle = sensor.ElevationAngle + 5;
}
catch (ArgumentOutOfRangeException outOfRangeException)
{
System.Windows.MessageBox.Show(outOfRangeException.Message);
System.Windows.MessageBox.Show("Die höchste Einstellung ist bereits erreicht.", "Ungütliger Winkel");
}
}
}
}
这是我的 XML 文件：
<Window x:Class="Microsoft.Samples.Kinect.SkeletonBasics.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
Title="SkeletonApp - Kinect configuration" Height="720.075" Width="770" Loaded="WindowLoaded" Closing="WindowClosing" WindowStyle="ToolWindow">
<Window.Resources>
<SolidColorBrush x:Key="MediumGreyBrush" Color="#ff6e6e6e"/>
<SolidColorBrush x:Key="KinectPurpleBrush" Color="#ff52318f"/>
<SolidColorBrush x:Key="KinectBlueBrush" Color="#ff00BCF2"/>
<Style TargetType="{x:Type Image}">
<Setter Property="SnapsToDevicePixels" Value="True"/>
</Style>
<Style TargetType="{x:Type CheckBox}" x:Key="SquareCheckBox" >
<Setter Property="Template">
<Setter.Value>
<ControlTemplate TargetType="{x:Type CheckBox}">
<Grid>
<StackPanel Orientation="Horizontal" Background="Transparent">
<Grid x:Name="SquareCheckBoxChecked">
<Image x:Name="CheckedNormal" Source="Images\CheckedNormal.png" Stretch="None" HorizontalAlignment="Center"/>
<Image x:Name="CheckedHover" Source="Images\CheckedHover.png" Stretch="None" HorizontalAlignment="Center" Visibility="Collapsed"/>
</Grid>
<Grid x:Name="SquareCheckBoxUnchecked" Visibility="Collapsed">
<Image x:Name="UncheckedNormal" Source="Images\UncheckedNormal.png" Stretch="None" HorizontalAlignment="Center"/>
<Image x:Name="UncheckedHover" Source="Images\UncheckedHover.png" Stretch="None" HorizontalAlignment="Center" Visibility="Collapsed"/>
</Grid>
<TextBlock x:Name="SquareCheckBoxText" Text="{TemplateBinding Content}" TextAlignment="Left" VerticalAlignment="Center" Foreground="{StaticResource KinectPurpleBrush}" FontSize="15" Margin="9,0,0,0"/>
</StackPanel>
</Grid>
<ControlTemplate.Triggers>
<Trigger Property="IsChecked" Value="false">
<Setter Property="Visibility" Value="Collapsed" TargetName="SquareCheckBoxChecked"/>
<Setter Property="Visibility" Value="Visible" TargetName="SquareCheckBoxUnchecked"/>
</Trigger>
<Trigger Property="IsMouseOver" Value="true">
<Setter Property="Visibility" Value="Collapsed" TargetName="CheckedNormal"/>
<Setter Property="Visibility" Value="Collapsed" TargetName="UncheckedNormal"/>
<Setter Property="Visibility" Value="Visible" TargetName="CheckedHover"/>
<Setter Property="Visibility" Value="Visible" TargetName="UncheckedHover"/>
<Setter Property="Foreground" Value="{StaticResource KinectBlueBrush}" TargetName="SquareCheckBoxText"/>
</Trigger>
</ControlTemplate.Triggers>
</ControlTemplate>
</Setter.Value>
</Setter>
</Style>
</Window.Resources>
<Window.Background>
<SolidColorBrush Color="#FF272727"/>
</Window.Background>
<Grid Name="layoutGrid" Margin="10 0 10 0">
<Grid.ColumnDefinitions>
<ColumnDefinition Width="289*"/>
<ColumnDefinition Width="276*"/>
<ColumnDefinition Width="177*"/>
</Grid.ColumnDefinitions>
<Grid.RowDefinitions>
<RowDefinition Height="Auto"/>
<RowDefinition Height="*"/>
<RowDefinition Height="Auto"/>
<RowDefinition Height="Auto"/>
</Grid.RowDefinitions>
<DockPanel Grid.Row="0" Margin="0 0 0 20" Grid.ColumnSpan="3"/>
<Viewbox Grid.Row="1" Stretch="Uniform" HorizontalAlignment="Center" Grid.ColumnSpan="3">
<Grid ClipToBounds="True">
<Image Name="videoimage" Width="640" Height="480"/>
<Canvas Background="Transparent" Name="ColorImagePoint"></Canvas>
</Grid>
</Viewbox>
<CheckBox Grid.Row="2" Style="{StaticResource SquareCheckBox}" Content="Seated Mode" Height="Auto" VerticalAlignment="Center" Margin="0,10,157,10" Name="checkBoxSeatedMode" Checked="CheckBoxSeatedModeChanged" Unchecked="CheckBoxSeatedModeChanged" Foreground="White"/>
<StatusBar Grid.Row="3" HorizontalAlignment="Stretch" Name="statusBar" VerticalAlignment="Bottom" Background="White" Foreground="{StaticResource MediumGreyBrush}" Grid.ColumnSpan="3">
<StatusBarItem Padding="0 0 0 10">
<StatusBarItem.Background>
<SolidColorBrush Color="#FF272727"/>
</StatusBarItem.Background>
<TextBlock Name="statusBarText" Margin="-1 0 0 0" Foreground="White">Click 'Seated' to change skeletal mode</TextBlock>
</StatusBarItem>
</StatusBar>
<Button Content="UP" HorizontalAlignment="Left" Margin="198,5,0,0" VerticalAlignment="Top" Width="115" Height="35" Click="btnUp" Grid.Row="2" Grid.Column="1" RenderTransformOrigin="-0.122,0.716" Grid.ColumnSpan="2" Foreground="White" BorderBrush="DodgerBlue" Background="DodgerBlue"/>
<Button Content="DOWN" HorizontalAlignment="Right" Margin="0,5,10,0" VerticalAlignment="Top" Width="115" Height="35" Grid.Column="2" Click="btnDown" Grid.Row="2" Foreground="White" Background="DodgerBlue" BorderBrush="DodgerBlue"/>
<Label x:Name="Label_Angle" Content="Adjust Kinect Angle:" Grid.Column="1" HorizontalAlignment="Left" Margin="73,10,0,0" Grid.Row="2" VerticalAlignment="Top" RenderTransformOrigin="0.787,-0.551" Background="#00000000" Foreground="White"/>
</Grid>