Q&A
卒業研究でKinectについて取り組んでいる専門学生です。
現在、手のトラッキングについて取り組んでおり、ソース文を書いてみたのですがうまくいかず、悩んでおります。
プログラムは手をトラッキングしてそこに画像を被せるというプログラムです。
エラーは出ずにプログラム自体は通るのですが動作がうまくいきません。
分かる方がいたら教えてください。
開発環境
Visual Studio2015
Kinect SDK 1.5.2
開発言語はC#です
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
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 Microsoft.Kinect;
using System.IO;
using System.Diagnostics;
using Nui = Microsoft.Kinect;
namespace WpfApplication4
{
/// <summary>
/// MainWindow.xaml の相互作用ロジック
/// </summary>
public partial class MainWindow : Window
{
#region メンバー変数 private KinectSensor _Kinect; private KinectSensor _KinectDevice; private readonly Brush[] _SkeltonBrushes; private Skeleton[] _FrameSkeltons; private JointType[] joints; private DotPuzzle _Puzzle; private int _PuzzleDouIndex; public MainWindow() { InitializeComponent(); this._PuzzleDouIndex = -1; this.Loaded += MainWindow_Loaded; this.Loaded += (s, e) => { DiscoverKinectSensor(); }; this.Unloaded += (s, e) => { this.Kinect = null; }; this._SkeltonBrushes = new[] { Brushes.Black,Brushes.Crimson, Brushes.Indigo, Brushes.DodgerBlue, Brushes.Purple,Brushes.Pink }; KinectSensor.KinectSensors.StatusChanged += KinectSensors_StatusChanged; this.KinectDevice = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected); } #region コンストラクタ #region メソッド private void DiscoverKinectSensor() { KinectSensor.KinectSensors.StatusChanged += KinectSensors_StatusChanged; this.Kinect = KinectSensor.KinectSensors.FirstOrDefault(x => x.Status == KinectStatus.Connected); } private void KinectSensors_StatusChanged(object sender, StatusChangedEventArgs e) { switch (e.Status) { case KinectStatus.Initializing: case KinectStatus.Connected: this.KinectDevice = e.Sensor; break; case KinectStatus.Disconnected: //TDSS : Kinectデバイスを接続するようにユーザーに求める this.KinectDevice = null; break; default: //TDSS : エラー状態を表示する break; } } #endregion メソッド #region プロパティ public KinectSensor Kinect { get { return this._Kinect; } set { if (this._Kinect != value) { if (this._Kinect != null) { this._Kinect = null; } if (value != null && value.Status == KinectStatus.Connected) { this._Kinect = value; } } } } public KinectSensor KinectDevice { get { return this._KinectDevice; } set { if (this._KinectDevice != value) { //解放する if (this._KinectDevice != null) { this._KinectDevice.Stop(); this._KinectDevice.SkeletonFrameReady -= KinectDevice_SkeltoFrameReady; this._KinectDevice.SkeletonStream.Disable(); this._FrameSkeltons = null; } this._KinectDevice = value; //初期化する if (this._KinectDevice != null) { if (this._KinectDevice.Status == KinectStatus.Connected) { this._KinectDevice.SkeletonStream.Enable(); _FrameSkeltons = new Skeleton[this._KinectDevice.SkeletonStream.FrameSkeletonArrayLength]; this.KinectDevice.SkeletonFrameReady += KinectDevice_SkeltoFrameReady; this.KinectDevice.Start(); } } } } } #endregion プロパティ
private void KinectDevice_SkeltoFrameReady(object sender, SkeletonFrameReadyEventArgs e)
{
using (SkeletonFrame frame = e.OpenSkeletonFrame())
{
if (frame != null)
{
frame.CopySkeletonDataTo(this._FrameSkeltons);
Skeleton skelton = GetPrimarySkelton(this._FrameSkeltons);
if (skelton == null)
{
HandCursorElement.Visibility = Visibility.Collapsed;
}
else
{
Joint primaryHand = GetPrimaryHand(skelton);
TrackHand(primaryHand);
}
}
}
}
private static Skeleton GetPrimarySkelton(Skeleton[] skeltons)
{
Skeleton skelton = null;
if (skeltons != null)
{
//もっと近くにある骨格を見つける
for (int i = 0; i < skeltons.Length; i++)
{
if (skeltons[i].TrackingState == SkeletonTrackingState.Tracked)
{
if (skelton == null)
{
skelton = skeltons[i];
}
else
{
if (skelton.Position.Z > skeltons[i].Position.Z)
{
skelton = skeltons[i];
}
}
}
}
}
return skelton;
}
private static Joint GetPrimaryHand(Skeleton skelton)
{
Joint primaryHand = new Joint();
if (skelton != null)
{
primaryHand = skelton.Joints[JointType.HandLeft];
Joint righHand = skelton.Joints[JointType.HandRight];
if (righHand.TrackingState != JointTrackingState.NotTracked)
{
if (primaryHand.TrackingState == JointTrackingState.NotTracked)
{
primaryHand = righHand;
}
else
{
if (primaryHand.Position.Z > righHand.Position.Z)
{
primaryHand = righHand;
}
}
}
}
return primaryHand;
}
private void TrackHand(Joint hand)
{
if (hand.TrackingState == JointTrackingState.NotTracked)
{
HandCursorElement.Visibility = System.Windows.Visibility.Collapsed;
}
else
{
HandCursorElement.Visibility = System.Windows.Visibility.Visible;
float x = 1; float y = 1; DepthImagePoint point = KinectDevice.MapSkeletonPointToDepth(hand.Position, DepthImageFormat.Resolution640x480Fps30); point.X = (int)((point.X * LayoutRoot.ActualWidth / this.KinectDevice.DepthStream.FrameWidth) - (HandCursorElement.ActualWidth / 2.0)); point.Y = (int)((point.Y * LayoutRoot.ActualHeight / this.KinectDevice.DepthStream.FrameHeight) - (HandCursorElement.ActualHeight / 2.0)); Canvas.SetLeft(HandCursorElement, x); Canvas.SetTop(HandCursorElement, y); if (hand.JointType == JointType.HandRight) { HandCursorScale.ScaleX = 1; } else { HandCursorScale.ScaleX = -1; } } }
以下画面設計のプログラムです
<Window x:Class="WpfApplication4.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
Title="MainWindow" Height="600" Width="800" Background="White">
<Viewbox>
<Grid x:Name="LayoutRoot" Width="1920" Height="1080">
<Polyline x:Name="CrayonElement" Stroke="Black" StrokeThickness="3"/>
<Canvas x:Name="PuzzleBoardElement"/>
<Canvas x:Name="GameBoardElement">
<Image x:Name="HandCursorElement" Source="Image\/ironman.png"
Width="267" Height="343" RenderTransformOrigin="0.5,0.5">
<Image.RenderTransform>
<TransformGroup>
<ScaleTransform x:Name="HandCursorScale" ScaleX="1"/>
</TransformGroup>
</Image.RenderTransform>
</Image>
</Canvas>
</Grid>
</Viewbox>
</Window>
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