![从Kinect]( "从Kinect")
本文介绍了从Kinect SDK V1 Beta转换为V1.8的处理方法，对大家解决问题具有一定的参考价值，需要的朋友们下面随着小编来一起学习吧！ 问题描述 29岁程序员，3月因学历无情被辞！ 我正在使用开源代码来跟踪为SDK 1 Beta创建的球，并希望将其转换为SDK V1.8。我不能使用V2，因为我没有Windows 8.我设法转换了大部分代码。但是，有没有PlanarImage的翻译，所以我创建了一些替换。我找不到e.ColorImageFrame.Image的翻译（第187行）。我设法清除了错误，但我得到了一堆空引用。 这是使用SDK 1 Beta的未经编辑的开源代码。 使用System; 使用System.Collections.Generic; 使用System.Linq; 使用System.Text; 使用Microsoft.Xna.Framework.Graphics; 使用Microsoft.Research.Kinect; 使用Microsoft.Research.Kinect.Nui; 使用Microsoft.Xna.Framework; 使用System.Threading;使用Emgu.CV ; 使用Emgu.CV.Util; 使用Emgu.CV.Structure; 名称空间KTLib {公共类KinectInterface { public Runtime nui; Color [] colorFrameData; Texture2D colorFrameTex; Texture2D depthFrameTex; public Texture2D ColorFrameTex { get {return colorFrameTex; } } public Texture2D DepthFrameTex { get {return depthFrameTex; } } public Image< Gray，Byte> FullDepth; 公共事件Action OnDepthFrame; public ushort [] depthMM; public const int w = 640; public const int h = 480; GraphicsDevice gd; FPSCounter fps; public int FPS { get {return fps.FPS; } } 双theta; void initKinect（） { nui = Runtime.Kinects [0]; 尝试 { nui.Initialize（RuntimeOptions.UseDepth | RuntimeOptions.UseColor）; } catch（InvalidOperationException） {抛出新异常（"运行时初始化失败。请确保插入Kinect设备。"）; 返回; } 尝试 { nui.VideoStream.Open（ImageStreamType.Video，2，ImageResolution.Resolution640x480，ImageType.Color）; nui.DepthStream.Open（ImageStreamType.Depth，2，ImageResolution.Resolution640x480，ImageType.Depth）; } catch（InvalidOperationException） {抛出新的异常（"无法打开流。请确保指定支持的图像类型和分辨率。"）; 返回; } nui.DepthFrameReady + = new EventHandler< ImageFrameReadyEventArgs>（nui_DepthFrameReady）; nui.VideoFrameReady + = new EventHandler< ImageFrameReadyEventArgs>（nui_VideoFrameReady）; nui.NuiCamera.ElevationAngle = 10; theta = nui.NuiCamera.ElevationAngle * Math.PI / 180; } 浮动tanTmax，tanPmax; void initMaths（） { float FOV_x = 57 *（float）（Math.PI / 180）; float FOV_y = 43 *（float）（Math.PI / 180）; float tmax = FOV_x / 2; float pmax = FOV_y / 2; tanTmax =（float）Math.Tan（tmax）; tanPmax =（float）Math.Tan（pmax）; } public KinectInterface（GraphicsDevice gd） { this.gd = gd; initMaths（）; colorFrameTex = new Texture2D（gd，w，h）; fps = new FPSCounter（）; } public void Start（） { initKinect（）; Ready = false; } public bool Ready; Texture2D KVideoToTex（PlanarImage img） { Texture2D tex = new Texture2D（gd，img.Width，img.Height）; colorFrameData = new Color [img.Width * img.Height]; for（int i = 0; i< colorFrameData.Length; i ++） { colorFrameData [i] .R = img.Bits [4 * i + 2] ; colorFrameData [i] .G = img.Bits [4 * i + 1]; colorFrameData [i] .B = img.Bits [4 * i]; colorFrameData [i] .A = 255; } tex.SetData（colorFrameData）; 返回tex; } void nui_VideoFrameReady（object sender，ImageFrameReadyEventArgs e） { colorFrameTex = KVideoToTex（e.ImageFrame.Image）; } void processDepthFrame（byte [] depthFrame16） { depthMM = new ushort [w * h]; byte [] depth8 = new byte [w * h]; // for（int i16 = 0，i = 0; i16< depthFrame16.Length; i16 + = 2，i ++） // { // ushort packet =（ushort） （（depthFrame16 [i16 + 1]<< 8）| depthFrame16 [i16]）; // ushort depth =（ushort）（0x0FFF& packet）; // depthMM [i] =深度; //} for（int y = 0; y< h; y ++） for（int x = 0; x< w; x ++） { int i = y * w + x; int ref_i = y * w + w - 1 - x; //反映x。反射深度流。 ushort packet =（ushort）（（depthFrame16 [2 * i + 1]<< 8）| depthFrame16 [2 * i]）; ushort depthVal =（ushort）（0x0FFF& packet）; depthMM [ref_i] = depthVal; if（depthVal！= 0） { depth8 [ref_i] =（byte）（depthVal>> 4）; } else { depth8 [ref_i] =（byte）255; } } FullDepth = Helpers.ImageFromArray8（depth8，w，h）; } Texture2D generateDepthTex（） { Texture2D tex = new Texture2D（gd，w，h）; 颜色[]数据=新颜色[w * h]; for（int i = 0; i< data.Length; i ++） { ushort depth = depthMM [i]; // float intensity = 1 - （float）（depth-800）/（float）0x0fff; byte val =（byte）〜（depth>> 4）; 颜色c = new Color（）; if（depth == 0） c = Color.Gray; else { // c = Color.Lerp（Color.Black，Color.White，intensity）; c.R = val; c.G = val; c.B = val; c.A = 255; } data [i] = c; } tex.SetData< Color>（数据）; 返回tex; } public Vector3 RotateXCCW（Vector3 v，double theta） { var vrot = new Vector3（）; vrot.Z = v.Z *（float）Math.Cos（theta） - v.Y *（float）Math.Sin（theta）; vrot.Y = v.Z *（float）Math.Sin（theta）+ v.Y *（float）Math.Cos（theta）; vrot.X = v.X; 返回vrot; } public Vector3 UnprojectDepth（float depth_mm，float px，float py） { float z = depth_mm / 1000f; float xnorm = 2f *（（float）px / w - 0.5f）; // [ - 1,1] float ynorm = 2f * - （（float）py / h - 0.5f）; // [ - 1,1] // float FOV_x = 57 *（float）（Math.PI / 180）; // float FOV_y = 43 *（float）（Math.PI / 180）; // float tmax = FOV_x / 2; // float pmax = FOV_y / 2; // float xproj = z * xnorm *（float）Math.Tan（tmax）; // float yproj = z * ynorm *（float）Math.Tan（pmax）; float xproj = z * xnorm * tanTmax; float yproj = z * ynorm * tanPmax; var v = new Vector3（xproj，yproj，z）; //正确的仰角 v = RotateXCCW（v，theta）; 返回v; } public Vector3 UnprojectDepth（int px，int py） { ushort depth = depthMM [px + py * w]; if（深度== 0）//无数据返回Vector3.Zero; 返回UnprojectDepth（depth，px，py）; } public bool ProjectToPx（Vector3 v，out Vector2 proj） { v = RotateXCCW（v，-theta）; float FOV_x = 57 *（float）（Math.PI / 180）; float FOV_y = 43 *（float）（Math.PI / 180）; float tmax = FOV_x / 2; float pmax = FOV_y / 2; var xnorm = v.X /（v.Z *（float）Math.Tan（tmax））; var ynorm = v.Y /（v.Z *（float）Math.Tan（pmax））; float x =（float）（xnorm + 1）/ 2 * w; float y =（float）（1 - ynorm）/ 2 * h; proj = new Vector2（x，y）; 返回v.Z> 0.0; //如果在投影平面后面的球是无效的} 公共bool GetColorFromDepth（int x，int y，out颜色c） { c = Color.Black; int cX，cY; nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel（ImageResolution.Resolution640x480，新ImageViewArea（）中，x / 2，Y / 2，（短）（depthMM [X + Y * W]<< 3）， out cX，out cY）; if（cX！= -1&& colorFrameData！= null&& cX< w&& cY< h） {c = colorFrameData [cX + cY * w]; 返回true; } 返回false; } void nui_DepthFrameReady（object sender，ImageFrameReadyEventArgs e） { processDepthFrame（e.ImageFrame.Image.Bits）; depthFrameTex = generateDepthTex（）; if（OnDepthFrame！= null） OnDepthFrame（）; fps.PushFrame（）; Ready = true; } } } 第二个代码是我的失败尝试转换为SDK V1.8 所做的更改： 已删除 Microsoft.Reasearch.Kinect和Microsoft.Research.Kinect.Nui 已添加 Microsoft.Kinect 已删除"Runtime nui" 已添加 KinectSensor nui 已删除 nui = Runtime.Kinect [0]; 已添加 nui = KinectSensor.KinectSensor [0]; 已删除来自运行时的尝试和聊天 已添加 &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; nui.ColorStream.Enable（ColorImageFormat.RgbResolution640x480Fps30）; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; nui.DepthStream.Enable（）; 已更改 EvenHandlers从ImageFrameReady到DepthImageFrameReady和ColorImageFrameReady 已添加 nui.Start（） ; 更改 PlanarImage to ColorImageFrame 更改 img.bits到新字节pixelData 移动 processDepthFrame到ColorFrameReady，因为DepthFrameReady传递了太大的数字。 无法找到e.ImageFrame.Image的替换。注意：e.ColorImageFrame.Image不起作用） 已删除过时的代码 &NBSP; nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel（ImageResolution.Resolution640x480，new ImageViewArea（），x / 2，y / 2，（short）（depthMM [x + y * w]<< 3），out cX，out cY）; 已添加 DepthImagePoint depthPoint =新DepthImagePoint（）; ColorImagePoint重点色= nui.CoordinateMapper.MapDepthPointToColorPoint（DepthImageFormat.Resolution640x480Fps30，depthPoint， ColorImageFormat.RawBayerResolution640x480Fps30）; 更改 cx和cy到colorPoint.X和colorPoint.Y 使用System; 使用System.Collections.Generic; 使用System.Linq; 使用System.Text; 使用Microsoft.Xna.Framework.Graphics; // ------旧代码 //使用Microsoft.Research.Kinect; //使用Microsoft.Research.Kinect.Nui; // ----使用Microsoft.Kinect的新代码; // ----------- 使用Microsoft.Xna.Framework; 使用System.Threading;使用Emgu.CV ; 使用Emgu.CV.Util; 使用Emgu.CV.Structure; 名称空间KTLib {公共类KinectInterface { // --------旧代码 // public Runtime nui; // --------新代码 public KinectSensor nui; // Color [] colorFrameData; Texture2D colorFrameTex; Texture2D depthFrameTex; byte [] pixelData; public Texture2D ColorFrameTex { get {return colorFrameTex; } } public Texture2D DepthFrameTex { get {return depthFrameTex; } } public Image< Gray，Byte> FullDepth; 公共事件Action OnDepthFrame; public ushort [] depthMM; public const int w = 640; public const int h = 480; GraphicsDevice gd; FPSCounter fps; public int FPS { get {return fps.FPS; } } 双theta; void initKinect（） { //检查Kinect // if（KinectSensor.KinectSensors.Count == 0） // { //返回"错误：未检测到Kinect传感器！"; //} // --------旧代码 // nui = Runtime.Kinects [0]; // --------新代码 nui = KinectSensor.KinectSensors [0]; // ---------- / * 尝试 { nui.Initialize（RuntimeOptions.UseDepth | RuntimeOptions.UseColor）; } catch（InvalidOperationException） {抛出新异常（"运行时初始化失败。请确保插入Kinect设备。"）; 返回; } 尝试 { nui.VideoStream.Open（ImageStreamType.Video，2，ImageResolution.Resolution640x480，ImageType.Color）; nui.DepthStream.Open（ImageStreamType.Depth，2，ImageResolution.Resolution640x480，ImageType.Depth）; } catch（InvalidOperationException） {抛出新的异常（"无法打开流。请确保指定支持的图像类型和分辨率。"）; 返回; } * / //启用所有streamins nui.ColorStream.Enable（ColorImageFormat.RgbResolution640x480Fps30）; nui.DepthStream.Enable（）; nui.DepthFrameReady + = new EventHandler< DepthImageFrameReadyEventArgs>（nui_DepthFrameReady）; nui.ColorFrameReady + = new EventHandler< ColorImageFrameReadyEventArgs>（nui_ColorFrameReady）; //启动传感器 nui.Start（）; nui.ElevationAngle = 10; theta = nui.ElevationAngle * Math.PI / 180; } 浮动tanTmax，tanPmax; void initMaths（） { float FOV_x = 57 *（float）（Math.PI / 180）; float FOV_y = 43 *（float）（Math.PI / 180）; float tmax = FOV_x / 2; float pmax = FOV_y / 2; tanTmax =（float）Math.Tan（tmax）; tanPmax =（float）Math.Tan（pmax）; } public KinectInterface（GraphicsDevice gd） { this.gd = gd; initMaths（）; colorFrameTex = new Texture2D（gd，w，h）; fps = new FPSCounter（）; } public void Start（） { initKinect（）; Ready = false; } public bool Ready; //此时可能不是的Texture2D KVideoToTex（ColorImageFrameReadyEventArgs E） {使用（ColorImageFrame IMG = e.OpenColorImageFrame（）） $ { b $ b if（img！= null） { if（pixelData == null） { pixelData = new byte [img.PixelDataLength]; } img.CopyPixelDataTo（pixelData）; } Texture2D tex = new Texture2D（gd，img.Width，img.Height）; colorFrameData = new Color [img.Width * img.Height]; for（int i = 0; i< colorFrameData.Length; i ++） { colorFrameData [i] .R = pixelData [4 * i + 2]; colorFrameData [i] .G = pixelData [4 * i + 1]; colorFrameData [i] .B = pixelData [4 * i]; colorFrameData [i] .A = 255; } tex.SetData（colorFrameData）; 返回tex; } } void nui_ColorFrameReady（object sender，ColorImageFrameReadyEventArgs e） { // bool recievedData = false; using（ColorImageFrame colorImageFrame = e.OpenColorImageFrame（）） { if（colorImageFrame！= null） { if（pixelData == null） { pixelData = new byte [colorImageFrame.PixelDataLength]; } colorImageFrame.CopyPixelDataTo（pixelData）; // recievedData = true; } processDepthFrame（pixelData）; } //重要!!!没有翻译e.ColorFrame.Image colorFrameTex = KVideoToTex（e.ImageFrame.Image）; } void processDepthFrame（byte [] depthFrame16） { depthMM = new ushort [w * h]; byte [] depth8 = new byte [w * h]; // for（int i16 = 0，i = 0; i16< depthFrame16.Length; i16 + = 2，i ++） // { // ushort packet =（ushort） （（depthFrame16 [i16 + 1]<< 8）| depthFrame16 [i16]）; // ushort depth =（ushort）（0x0FFF& packet）; // depthMM [i] =深度; //} for（int y = 0; y< h; y ++） for（int x = 0; x< w; x ++） { int i = y * w + x; int ref_i = y * w + w - 1 - x; //反映x。反射深度流。 ushort packet =（ushort）（（depthFrame16 [2 * i + 1]<< 8）| depthFrame16 [2 * i]）; ushort depthVal =（ushort）（0x0FFF& packet）; depthMM [ref_i] = depthVal; if（depthVal！= 0） { depth8 [ref_i] =（byte）（depthVal>> 4）; } else { depth8 [ref_i] =（byte）255; } } FullDepth = Helpers.ImageFromArray8（depth8，w，h）; } Texture2D generateDepthTex（） { Texture2D tex = new Texture2D（gd，w，h）; 颜色[]数据=新颜色[w * h]; for（int i = 0; i< data.Length; i ++） { ushort depth = depthMM [i]; // float intensity = 1 - （float）（depth-800）/（float）0x0fff; byte val =（byte）〜（depth>> 4）; 颜色c = new Color（）; if（depth == 0） c = Color.Gray; else { // c = Color.Lerp（Color.Black，Color.White，intensity）; c.R = val; c.G = val; c.B = val; c.A = 255; } data [i] = c; } tex.SetData< Color>（数据）; 返回tex; } public Vector3 RotateXCCW（Vector3 v，double theta） { var vrot = new Vector3（）; vrot.Z = v.Z *（float）Math.Cos（theta） - v.Y *（float）Math.Sin（theta）; vrot.Y = v.Z *（float）Math.Sin（theta）+ v.Y *（float）Math.Cos（theta）; vrot.X = v.X; 返回vrot; } public Vector3 UnprojectDepth（float depth_mm，float px，float py） { float z = depth_mm / 1000f; float xnorm = 2f *（（float）px / w - 0.5f）; // [ - 1,1] float ynorm = 2f * - （（float）py / h - 0.5f）; // [ - 1,1] // float FOV_x = 57 *（float）（Math.PI / 180）; // float FOV_y = 43 *（float）（Math.PI / 180）; // float tmax = FOV_x / 2; // float pmax = FOV_y / 2; // float xproj = z * xnorm *（float）Math.Tan（tmax）; // float yproj = z * ynorm *（float）Math.Tan（pmax）; float xproj = z * xnorm * tanTmax; float yproj = z * ynorm * tanPmax; var v = new Vector3（xproj，yproj，z）; //正确的仰角 v = RotateXCCW（v，theta）; 返回v; } public Vector3 UnprojectDepth（int px，int py） { ushort depth = depthMM [px + py * w]; if（深度== 0）//无数据返回Vector3.Zero; 返回UnprojectDepth（depth，px，py）; } public bool ProjectToPx（Vector3 v，out Vector2 proj） { v = RotateXCCW（v，-theta）; float FOV_x = 57 *（float）（Math.PI / 180）; float FOV_y = 43 *（float）（Math.PI / 180）; float tmax = FOV_x / 2; float pmax = FOV_y / 2; var xnorm = v.X /（v.Z *（float）Math.Tan（tmax））; var ynorm = v.Y /（v.Z *（float）Math.Tan（pmax））; float x =（float）（xnorm + 1）/ 2 * w; float y =（float）（1 - ynorm）/ 2 * h; proj = new Vector2（x，y）; 返回v.Z> 0.0; //如果在投影平面后面的球是无效的} 公共bool GetColorFromDepth（int x，int y，out颜色c） { c = Color.Black; // int cX，cY; // -------新代码 DepthImagePoint depthPoint = new DepthImagePoint（）; ColorImagePoint colorPoint = nui.CoordinateMapper.MapDepthPointToColorPoint（DepthImageFormat.Resolution640x480Fps30，depthPoint，ColorImageFormat.RawBayerResolution640x480Fps30）; // -----旧代码 //nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480,new ImageViewArea（），x / 2，y / 2，（short）（depthMM [x + y * w]<< 3），out cX，out cY）; // ---------------- if（colorPoint.X！= -1&& colorFrameData！= null&& colorPoint.X < w&& colorPoint.Y< h） {c = colorFrameData [colorPoint.X + colorPoint.Y * w]; 返回true; } 返回false; } 空隙nui_DepthFrameReady（对象发件人，DepthImageFrameReadyEventArgs E） { //processDepthFrame(e.ImageFrame.Image.Bits）; // processDepthFrame（）; depthFrameTex = generateDepthTex（）; if（OnDepthFrame！= null） OnDepthFrame（）; fps.PushFrame（）; Ready = true; } } } &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP; &NBSP;&NBSP; $ 解决方案 请参阅文档条目以获取移植帮助： http://msdn.microsoft.com/en-us/library/hh855351.aspxI am taking an Open source code for tracking a ball that was created for the SDK 1 Beta, and would like to convert it to the SDK V1.8. I can not use V2 because I do not have Windows 8. I managed to convert the majority of the code. However, there is no translation for PlanarImage so I created some substitutions. I could not find a translation for e.ColorImageFrame.Image either(Line 187). I managed to clear the errors, but I get a bunch of null references.This is the unedited, opensource code using SDK 1 Beta.using System;using System.Collections.Generic;using System.Linq;using System.Text;using Microsoft.Xna.Framework.Graphics;using Microsoft.Research.Kinect;using Microsoft.Research.Kinect.Nui;using Microsoft.Xna.Framework;using System.Threading;using Emgu.CV;using Emgu.CV.Util;using Emgu.CV.Structure;namespace KTLib{ public class KinectInterface { public Runtime nui; Color[] colorFrameData; Texture2D colorFrameTex; Texture2D depthFrameTex; public Texture2D ColorFrameTex { get { return colorFrameTex; } } public Texture2D DepthFrameTex { get { return depthFrameTex; } } public Image<Gray, Byte> FullDepth; public event Action OnDepthFrame; public ushort[] depthMM; public const int w = 640; public const int h = 480; GraphicsDevice gd; FPSCounter fps; public int FPS { get { return fps.FPS; } } double theta; void initKinect() { nui = Runtime.Kinects[0]; try { nui.Initialize(RuntimeOptions.UseDepth | RuntimeOptions.UseColor); } catch (InvalidOperationException) { throw new Exception("Runtime initialization failed. Please make sure Kinect device is plugged in."); return; } try { nui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color); nui.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution640x480, ImageType.Depth); } catch (InvalidOperationException) { throw new Exception("Failed to open stream. Please make sure to specify a supported image type and resolution."); return; } nui.DepthFrameReady += new EventHandler<ImageFrameReadyEventArgs>(nui_DepthFrameReady); nui.VideoFrameReady += new EventHandler<ImageFrameReadyEventArgs>(nui_VideoFrameReady); nui.NuiCamera.ElevationAngle = 10; theta = nui.NuiCamera.ElevationAngle * Math.PI / 180; } float tanTmax, tanPmax; void initMaths() { float FOV_x = 57 * (float)(Math.PI / 180); float FOV_y = 43 * (float)(Math.PI / 180); float tmax = FOV_x / 2; float pmax = FOV_y / 2; tanTmax = (float)Math.Tan(tmax); tanPmax = (float)Math.Tan(pmax); } public KinectInterface(GraphicsDevice gd) { this.gd = gd; initMaths(); colorFrameTex = new Texture2D(gd, w, h); fps = new FPSCounter(); } public void Start() { initKinect(); Ready = false; } public bool Ready; Texture2D KVideoToTex(PlanarImage img) { Texture2D tex = new Texture2D(gd, img.Width, img.Height); colorFrameData = new Color[img.Width * img.Height]; for (int i = 0; i < colorFrameData.Length; i++) { colorFrameData[i].R = img.Bits[4 * i + 2]; colorFrameData[i].G = img.Bits[4 * i + 1]; colorFrameData[i].B = img.Bits[4 * i]; colorFrameData[i].A = 255; } tex.SetData(colorFrameData); return tex; } void nui_VideoFrameReady(object sender, ImageFrameReadyEventArgs e) { colorFrameTex = KVideoToTex(e.ImageFrame.Image); } void processDepthFrame(byte[] depthFrame16) { depthMM = new ushort[w * h]; byte[] depth8 = new byte[w * h]; //for (int i16 = 0, i = 0; i16 < depthFrame16.Length; i16 += 2, i++) //{ // ushort packet = (ushort)((depthFrame16[i16 + 1] << 8) | depthFrame16[i16]); // ushort depth = (ushort)(0x0FFF & packet); // depthMM[i] = depth; //} for (int y = 0; y < h; y++) for (int x = 0; x < w; x++) { int i = y * w + x; int ref_i = y * w + w - 1 - x; //reflected x. the depth stream is reflected. ushort packet = (ushort)((depthFrame16[2 * i + 1] << 8) | depthFrame16[2 * i]); ushort depthVal = (ushort)(0x0FFF & packet); depthMM[ref_i] = depthVal; if (depthVal != 0) { depth8[ref_i] = (byte)(depthVal >> 4); } else { depth8[ref_i] = (byte)255; } } FullDepth = Helpers.ImageFromArray8(depth8, w, h); } Texture2D generateDepthTex() { Texture2D tex = new Texture2D(gd, w, h); Color[] data = new Color[w * h]; for (int i = 0; i < data.Length; i++) { ushort depth = depthMM[i]; //float intensity = 1 - (float)(depth-800) / (float)0x0fff; byte val = (byte)~(depth >> 4); Color c = new Color(); if (depth == 0) c = Color.Gray; else { // c = Color.Lerp(Color.Black, Color.White, intensity); c.R = val; c.G = val; c.B = val; c.A = 255; } data[i] = c; } tex.SetData<Color>(data); return tex; } public Vector3 RotateXCCW(Vector3 v, double theta) { var vrot = new Vector3(); vrot.Z = v.Z * (float)Math.Cos(theta) - v.Y * (float)Math.Sin(theta); vrot.Y = v.Z * (float)Math.Sin(theta) + v.Y * (float)Math.Cos(theta); vrot.X = v.X; return vrot; } public Vector3 UnprojectDepth(float depth_mm, float px, float py) { float z = depth_mm / 1000f; float xnorm = 2f * ((float)px / w - 0.5f); //[-1, 1] float ynorm = 2f * -((float)py / h - 0.5f); //[-1, 1] //float FOV_x = 57 * (float)(Math.PI / 180); //float FOV_y = 43 * (float)(Math.PI / 180); //float tmax = FOV_x / 2; //float pmax = FOV_y / 2; //float xproj = z * xnorm * (float)Math.Tan(tmax); //float yproj = z * ynorm * (float)Math.Tan(pmax); float xproj = z * xnorm * tanTmax; float yproj = z * ynorm * tanPmax; var v = new Vector3(xproj, yproj, z); //correct for elevation angle v = RotateXCCW(v, theta); return v; } public Vector3 UnprojectDepth(int px, int py) { ushort depth = depthMM[px + py * w]; if (depth == 0) //no data return Vector3.Zero; return UnprojectDepth(depth, px, py); } public bool ProjectToPx(Vector3 v, out Vector2 proj) { v = RotateXCCW(v, -theta); float FOV_x = 57 * (float)(Math.PI / 180); float FOV_y = 43 * (float)(Math.PI / 180); float tmax = FOV_x / 2; float pmax = FOV_y / 2; var xnorm = v.X / (v.Z * (float)Math.Tan(tmax)); var ynorm = v.Y / (v.Z * (float)Math.Tan(pmax)); float x = (float)(xnorm + 1) / 2 * w; float y = (float)(1 - ynorm) / 2 * h; proj = new Vector2(x, y); return v.Z > 0.0; //invalid if ball behind plane of projection } public bool GetColorFromDepth(int x, int y, out Color c) { c = Color.Black; int cX, cY; nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, new ImageViewArea(), x/2, y/2, (short)(depthMM[x + y*w] << 3), out cX, out cY); if (cX != -1 && colorFrameData != null && cX < w && cY < h) { c = colorFrameData[cX + cY * w]; return true; } return false; } void nui_DepthFrameReady(object sender, ImageFrameReadyEventArgs e) { processDepthFrame(e.ImageFrame.Image.Bits); depthFrameTex = generateDepthTex(); if (OnDepthFrame != null) OnDepthFrame(); fps.PushFrame(); Ready = true; } }}This second code is my failed attempt at converting to SDK V1.8Changes Made:Deleted Microsoft.Reasearch.Kinect and Microsoft.Research.Kinect.NuiAdded Microsoft.KinectDeleted "Runtime nui"Added KinectSensor nuiDeleted nui = Runtime.Kinect[0];Added nui = KinectSensor.KinectSensor[0];Deleted Tries and chates from runtimeAdded nui.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30); nui.DepthStream.Enable();Changed EvenHandlers from ImageFrameReady to DepthImageFrameReady and ColorImageFrameReadyAdded nui.Start();Changed PlanarImage to ColorImageFrameChanged img.bits to a new byte pixelDatamoved processDepthFrame to ColorFrameReady because DepthFrameReady passed numbers that were too large.Could not find a substitution for e.ImageFrame.Image. Note: e.ColorImageFrame.Image doesn't work)Deleted obsolete code nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, new ImageViewArea(), x/2, y/2, (short)(depthMM[x + y*w] << 3), out cX, out cY);AddedDepthImagePoint depthPoint = new DepthImagePoint();ColorImagePoint colorPoint =nui.CoordinateMapper.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, depthPoint,ColorImageFormat.RawBayerResolution640x480Fps30);Changed cx and cy to colorPoint.X and colorPoint.Yusing System;using System.Collections.Generic;using System.Linq;using System.Text;using Microsoft.Xna.Framework.Graphics;//------Old Code//using Microsoft.Research.Kinect;//using Microsoft.Research.Kinect.Nui;//----New Codeusing Microsoft.Kinect;//-----------using Microsoft.Xna.Framework;using System.Threading;using Emgu.CV;using Emgu.CV.Util;using Emgu.CV.Structure;namespace KTLib{ public class KinectInterface { //--------Old Code //public Runtime nui; //--------New Code public KinectSensor nui; // Color[] colorFrameData; Texture2D colorFrameTex; Texture2D depthFrameTex; byte[] pixelData; public Texture2D ColorFrameTex { get { return colorFrameTex; } } public Texture2D DepthFrameTex { get { return depthFrameTex; } } public Image<Gray, Byte> FullDepth; public event Action OnDepthFrame; public ushort[] depthMM; public const int w = 640; public const int h = 480; GraphicsDevice gd; FPSCounter fps; public int FPS { get { return fps.FPS; } } double theta; void initKinect() { //Check for Kinect //if (KinectSensor.KinectSensors.Count == 0) //{ // return "Error: No Kinect Sensor Detected!"; // } //--------Old Code //nui = Runtime.Kinects[0]; //--------New Code nui = KinectSensor.KinectSensors[0]; //---------- /* try { nui.Initialize(RuntimeOptions.UseDepth | RuntimeOptions.UseColor); } catch (InvalidOperationException) { throw new Exception("Runtime initialization failed. Please make sure Kinect device is plugged in."); return; } try { nui.VideoStream.Open(ImageStreamType.Video, 2, ImageResolution.Resolution640x480, ImageType.Color); nui.DepthStream.Open(ImageStreamType.Depth, 2, ImageResolution.Resolution640x480, ImageType.Depth); } catch (InvalidOperationException) { throw new Exception("Failed to open stream. Please make sure to specify a supported image type and resolution."); return; } */ //Enable all streamins nui.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30); nui.DepthStream.Enable(); nui.DepthFrameReady += new EventHandler<DepthImageFrameReadyEventArgs>(nui_DepthFrameReady); nui.ColorFrameReady += new EventHandler<ColorImageFrameReadyEventArgs>(nui_ColorFrameReady); //start the sensor nui.Start(); nui.ElevationAngle = 10; theta = nui.ElevationAngle * Math.PI / 180; } float tanTmax, tanPmax; void initMaths() { float FOV_x = 57 * (float)(Math.PI / 180); float FOV_y = 43 * (float)(Math.PI / 180); float tmax = FOV_x / 2; float pmax = FOV_y / 2; tanTmax = (float)Math.Tan(tmax); tanPmax = (float)Math.Tan(pmax); } public KinectInterface(GraphicsDevice gd) { this.gd = gd; initMaths(); colorFrameTex = new Texture2D(gd, w, h); fps = new FPSCounter(); } public void Start() { initKinect(); Ready = false; } public bool Ready; //Might not be right Texture2D KVideoToTex(ColorImageFrameReadyEventArgs e) { using (ColorImageFrame img = e.OpenColorImageFrame()) { if (img != null) { if (pixelData == null) { pixelData = new byte[img.PixelDataLength]; } img.CopyPixelDataTo(pixelData); } Texture2D tex = new Texture2D(gd, img.Width, img.Height); colorFrameData = new Color[img.Width * img.Height]; for (int i = 0; i < colorFrameData.Length; i++) { colorFrameData[i].R = pixelData[4 * i + 2]; colorFrameData[i].G = pixelData[4 * i + 1]; colorFrameData[i].B = pixelData[4 * i]; colorFrameData[i].A = 255; } tex.SetData(colorFrameData); return tex; } } void nui_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e) { //bool recievedData = false; using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame()) { if (colorImageFrame != null) { if (pixelData == null) { pixelData = new byte[colorImageFrame.PixelDataLength]; } colorImageFrame.CopyPixelDataTo(pixelData); //recievedData = true; } processDepthFrame(pixelData); } // Important !!! No translation for e.ColorFrame.Image colorFrameTex = KVideoToTex(e.ImageFrame.Image); } void processDepthFrame(byte[] depthFrame16) { depthMM = new ushort[w * h]; byte[] depth8 = new byte[w * h]; //for (int i16 = 0, i = 0; i16 < depthFrame16.Length; i16 += 2, i++) //{ // ushort packet = (ushort)((depthFrame16[i16 + 1] << 8) | depthFrame16[i16]); // ushort depth = (ushort)(0x0FFF & packet); // depthMM[i] = depth; //} for (int y = 0; y < h; y++) for (int x = 0; x < w; x++) { int i = y * w + x; int ref_i = y * w + w - 1 - x; //reflected x. the depth stream is reflected. ushort packet = (ushort)((depthFrame16[2 * i + 1] << 8) | depthFrame16[2 * i]); ushort depthVal = (ushort)(0x0FFF & packet); depthMM[ref_i] = depthVal; if (depthVal != 0) { depth8[ref_i] = (byte)(depthVal >> 4); } else { depth8[ref_i] = (byte)255; } } FullDepth = Helpers.ImageFromArray8(depth8, w, h); } Texture2D generateDepthTex() { Texture2D tex = new Texture2D(gd, w, h); Color[] data = new Color[w * h]; for (int i = 0; i < data.Length; i++) { ushort depth = depthMM[i]; //float intensity = 1 - (float)(depth-800) / (float)0x0fff; byte val = (byte)~(depth >> 4); Color c = new Color(); if (depth == 0) c = Color.Gray; else { // c = Color.Lerp(Color.Black, Color.White, intensity); c.R = val; c.G = val; c.B = val; c.A = 255; } data[i] = c; } tex.SetData<Color>(data); return tex; } public Vector3 RotateXCCW(Vector3 v, double theta) { var vrot = new Vector3(); vrot.Z = v.Z * (float)Math.Cos(theta) - v.Y * (float)Math.Sin(theta); vrot.Y = v.Z * (float)Math.Sin(theta) + v.Y * (float)Math.Cos(theta); vrot.X = v.X; return vrot; } public Vector3 UnprojectDepth(float depth_mm, float px, float py) { float z = depth_mm / 1000f; float xnorm = 2f * ((float)px / w - 0.5f); //[-1, 1] float ynorm = 2f * -((float)py / h - 0.5f); //[-1, 1] //float FOV_x = 57 * (float)(Math.PI / 180); //float FOV_y = 43 * (float)(Math.PI / 180); //float tmax = FOV_x / 2; //float pmax = FOV_y / 2; //float xproj = z * xnorm * (float)Math.Tan(tmax); //float yproj = z * ynorm * (float)Math.Tan(pmax); float xproj = z * xnorm * tanTmax; float yproj = z * ynorm * tanPmax; var v = new Vector3(xproj, yproj, z); //correct for elevation angle v = RotateXCCW(v, theta); return v; } public Vector3 UnprojectDepth(int px, int py) { ushort depth = depthMM[px + py * w]; if (depth == 0) //no data return Vector3.Zero; return UnprojectDepth(depth, px, py); } public bool ProjectToPx(Vector3 v, out Vector2 proj) { v = RotateXCCW(v, -theta); float FOV_x = 57 * (float)(Math.PI / 180); float FOV_y = 43 * (float)(Math.PI / 180); float tmax = FOV_x / 2; float pmax = FOV_y / 2; var xnorm = v.X / (v.Z * (float)Math.Tan(tmax)); var ynorm = v.Y / (v.Z * (float)Math.Tan(pmax)); float x = (float)(xnorm + 1) / 2 * w; float y = (float)(1 - ynorm) / 2 * h; proj = new Vector2(x, y); return v.Z > 0.0; //invalid if ball behind plane of projection } public bool GetColorFromDepth(int x, int y, out Color c) { c = Color.Black; //int cX, cY; //-------New Code DepthImagePoint depthPoint = new DepthImagePoint(); ColorImagePoint colorPoint = nui.CoordinateMapper.MapDepthPointToColorPoint(DepthImageFormat.Resolution640x480Fps30, depthPoint, ColorImageFormat.RawBayerResolution640x480Fps30); //-----Old Code //nui.NuiCamera.GetColorPixelCoordinatesFromDepthPixel(ImageResolution.Resolution640x480, new ImageViewArea(), x/2, y/2, (short)(depthMM[x + y*w] << 3), out cX, out cY); //---------------- if (colorPoint.X != -1 && colorFrameData != null && colorPoint.X < w && colorPoint.Y < h) { c = colorFrameData[colorPoint.X + colorPoint.Y * w]; return true; } return false; } void nui_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e) { //processDepthFrame(e.ImageFrame.Image.Bits); //processDepthFrame(); depthFrameTex = generateDepthTex(); if (OnDepthFrame != null) OnDepthFrame(); fps.PushFrame(); Ready = true; } }} 解决方案 See the documentation entry for porting assistance:http://msdn.microsoft.com/en-us/library/hh855351.aspx 这篇关于从Kinect SDK V1 Beta转换为V1.8的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持！ 上岸，阿里云！ 08-14 21:19