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@@ -0,0 +1,205 @@
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+namespace KinectCar
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+{
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+ using System;
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+ using System.Collections.Generic;
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+ using System.ComponentModel;
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+ using System.Windows;
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+ using System.Windows.Media;
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+ using Microsoft.Kinect;
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+
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+ /// <summary>
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+ /// MainWindow.xaml 的交互逻辑
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+ /// </summary>
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+ public partial class MainWindow : Window, INotifyPropertyChanged
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+ {
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+ // 活动的 Kinect 传感器
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+ private KinectSensor kinectSensor = null;
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+ // 坐标映射器将一种类型的点映射到另一种
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+ private CoordinateMapper coordinateMapper = null;
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+ // 身体框架渲染器
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+ private BodyFrameReader bodyFrameReader = null;
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+ // 身体的数组
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+ private Body[] bodies = null;
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+ // 骨骼的定义
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+ private List<Tuple<JointType, JointType>> bones;
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+ // 显示宽度，高度（深度空间）
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+ private int displayWidth, displayHeight;
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+ // 要显示的当前状态文本
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+ private string statusText = null;
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+
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+ // INotifyPropertyChangedPropertyChanged 事件允许窗口控件绑定到可更改的数据
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+ public event PropertyChangedEventHandler PropertyChanged;
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+
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+ public string StatusText
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+ {
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+ get
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+ {
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+ return this.statusText;
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+ }
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+
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+ set
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+ {
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+ if (this.statusText != value)
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+ {
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+ this.statusText = value;
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+
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+ // 通知任何绑定元素文本已更改
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+ if (this.PropertyChanged != null)
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+ {
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+ this.PropertyChanged(this, new PropertyChangedEventArgs("StatusText"));
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+ }
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+ }
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+ }
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+ }
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+
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+ public MainWindow()
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+ {
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+ // 目前支持一个传感器
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+ this.kinectSensor = KinectSensor.GetDefault();
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+
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+ // 获取坐标映射器
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+ this.coordinateMapper = this.kinectSensor.CoordinateMapper;
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+
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+ // 获取深度（显示）范围
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+ FrameDescription frameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
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+
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+ // 得到关节空间的大小
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+ this.displayWidth = frameDescription.Width;
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+ this.displayHeight = frameDescription.Height;
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+
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+ // 打开渲染器的身体框架
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+ this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();
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+
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+ // 骨骼定义为两个关节之间的线
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+ this.bones = new List<Tuple<JointType, JointType>>();
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+
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+ // 躯干
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.Head, JointType.Neck));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipLeft));
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+
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+ // 右臂
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.HandRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.ThumbRight));
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+
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+ // 左臂
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.ThumbLeft));
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+
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+ // 右腿
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.HipRight, JointType.KneeRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleRight, JointType.FootRight));
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+
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+ // 左腿
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
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+ this.bones.Add(new Tuple<JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft));
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+
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+ // 设置 IsAvailableChanged 事件通知程序
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+ this.kinectSensor.IsAvailableChanged += this.Sensor_IsAvailableChanged;
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+
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+ // 打开传感器
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+ this.kinectSensor.Open();
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+
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+ // 设置状态文本
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+ this.StatusText = this.kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.NoSensorStatusText;
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+
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+ // 在这个简单的例子中使用window对象作为视图模型
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+ this.DataContext = this;
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+
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+ // 初始化窗口的组件（控件）
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+ this.InitializeComponent();
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+ }
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+
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+ private void Window_Loaded(object sender, RoutedEventArgs e)
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+ {
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+ if (this.bodyFrameReader != null)
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+ {
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+ this.bodyFrameReader.FrameArrived += this.Reader_FrameArrived;
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+ }
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+ }
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+
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+ private void Window_Closing(object sender, CancelEventArgs e)
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+ {
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+ if (this.bodyFrameReader != null)
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+ {
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+ this.bodyFrameReader.Dispose();
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+ this.bodyFrameReader = null;
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+ }
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+
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+ if (this.kinectSensor != null)
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+ {
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+ this.kinectSensor.Close();
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+ this.kinectSensor = null;
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+ }
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+ }
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+
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+ private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
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+ {
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+ bool dataReceived = false;
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+ using (BodyFrame bodyFrame = e.FrameReference.AcquireFrame())
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+ {
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+ if (bodyFrame != null)
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+ {
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+ if (this.bodies == null)
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+ {
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+ this.bodies = new Body[bodyFrame.BodyCount];
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+ }
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+ // 第一次调用GetAndRefreshBodyData时，Kinect将在数组中分配每个Body。只要这些主体对象没有被释放并且在数组中没有设置为null，那么这些主体对象将被重用。
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+ bodyFrame.GetAndRefreshBodyData(this.bodies);
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+ dataReceived = true;
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+ }
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+ }
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+
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+ if (dataReceived)
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+ {
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+ foreach (Body body in bodies)
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+ {
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+ if (body.IsTracked)
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+ {
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+ status.Content = "追踪到Body.";
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+ IReadOnlyDictionary<JointType, Joint> joints = body.Joints;
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+
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+ Joint jointHead = joints[JointType.Head], jointHandRight = joints[JointType.HandRight];
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+ CameraSpacePoint positionHead = jointHead.Position, positionHandRight = jointHandRight.Position;
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+ if (jointHead.TrackingState == TrackingState.Tracked && jointHandRight.TrackingState == TrackingState.Tracked)
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+ {
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+ Console.WriteLine("X = " + positionHead.X + ", Y = " + positionHead.Y + ", Z = " + positionHead.Z);
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+ Console.WriteLine("X = " + positionHandRight.X + ", Y = " + positionHandRight.Y + ", Z = " + positionHandRight.Z);
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+ }
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+
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+ // 将关节点转换为深度（显示）空间
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+ //Dictionary<JointType, Point> jointPoints = new Dictionary<JointType, Point>();
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+ //foreach (JointType jointType in joints.Keys)
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+ //{
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+ // DepthSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToDepthSpace(positionHead);
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+ // jointPoints[jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
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+ //}
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+ }
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+ }
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+ }
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+ else
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+ {
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+ status.Content = "无";
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+ }
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+ }
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+
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+ private void Sensor_IsAvailableChanged(object sender, IsAvailableChangedEventArgs e)
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+ {
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+ // 如果失败，设置状态文本
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+ this.StatusText = this.kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.SensorNotAvailableStatusText;
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+ }
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+ }
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+}
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