2013/11/16

C#.Net Kinect 判斷手握拳或是放開

微軟在Kinect 1.7版時加入了Interaction命名空間,裡面包含了

Classes



Interfaces



Enumerations



可以透過Interaction去判斷目前手的狀態是握拳或是放開,不過Interaction又是由Kinect Toolkit所提供的

我們要先下載Kinect Toolkit,目前版本是1.8.0




引用『Microsoft.Kinect.dll』和『Microsoft.Kinect.Toolkit.Interaction.dll』




XAML:
<Window x:Class="WpfApplication2.MainWindow"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        Title="MainWindow" Height="520" Width="720" Loaded="Window_Loaded">
    <Grid>
        <Image Name="Image" Height="480" Width="640" Margin="0,0,72,10"></Image>
        <TextBlock  Name="text1" HorizontalAlignment="Left" Margin="645,20,0,0" TextWrapping="Wrap" Text="" VerticalAlignment="Top" Width="67"/>
        <TextBlock Name="text2" HorizontalAlignment="Left" Margin="645,104,0,0" TextWrapping="Wrap" Text="" VerticalAlignment="Top" Width="67"/>

    </Grid>
</Window>


程式碼:
using Microsoft.Kinect;
using Microsoft.Kinect.Toolkit.Interaction;
using System.Linq;
using System.Windows;
using System.Windows.Media;
using System.Windows.Media.Imaging;

namespace WpfApplication2
{

    #region 實做介面

    public class DummyInteractionClient : IInteractionClient
    {
        public InteractionInfo GetInteractionInfoAtLocation(
            int skeletonTrackingId, InteractionHandType handType,
            double x, double y)
        {
            var result = new InteractionInfo();
            result.IsGripTarget = true;
            result.IsPressTarget = true;
            result.PressAttractionPointX = 0.5;
            result.PressAttractionPointY = 0.5;
            result.PressTargetControlId = 1;
            return result;
        }
    }

    #endregion

    public partial class MainWindow : Window
    {

        private KinectSensor kinect;
        private InteractionStream interactionstream;
        private byte[] dataPixels;

        public MainWindow()
        {
            InitializeComponent();
        }

        private void Window_Loaded(object sender, RoutedEventArgs e)
        {
            //判斷Kinect有連接上,並沒在運行
            if (KinectSensor.KinectSensors.Count > 0 && KinectSensor.KinectSensors[0].IsRunning != true)
            {
                kinect = KinectSensor.KinectSensors[0];

                //深度追蹤
                kinect.DepthStream.Range = DepthRange.Near;
                kinect.DepthFrameReady += kinect_DepthFrameReady;
                kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);

                //骨架追蹤
                kinect.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
                kinect.SkeletonStream.EnableTrackingInNearRange = true;
                kinect.SkeletonFrameReady += kinect_SkeletonFrameReady;
                kinect.SkeletonStream.Enable();

                //色彩
                kinect.ColorFrameReady += kinect_ColorFrameReady;
                kinect.ColorStream.Enable();

                interactionstream = new InteractionStream(kinect, new DummyInteractionClient());
                interactionstream.InteractionFrameReady += interactionstream_InteractionFrameReady;

                kinect.Start();
            }
            else
                MessageBox.Show("請連接上Kinect");
        }

        #region 自訂方法

        private void ParseHandEvent(UserInfo info)
        {
            var hands = info.HandPointers;

            if (hands.Count > 0)
            {
                foreach (InteractionHandPointer hand in hands)
                {

                    if (hand.HandType == InteractionHandType.Right)
                    {
                        if (hand.HandEventType == InteractionHandEventType.Grip)
                            text1.Text = "右手握拳";
                    }
                    else if (hand.HandType == InteractionHandType.Left)
                    {
                        if (hand.HandEventType == InteractionHandEventType.Grip)
                            text2.Text = "左手握拳";
                    }
                }
            }
        }

        #endregion


        #region Kinect事件

        private void interactionstream_InteractionFrameReady(object sender, InteractionFrameReadyEventArgs e)
        {
            using (InteractionFrame frame = e.OpenInteractionFrame())
            {
                if (frame != null)
                {
                    UserInfo[] userInfos = new UserInfo[InteractionFrame.UserInfoArrayLength];
                    frame.CopyInteractionDataTo(userInfos);

                    var user = (from u in userInfos where u.SkeletonTrackingId > 0 select u).FirstOrDefault();

                    if (user != null)
                        ParseHandEvent(user);
                }
            }
        }

        private void kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
        {
            using (DepthImageFrame frame = e.OpenDepthImageFrame())
            {
                if (frame != null)
                {
                    interactionstream.ProcessDepth(frame.GetRawPixelData(), frame.Timestamp);
                }
            }
        }

        private void kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
        {
            using (SkeletonFrame frame = e.OpenSkeletonFrame())
            {
                if (frame != null)
                {
                    Skeleton[] skeletons = new Skeleton[frame.SkeletonArrayLength];
                    frame.CopySkeletonDataTo(skeletons);
                    Vector4 vector4 = kinect.AccelerometerGetCurrentReading();
                    interactionstream.ProcessSkeleton(skeletons, vector4, frame.Timestamp);
                }
            }
        }

        private void kinect_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
        {
            using (ColorImageFrame frame = e.OpenColorImageFrame())
            {
                if (frame != null)
                {
                    dataPixels = new byte[frame.PixelDataLength];
                    frame.CopyPixelDataTo(dataPixels);
                    BitmapSource source = BitmapSource.Create(640, 480, 96, 96, PixelFormats.Bgr32, null, dataPixels, 640 * 4);
                    Image.Source = source;
                }
            }
        }

        #endregion

    }
}


程式載入時,判斷Kinect跟電腦連接了沒,以及目前的狀態


//判斷Kinect有連接上,並沒在運行
            if (KinectSensor.KinectSensors.Count > 0 && KinectSensor.KinectSensors[0].IsRunning != true)
            {
                kinect = KinectSensor.KinectSensors[0];


設定深度、骨架以及色彩和互動事件

//深度追蹤
                kinect.DepthStream.Range = DepthRange.Near;
                kinect.DepthFrameReady += kinect_DepthFrameReady;
                kinect.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);

                //骨架追蹤
                kinect.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
                kinect.SkeletonStream.EnableTrackingInNearRange = true;
                kinect.SkeletonFrameReady += kinect_SkeletonFrameReady;
                kinect.SkeletonStream.Enable();

                //色彩
                kinect.ColorFrameReady += kinect_ColorFrameReady;
                kinect.ColorStream.Enable();

                interactionstream = new InteractionStream(kinect, new DummyInteractionClient());
                interactionstream.InteractionFrameReady += interactionstream_InteractionFrameReady;



關鍵在於深度距離設定為近
kinect.DepthStream.Range = DepthRange.Near;

骨架追蹤設定為坐著,支持近距離追蹤骨架,SkeletonTrackingMode為Seated最多追蹤10個點

kinect.SkeletonStream.TrackingMode = SkeletonTrackingMode.Seated;
                kinect.SkeletonStream.EnableTrackingInNearRange = true;


互動串流的建構方法,帶入DummyInteractionClient這個類別是實做了IInteractionClient介面

interactionstream = new InteractionStream(kinect, new DummyInteractionClient());


深度事件,取得深度框架時,將框架資料和時間標記由互動串流去處理

private void kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
        {
            using (DepthImageFrame frame = e.OpenDepthImageFrame())
            {
                if (frame != null)
                {
                    interactionstream.ProcessDepth(frame.GetRawPixelData(), frame.Timestamp);
                }
            }
        }


骨架事件,取得骨架框架時,將骨架的資料傳給互動串流去處理

private void kinect_SkeletonFrameReady(object sender, SkeletonFrameReadyEventArgs e)
        {
            using (SkeletonFrame frame = e.OpenSkeletonFrame())
            {
                if (frame != null)
                {
                    Skeleton[] skeletons = new Skeleton[frame.SkeletonArrayLength];
                    frame.CopySkeletonDataTo(skeletons);
                    Vector4 vector4 = kinect.AccelerometerGetCurrentReading();
                    interactionstream.ProcessSkeleton(skeletons, vector4, frame.Timestamp);
                }
            }
        }

互動事件,取得使用者資訊後,在傳入ParseHandEvent方法作處理

private void interactionstream_InteractionFrameReady(object sender, InteractionFrameReadyEventArgs e)
        {
            using (InteractionFrame frame = e.OpenInteractionFrame())
            {
                if (frame != null)
                {
                    UserInfo[] userInfos = new UserInfo[InteractionFrame.UserInfoArrayLength];
                    frame.CopyInteractionDataTo(userInfos);

                    var user = (from u in userInfos where u.SkeletonTrackingId > 0 select u).FirstOrDefault();

                    if (user != null)
                        ParseHandEvent(user);
                }
            }
        }

從使用者參數去知道,目前手的數量是否大於0,並走訪每一個手掌,從手掌的資訊去判斷手是握拳還是放開

private void ParseHandEvent(UserInfo info)
        {
            var hands = info.HandPointers;

            if (hands.Count > 0)
            {
                foreach (InteractionHandPointer hand in hands)
                {

                    if (hand.HandType == InteractionHandType.Right)
                    {
                        if (hand.HandEventType == InteractionHandEventType.Grip)
                            text1.Text = "右手握拳";
                    }
                    else if (hand.HandType == InteractionHandType.Left)
                    {
                        if (hand.HandEventType == InteractionHandEventType.Grip)
                            text2.Text = "左手握拳";
                    }
                }
            }
        }


如果出現InvalidOperationException,代表你的System資料夾底下沒有相對應的dll檔案
為什麼需要『KinectInteraction180_32.dll』呢?Kinect Toolkit功能是呼『KinectInteraction180_32.dll』函式庫實現




把『KinectInteraction180_32.dll』和『KinectInteraction180_64.dll』分別放到System32以及System資料夾底下






參考資料:
http://msdn.microsoft.com/en-us/library/microsoft.kinect.toolkit.interaction.aspx
http://msdn.microsoft.com/en-us/library/microsoft.kinect.toolkit.interaction.interactionstream.aspx
http://msdn.microsoft.com/en-us/library/microsoft.kinect.toolkit.interaction.userinfo.aspx
http://social.msdn.microsoft.com/Forums/zh-TW/607ab2b6-3279-4238-850f-c842ba7e5309/how-to-implement-iinteractionclient-in-c
http://social.msdn.microsoft.com/Forums/en-US/e4f5a696-ed4f-4a5f-8e54-4b3706f62ad0/kinect-interactions?forum=kinectsdknuiapi
http://www.soulsolutions.com.au/Blog/tabid/73/EntryId/858/Kinect-For-Windows-Interactions-Gallery-Interaction-Stream.aspx
http://social.msdn.microsoft.com/forums/en-US/0b0b5d7d-e1e8-4498-9c10-d8088650bacb/how-to-get-the-interactionstream-working-properly

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