Kinect for Windows 输入流

Question

我基本上是在尝试使用 SDK（ColorBasics 示例）中给出的相同代码从 Kinect for Windows 将输入作为 RGB 流。

SDK中的示例代码如下

public partial class  MainWindow : Window
{
    /// <summary>
    /// Active Kinect sensor
    /// </summary>
    private KinectSensor sensor;

    /// <summary>
    /// Bitmap that will hold color information
    /// </summary>
    private WriteableBitmap colorBitmap;

    /// <summary>
    /// Intermediate storage for the color data received from the camera
    /// </summary>
    private byte[] colorPixels;

    /// <summary>
    /// Initializes a new instance of the MainWindow class.
    /// </summary>
    public MainWindow()
    {
       //InitializeComponent();
    }

    /// <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)
    {
        // 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 color stream to receive color frames
            this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);

            // Allocate space to put the pixels we'll receive
            this.colorPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];

            // This is the bitmap we'll display on-screen
            this.colorBitmap = new WriteableBitmap(this.sensor.ColorStream.FrameWidth, this.sensor.ColorStream.FrameHeight, 96.0, 96.0, PixelFormats.Bgr32, null);

            // Set the image we display to point to the bitmap where we'll put the image data
            this.Image.Source = this.colorBitmap;

            // Add an event handler to be called whenever there is new color frame data
            this.sensor.ColorFrameReady += this.SensorColorFrameReady;

            // 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 ColorFrameReady event
    /// </summary>
    /// <param name="sender">object sending the event</param>
    /// <param name="e">event arguments</param>
    private void SensorColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
    {
        using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
        {
            if (colorFrame != null)
            {
                // Copy the pixel data from the image to a temporary array
                colorFrame.CopyPixelDataTo(this.colorPixels);

                // Write the pixel data into our bitmap
                this.colorBitmap.WritePixels(
                    new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
                    this.colorPixels,
                    this.colorBitmap.PixelWidth * sizeof(int),
                    0);
            }
        }
    }

    /// <summary>
    /// Handles the user clicking on the screenshot button
    /// </summary>
    /// <param name="sender">object sending the event</param>
    /// <param name="e">event arguments</param>
    private void ButtonScreenshotClick(object sender, RoutedEventArgs e)
    {
        if (null == this.sensor)
        {
            this.statusBarText.Text = Properties.Resources.ConnectDeviceFirst;
            return;
        }

        // create a png bitmap encoder which knows how to save a .png file
        BitmapEncoder encoder = new PngBitmapEncoder();

        // create frame from the writable bitmap and add to encoder
        encoder.Frames.Add(BitmapFrame.Create(this.colorBitmap));

        string time = System.DateTime.Now.ToString("hh'-'mm'-'ss", CultureInfo.CurrentUICulture.DateTimeFormat);

        string myPhotos = Environment.GetFolderPath(Environment.SpecialFolder.MyPictures);

        string path = Path.Combine(myPhotos, "KinectSnapshot-" + time + ".png");

        // write the new file to disk
        try
        {
            using (FileStream fs = new FileStream(path, FileMode.Create))
            {
                encoder.Save(fs);
            }

            this.statusBarText.Text = string.Format("{0} {1}", Properties.Resources.ScreenshotWriteSuccess, path);
        }
        catch (IOException)
        {
            this.statusBarText.Text = string.Format("{0} {1}", Properties.Resources.ScreenshotWriteFailed, path);
        }
    }
}
}

我的应用程序中的代码如下

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
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;

 namespace VideoKinect
 {
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window
{
    private KinectSensor sensor;

    private WriteableBitmap colorBitmap;

    private byte[] colorPixels;

    public MainWindow()
    {
        //InitializeComponent();
    }

    private void WindowLoaded(object sender, RoutedEventArgs e)
    {
        foreach (var potentialSensor in KinectSensor.KinectSensors)
        {
            if (potentialSensor.Status == KinectStatus.Connected)
            {
                this.sensor = potentialSensor;
                break;
            }
        }

        if (null != this.sensor)
        {
            // Turn on the color stream to receive color frames
            this.sensor.ColorStream.Enable(ColorImageFormat.RgbResolution640x480Fps30);

            // Allocate space to put the pixels we'll receive
            this.colorPixels = new byte[this.sensor.ColorStream.FramePixelDataLength];

            // This is the bitmap we'll display on-screen
            this.colorBitmap = new WriteableBitmap(this.sensor.ColorStream.FrameWidth, this.sensor.ColorStream.FrameHeight, 96.0, 96.0, PixelFormats.Bgr32, null);

            // Set the image we display to point to the bitmap where we'll put the image data
            this.ColorImage.Source = this.colorBitmap;

            // Add an event handler to be called whenever there is new color frame data
            this.sensor.ColorFrameReady += this.SensorColorFrameReady;

            // Start the sensor!
            //try
            //{
                this.sensor.Start();
           // }
           // catch (IOException)
            //{
                this.sensor = null;
           // }
        }

        if (null == this.sensor)
        {
            MessageBox.Show("No Kinect Available");
        }


    }

    private void SensorColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
    {
        using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
        {
            if (colorFrame != null)
            {
                // Copy the pixel data from the image to a temporary array
                colorFrame.CopyPixelDataTo(this.colorPixels);

                // Write the pixel data into our bitmap
                this.colorBitmap.WritePixels(
                    new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
                    this.colorPixels,
                    this.colorBitmap.PixelWidth * sizeof(int),
                    0);
            }
        }
    }
}
}

但我的代码中出现“IOException”错误，即使我将 xaml 文件中的图像命名为相同，也没有检测到图像“ColorImage”。

Answer 1

我能够以预期的行为编译和执行上面的代码 - 唯一的变化是取消注释 InitializeComponent(); 并将 <Image x:Name="ColorImage"/> 添加到 MainWindow.xaml。

IOException 到底说了什么？您能否通过至少一个USB 2.0 bus - 1.1 has insufficient bandwidth 再次检查您的 Kinect 传感器是否正确连接？您是否还确定传感器有足够的功率，因为​​您需要kinect power supply cable。您可以随时检查 SDK 是否安装正确，看看这个post。

假设 XAML 中图像的 x:Name 没有拼写错误，如果没有找到您的 ColorImage，重建解决方案应该可以解决问题。

Answer 2

您在注释掉 try ... catch 语句时搞砸了，在您启动它之后，您将 sensor = null; 留在了那里，这意味着您没有传感器。你应该把它注释掉。

       // What it should be:
       // try
       // {
            this.sensor.Start();
       // }
       // catch (IOException)
       // {
       //   this.sensor = null; <- What it should be
       // }

       // What it is:
       // try
       // {
            this.sensor.Start();
       // }
       // catch (IOException)
       // {
            this.sensor = null; //turns sensor null, then SensorColorFrame
                                // never gets called, etc.
       // }

那一行最终会破坏你曾经编写的任何 Kinect 程序。希望这会有所帮助！

Answer 3

你遗漏了一个参考。您需要包括：

using System.IO;

在最顶端。希望这会有所帮助！