【Kinect Sensorを利用して拡張現実センサを作る試み】

【はじめに】

【ご注意事項】

【目次】　　⇒ 【English Version】

【Kinect for Windows SDK Version1導入編】

【OpenNI編】

【ARを支える他の技術】

【WebGLのページ】

【OpenNI導入編】

【Windows7でKinectを使えるようにするには？】

【手順１：ダウンロード】

【手順２：デバイスドライバのインストール】

【手順３：OpenNIのインストール】

【手順４：NITEのインストール】

【手順５：Sensorのインストール】

【手順６：環境変数の修正】

【手順７：OpenNI用xmlファイルの置き換え】

『SamplesConfig.xml』

<OpenNI>
	<Licenses>
		<License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/>
	</Licenses>
	<Log writeToConsole="false" writeToFile="false">
		<!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) -->
		<LogLevel value="3"/>
		<Masks>
			<Mask name="ALL" on="true"/>
		</Masks>
		<Dumps>
		</Dumps>
	</Log>
	<ProductionNodes>	
		<!-- Normal Image -->
		<Node type="Image" name="Image1" stopOnError="false"> 
			<Configuration>
				<Mirror on="true"/>
			</Configuration>
		</Node>	
	
		<!-- HighRes Image -->
		<!--
		<Node type="Image" name="Image1" stopOnError="false"> 
			<Configuration>
				<MapOutputMode xRes="640" yRes="480" FPS="30"/>
				<Mirror on="true"/>
			</Configuration>
		</Node>
		-->
		
		<!-- Normal IR -->
		<!--
		<Node type="IR" name="IR1">
			<Configuration>
				<MapOutputMode xRes="640" yRes="480" FPS="30"/>
				<Mirror on="true"/>
			</Configuration>
		</Node>
		-->
		
		<!-- HighRes IR -->
		<!--
		<Node type="IR" name="IR1">
			<Configuration>
				<MapOutputMode xRes="640" yRes="480" FPS="30"/>
				<Mirror on="true"/>
			</Configuration>
		</Node>		
		-->
		
		<Node type="Depth" name="Depth1">
			<Configuration>
				<Mirror on="true"/>
			</Configuration>
		</Node>
		<!--
		<Node type="Audio" name="Audio1">
		</Node>
		-->
	</ProductionNodes>
</OpenNI>

【手順８：NITE用xmlファイルの置き換え】

『Sample-Scene.xml』

<OpenNI>
	<Licenses>
		<License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/>
	</Licenses>
	<Log writeToConsole="true" writeToFile="false">
		<!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) -->
		<LogLevel value="3"/>
		<Masks>
			<Mask name="ALL" on="false"/>
		</Masks>
		<Dumps>
		</Dumps>
	</Log>
	<ProductionNodes>
		<Node type="Depth">
			<Configuration>
				<Mirror on="true"/>
			</Configuration>
		</Node>
		<Node type="Scene" />
	</ProductionNodes>
</OpenNI>

『Sample-Tracking.xml』

<OpenNI>
	<Licenses>
		<License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/>
	</Licenses>
	<Log writeToConsole="true" writeToFile="false">
		<!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) -->
		<LogLevel value="3"/>
		<Masks>
			<Mask name="ALL" on="false"/>
		</Masks>
		<Dumps>
		</Dumps>
	</Log>
	<ProductionNodes>
		<Node type="Depth">
			<Configuration>
				<Mirror on="true"/>
			</Configuration>
		</Node>
		<Node type="Gesture" />
		<Node type="Hands" />
	</ProductionNodes>
</OpenNI>

『Sample-User.xml』

<OpenNI>
	<Licenses>
		<License vendor="PrimeSense" key="0KOIk2JeIBYClPWVnMoRKn5cdY4="/>
	</Licenses>
	<Log writeToConsole="true" writeToFile="false">
		<!-- 0 - Verbose, 1 - Info, 2 - Warning, 3 - Error (default) -->
		<LogLevel value="3"/>
		<Masks>
			<Mask name="ALL" on="false"/>
		</Masks>
		<Dumps>
		</Dumps>
	</Log>
	<ProductionNodes>
		<Node type="Depth">
			<Configuration>
				<Mirror on="true"/>
			</Configuration>
		</Node>
		<Node type="User" />
	</ProductionNodes>
</OpenNI>

【動作確認】

【OpenNI.Net.dllが激変しているではないか？！】

【注意】　以下のコードは、2011年4月版のOpenNI.Net.dllを使った場合のコードです

【Kinect Sensorの使い方】

【Program.cs】

using System;
using System.Collections.Generic;
using System.Linq;
using System.Windows.Forms;
using System.Drawing;

namespace KinectSimpleViewer.net
{
	static class Program
	{
		/// 

		/// The main entry point for the application.
		/// 
		[STAThread]
		static void Main()
		{
			Application.EnableVisualStyles();
			Application.SetCompatibleTextRenderingDefault(false);
			try
			{
				Application.Run(new Form1());
			}
			catch (System.Exception ex)
			{
				MessageBox.Show("Error: " + ex.Message, "KinectSimpleViewer", MessageBoxButtons.OK, MessageBoxIcon.Error);
			}
		}
	}
}
    

【Form1.cs】

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using OpenNI;
using System.Threading;
using System.Drawing.Imaging;
using System.Drawing.Drawing2D;

namespace KinectSimpleViewer
{
    public partial class Form1 : Form
    {
        private readonly string SAMPLE_XML_FILE = @"../../Data/SamplesConfig.xml";

        private Context context;
        private DepthGenerator depth;
        private ImageGenerator image;
        private UserGenerator userGenerator;
        private HandsGenerator handsGenerator;
        private SkeletonCapability skeletonCapbility;
        private PoseDetectionCapability poseDetectionCapability;
        private string calibPose;
        private Thread readerThread;
        private bool shouldRun;
        private Bitmap bitmap;
        private Bitmap bitmap2;
        private int[] histogram;
        private Point3D handsPos;

        private Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>> joints;
        private static Int32 nJoints = 16; //【実際には15個しか戻されていない】
        private SkeletonJointPosition[] SkeletonJointData = new SkeletonJointPosition[nJoints];

        private bool shouldDrawPixels = true;     //【画像を更新する】
        private bool shouldDrawBackground = true; //【背景を描画する】
        private bool shouldPrintID = true;        //【UserIDを表示する】
        private bool shouldPrintState = true;     //【検出状態を表示する】
        private bool shouldDrawSkeleton = true;   //【骨格を表示する】

        private Color[] colors = { Color.Red, Color.Blue, Color.ForestGreen, Color.Yellow, Color.Orange, Color.Purple, Color.White };
        private Color[] anticolors = { Color.Green, Color.Orange, Color.Red, Color.Purple, Color.Blue, Color.Yellow, Color.Black };
        private int ncolors = 6;

        //【カラーインデックスデータ】A/Dコンバータの計測値に対応する球体表示色を与える配列 
        public static Int16 nColors = 256;
        public static int[] ColorLookupTable = new int[] {
         0x00FFFFFF, 0x00FBFBFB, 0x00F7F7F7, 0x00F3F3F3, 0x00EFEFEF, 0x00EBEBEB, 0x00E7E7E7, 0x00E4E4E4, 0x00E0E0E0, 0x00DCDCDC,
         0x00D8D8D8, 0x00D4D4D4, 0x00D0D0D0, 0x00CCCCCC, 0x00C8C8C8, 0x00C4C4C4, 0x00C0C0C0, 0x00BCBCBC, 0x00B8B8B8, 0x00B4B4B4,
         0x00B1B1B1, 0x00ADADAD, 0x00A9A9A9, 0x00A5A5A5, 0x00A1A1A1, 0x009D9D9D, 0x00999999, 0x00959595, 0x00919191, 0x008D8D8D,
         0x00898989, 0x00858585, 0x00828282, 0x007E7E7E, 0x007A7A7A, 0x00767676, 0x00727272, 0x006E6E6E, 0x006A6A6A, 0x00666666,
         0x00626262, 0x005E5E5E, 0x005A5A5A, 0x00565656, 0x00525252, 0x004F4F4F, 0x004B4B4B, 0x00474747, 0x00434343, 0x003F3F3F,
         0x003B3B3B, 0x000000FF, 0x000005FF, 0x00000AFF, 0x00000FFF, 0x000014FF, 0x000019FF, 0x00001EFF, 0x000023FF, 0x000028FF,
         0x00002DFF, 0x000032FF, 0x000037FF, 0x00003CFF, 0x000041FF, 0x000046FF, 0x00004BFF, 0x000050FF, 0x000055FF, 0x00005AFF,
         0x00005FFF, 0x000064FF, 0x000069FF, 0x00006EFF, 0x000073FF, 0x000078FF, 0x00007DFF, 0x000082FF, 0x000087FF, 0x00008CFF,
         0x000091FF, 0x000096FF, 0x00009BFF, 0x0000A0FF, 0x0000A5FF, 0x0000AAFF, 0x0000AFFF, 0x0000B4FF, 0x0000B9FF, 0x0000BEFF,
         0x0000C3FF, 0x0000C8FF, 0x0000CDFF, 0x0000D2FF, 0x0000D7FF, 0x0000DCFF, 0x0000E1FF, 0x0000E6FF, 0x0000EBFF, 0x0000F0FF,
         0x0000F5FF, 0x0000FAFF, 0x0000FFFF, 0x0000FFFA, 0x0000FFF5, 0x0000FFF0, 0x0000FFEB, 0x0000FFE6, 0x0000FFE1, 0x0000FFDC,
         0x0000FFD7, 0x0000FFD2, 0x0000FFCD, 0x0000FFC8, 0x0000FFC3, 0x0000FFBE, 0x0000FFB9, 0x0000FFB4, 0x0000FFAF, 0x0000FFAA,
         0x0000FFA5, 0x0000FFA0, 0x0000FF9B, 0x0000FF96, 0x0000FF91, 0x0000FF8C, 0x0000FF87, 0x0000FF82, 0x0000FF7D, 0x0000FF78,
         0x0000FF73, 0x0000FF6E, 0x0000FF69, 0x0000FF64, 0x0000FF5F, 0x0000FF5A, 0x0000FF55, 0x0000FF50, 0x0000FF4B, 0x0000FF46,
         0x0000FF41, 0x0000FF3C, 0x0000FF37, 0x0000FF32, 0x0000FF2D, 0x0000FF28, 0x0000FF23, 0x0000FF1E, 0x0000FF19, 0x0000FF14,
         0x0000FF0F, 0x0000FF0A, 0x0000FF05, 0x0000FF00, 0x0005FF00, 0x000AFF00, 0x000FFF00, 0x0014FF00, 0x0019FF00, 0x001EFF00,
         0x0023FF00, 0x0028FF00, 0x002DFF00, 0x0032FF00, 0x0037FF00, 0x003CFF00, 0x0041FF00, 0x0046FF00, 0x004BFF00, 0x0050FF00,
         0x0055FF00, 0x005AFF00, 0x005FFF00, 0x0064FF00, 0x0069FF00, 0x006EFF00, 0x0073FF00, 0x0078FF00, 0x007DFF00, 0x0082FF00,
         0x0087FF00, 0x008CFF00, 0x0091FF00, 0x0096FF00, 0x009BFF00, 0x00A0FF00, 0x00A5FF00, 0x00AAFF00, 0x00AFFF00, 0x00B4FF00,
         0x00B9FF00, 0x00BEFF00, 0x00C3FF00, 0x00C8FF00, 0x00CDFF00, 0x00D2FF00, 0x00D7FF00, 0x00DCFF00, 0x00E1FF00, 0x00E6FF00,
         0x00EBFF00, 0x00F0FF00, 0x00F5FF00, 0x00FAFF00, 0x00FFFF00, 0x00FFFA00, 0x00FFF500, 0x00FFF000, 0x00FFEB00, 0x00FFE600,
         0x00FFE100, 0x00FFDC00, 0x00FFD700, 0x00FFD200, 0x00FFCD00, 0x00FFC800, 0x00FFC300, 0x00FFBE00, 0x00FFB900, 0x00FFB400,
         0x00FFAF00, 0x00FFAA00, 0x00FFA500, 0x00FFA000, 0x00FF9B00, 0x00FF9600, 0x00FF9100, 0x00FF8C00, 0x00FF8700, 0x00FF8200,
         0x00FF7D00, 0x00FF7800, 0x00FF7300, 0x00FF6E00, 0x00FF6900, 0x00FF6400, 0x00FF5F00, 0x00FF5A00, 0x00FF5500, 0x00FF5000,
         0x00FF4B00, 0x00FF4600, 0x00FF4100, 0x00FF3C00, 0x00FF3700, 0x00FF3200, 0x00FF2D00, 0x00FF2800, 0x00FF2300, 0x00FF1E00,
         0x00FF1900, 0x00FF1400, 0x00FF0F00, 0x00FF0A00, 0x00FF0500, 0x00FF0000
         };


        public Form1()
        {
            InitializeComponent();
            this.context = new Context(SAMPLE_XML_FILE);
            this.depth = context.FindExistingNode(NodeType.Depth) as DepthGenerator;
            if (this.depth == null)
            {
                throw new Exception("Viewer must have a depth node!");
            }
            this.image = context.FindExistingNode(NodeType.Image) as ImageGenerator;
            if (this.image == null)
            {
                throw new Exception("Viewer must have a image node!");
            }

            this.userGenerator = new UserGenerator(this.context);
            this.userGenerator.NewUser += userGenerator_NewUser;
            this.userGenerator.LostUser += userGenerator_LostUser;
            this.userGenerator.StartGenerating();

            this.skeletonCapbility = this.userGenerator.SkeletonCapability;
            this.calibPose = this.skeletonCapbility.CalibrationPose;
            this.skeletonCapbility.CalibrationEnd += skeletonCapbility_CalibrationEnd;
            this.skeletonCapbility.SetSkeletonProfile(SkeletonProfile.All);
            this.joints = new Dictionary<int, Dictionary<SkeletonJoint, SkeletonJointPosition>>();

            this.handsGenerator = new HandsGenerator(this.context);
            this.handsGenerator.StartGenerating();
            handsPos.X = 0; handsPos.Y = 0; handsPos.Z = 0;
            this.handsGenerator.SetSmoothing(1.3F);


            this.poseDetectionCapability = this.userGenerator.PoseDetectionCapability;
            this.poseDetectionCapability.PoseDetected += poseDetectionCapability_PoseDetected;

            this.histogram = new int[this.depth.DeviceMaxDepth];  //【MaxDepth:10000】
            //  MapOutputMode mapMode = this.depth.GetMapOutputMode();
            MapOutputMode mapMode = this.image.MapOutputMode;


            this.bitmap = new Bitmap((int)mapMode.XRes, (int)mapMode.YRes/*, System.Drawing.Imaging.PixelFormat.Format24bppRgb*/);
            this.bitmap2 = new Bitmap((int)mapMode.XRes, (int)mapMode.YRes/*, System.Drawing.Imaging.PixelFormat.Format24bppRgb*/);
            this.context.GlobalMirror = false;                         //【実写・非鏡像表示】
            this.depth.AlternativeViewpointCapability.SetViewpoint(image); //【骨格位置を実写画像に一致させる】
            this.shouldRun = true;
            this.readerThread = new Thread(ReaderThread);
            this.readerThread.Start();
        }

        void skeletonCapbility_CalibrationEnd(object sender, CalibrationEndEventArgs e)
        {
            if (e.Success)
            {
                this.skeletonCapbility.StartTracking(e.ID);
                this.joints.Add(e.ID, new Dictionary<SkeletonJoint, SkeletonJointPosition>());
            }
            else
            {
                this.poseDetectionCapability.StartPoseDetection(calibPose, e.ID);
            }
        }

        void poseDetectionCapability_PoseDetected(object sender, PoseDetectedEventArgs e)
        {
            this.poseDetectionCapability.StopPoseDetection(e.ID);
            this.skeletonCapbility.RequestCalibration(e.ID, true);
        }

        void userGenerator_NewUser(object sender, NewUserEventArgs e)
        {
            this.poseDetectionCapability.StartPoseDetection(this.calibPose, e.ID);
        }

        void userGenerator_LostUser(object sender, UserLostEventArgs e)
        {
            this.joints.Remove(e.ID);
        }
        protected override void OnPaint(PaintEventArgs e)
        {
            base.OnPaint(e);

            lock (this)
            {
                e.Graphics.DrawImage(this.bitmap,
                    this.panel1.Location.X,
                    this.panel1.Location.Y,
                    this.panel1.Size.Width,
                    this.panel1.Size.Height);
                e.Graphics.DrawImage(this.bitmap2,
                    this.panel2.Location.X,
                    this.panel2.Location.Y,
                    this.panel2.Size.Width,
                    this.panel2.Size.Height);
            }
        }

        protected override void OnPaintBackground(PaintEventArgs pevent)
        {
            //Don't allow the background to paint
        }

        protected override void OnClosing(CancelEventArgs e)
        {
            this.shouldRun = false;
            this.readerThread.Join();
            base.OnClosing(e);
        }

        protected override void OnKeyPress(KeyPressEventArgs e)
        {
            switch (e.KeyChar)
            {
                case (char)27:
                    Close();
        //            exit(1);
                    break;
                case 'b':
                    this.shouldDrawBackground = !this.shouldDrawBackground;
                    break;
                case 'x':
                    this.shouldDrawPixels = !this.shouldDrawPixels;
                    break;
                case 's':
                    this.shouldDrawSkeleton = !this.shouldDrawSkeleton;
                    break;
                case 'i':
                    this.shouldPrintID = !this.shouldPrintID;
                    break;
                case 'l':
                    this.shouldPrintState = !this.shouldPrintState;
                    break;
                case '1':
              //      g_nViewState = DISPLAY_MODE_OVERLAY;
                    depth.AlternativeViewpointCapability.SetViewpoint(image);
                    break;
                case '2':
              //      g_nViewState = DISPLAY_MODE_DEPTH;
                    depth.AlternativeViewpointCapability.ResetViewpoint();
                    break;
                case '3':
              //      g_nViewState = DISPLAY_MODE_IMAGE;
                    depth.AlternativeViewpointCapability.ResetViewpoint();
                    break;
                case 'm':
                    context.GlobalMirror = !context.GlobalMirror;
                    break;
            }
            base.OnKeyPress(e);
        }

        private unsafe void CalcHist(DepthMetaData depthMD)
        {
            // reset
            for (int i = 0; i < this.histogram.Length; ++i) { this.histogram[i] = 0; }

            ushort* pDepth = (ushort*)depthMD.DepthMapPtr.ToPointer();
            int points = 0;
            for (int y = 0; y < depthMD.YRes; ++y)
            {
                for (int x = 0; x < depthMD.XRes; ++x, ++pDepth)
                {
                    ushort depthVal = *pDepth;
                    if (depthVal != 0)
                    {
                        this.histogram[depthVal]++;
                        points++;
                    }
                }
            }

            for (int i = 1; i < this.histogram.Length; i++) { this.histogram[i] += this.histogram[i - 1]; }

            if (points > 0)
            {
                for (int i = 1; i < this.histogram.Length; i++) { this.histogram[i] = (int)(256 * (1.0f - (this.histogram[i] / (float)points))); }
            }
        }

        private void GetJoint(int user, SkeletonJoint joint, int k)
        {
            SkeletonJointPosition pos = this.skeletonCapbility.GetSkeletonJointPosition(user, joint);
            if (pos.Position.Z == 0)
            {
                pos.Confidence = 0;
            }
            else
            {
                pos.Position = this.depth.ConvertRealWorldToProjective(pos.Position);
            }
            this.joints[user][joint] = pos;
            SkeletonJointData[k] = pos; //pos.fConfidenceも含めて保存される
        }

        private void GetJoints(int user)
        {
            GetJoint(user, SkeletonJoint.Head, 0);          //【頭】
            GetJoint(user, SkeletonJoint.Neck, 1);          //【首】
            GetJoint(user, SkeletonJoint.LeftShoulder, 2);  //【左肩】
            GetJoint(user, SkeletonJoint.LeftElbow, 3);     //【左ひじ】
            GetJoint(user, SkeletonJoint.LeftHand, 4);      //【左手】
            GetJoint(user, SkeletonJoint.RightShoulder, 5); //【右肩】
            GetJoint(user, SkeletonJoint.RightElbow, 6);    //【右ひじ】
            GetJoint(user, SkeletonJoint.RightHand, 7);     //【右手】
            GetJoint(user, SkeletonJoint.Torso, 8);         //【胴】
            GetJoint(user, SkeletonJoint.LeftHip, 9);       //【左尻】
            GetJoint(user, SkeletonJoint.LeftKnee, 10);     //【左膝】
            GetJoint(user, SkeletonJoint.LeftFoot, 11);     //【左足首】
            GetJoint(user, SkeletonJoint.RightHip, 12);     //【右尻】
            GetJoint(user, SkeletonJoint.RightKnee, 13);    //【右膝】
            GetJoint(user, SkeletonJoint.RightFoot, 14);    //【右足首】
            if (SkeletonJointData[9].Confidence != 0 && SkeletonJointData[12].Confidence != 0) //【下腹部】
            {
                Point3D pos = new Point3D();
                SkeletonJointData[15] = SkeletonJointData[9];

                pos.X = 0.5f * (SkeletonJointData[9].Position.X + SkeletonJointData[12].Position.X);
                pos.Y = 0.5f * (SkeletonJointData[9].Position.Y + SkeletonJointData[12].Position.Y);
                pos.Z = 0.5f * (SkeletonJointData[9].Position.Z + SkeletonJointData[12].Position.Z);
                SkeletonJointData[15].Position = pos;
            }
        }

        private void DrawLine(Graphics g, Color color, Dictionary<SkeletonJoint, SkeletonJointPosition> dict, SkeletonJoint j1, SkeletonJoint j2)
        {
            Point3D pos1 = dict[j1].Position;
            Point3D pos2 = dict[j2].Position;

            if (dict[j1].Confidence == 0 || dict[j2].Confidence == 0) return;
            if ((int)pos1.X < 0 || (int)pos1.X > 640 || (int)pos1.Y < 0 || (int)pos1.Y > 480) return;
            if ((int)pos2.X < 0 || (int)pos2.X > 640 || (int)pos2.Y < 0 || (int)pos2.Y > 480) return;
            //【線幅3に設定】
            g.DrawLine(new Pen(color, 3.0f), new Point((int)pos1.X, (int)pos1.Y), new Point((int)pos2.X, (int)pos2.Y));
        }

        private void DrawSkeleton(Graphics g, Color color, int user)
        {
            GetJoints(user);
            Dictionary<SkeletonJoint, SkeletonJointPosition> dict = this.joints[user];
            
            DrawLine(g, color, dict, SkeletonJoint.Head, SkeletonJoint.Neck);
            DrawLine(g, color, dict, SkeletonJoint.LeftShoulder, SkeletonJoint.Torso);
            DrawLine(g, color, dict, SkeletonJoint.RightShoulder, SkeletonJoint.Torso);
            DrawLine(g, color, dict, SkeletonJoint.Neck, SkeletonJoint.LeftShoulder);
            DrawLine(g, color, dict, SkeletonJoint.LeftShoulder, SkeletonJoint.LeftElbow);
            DrawLine(g, color, dict, SkeletonJoint.LeftElbow, SkeletonJoint.LeftHand);
            DrawLine(g, color, dict, SkeletonJoint.Neck, SkeletonJoint.RightShoulder);
            DrawLine(g, color, dict, SkeletonJoint.RightShoulder, SkeletonJoint.RightElbow);
            DrawLine(g, color, dict, SkeletonJoint.RightElbow, SkeletonJoint.RightHand);
            DrawLine(g, color, dict, SkeletonJoint.LeftHip, SkeletonJoint.Torso);
            DrawLine(g, color, dict, SkeletonJoint.RightHip, SkeletonJoint.Torso);
            DrawLine(g, color, dict, SkeletonJoint.LeftHip, SkeletonJoint.RightHip);
            DrawLine(g, color, dict, SkeletonJoint.LeftHip, SkeletonJoint.LeftKnee);
            DrawLine(g, color, dict, SkeletonJoint.LeftKnee, SkeletonJoint.LeftFoot);
            DrawLine(g, color, dict, SkeletonJoint.RightHip, SkeletonJoint.RightKnee);
            DrawLine(g, color, dict, SkeletonJoint.RightKnee, SkeletonJoint.RightFoot);
            for (var i = 0; i < nJoints; i++)
            {
                if (SkeletonJointData[i].Confidence != 0
                    && SkeletonJointData[i].Position.X >= 0
                    && SkeletonJointData[i].Position.X < 640
                    && SkeletonJointData[i].Position.Y >= 0
                    && SkeletonJointData[i].Position.Y < 480)
                {   //【関節を円で表示】
                    SolidBrush newbrush = new SolidBrush(Color.Red);
                    g.FillEllipse(newbrush, SkeletonJointData[i].Position.X - 5f, SkeletonJointData[i].Position.Y - 5f, 10f, 10f);
                }
            }
        }

        private unsafe void ReaderThread()
        {
            DepthMetaData depthMD = new DepthMetaData();
            ImageMetaData imageMD = new ImageMetaData();

            while (this.shouldRun)
            {
                try
                {
                    this.context.WaitOneUpdateAll(this.depth);
                }
                catch (Exception)
                {
                }

                this.depth.GetMetaData(depthMD);
                this.image.GetMetaData(imageMD);

                CalcHist(depthMD);

                lock (this)
                {
                    Rectangle rect = new Rectangle(0, 0, this.bitmap.Width, this.bitmap.Height);
                    BitmapData data = this.bitmap.LockBits(rect, ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
                    BitmapData data2 = this.bitmap2.LockBits(rect, ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);

                    if (this.shouldDrawPixels)
                    {
                        //【image情報】RGBカメラ画像を左側パネルに表示する
                        byte* pImage = (byte*)this.image.ImageMapPtr.ToPointer();     //【RGB24bitBitMap】
                        for (int y = 0; y < imageMD.YRes; ++y)
                        {
                            byte* pDest = (byte*)data.Scan0.ToPointer() + y * data.Stride;
                            for (int x = 0; x < imageMD.XRes; ++x, pImage += 3, pDest += 3)
                            {
                                pDest[0] = *(pImage + 2); //【青】
                                pDest[1] = *(pImage + 1); //【緑】
                                pDest[2] = *(pImage);     //【赤】
                            }
                        }

                        //【depth情報】デプスバッファ情報を右側パネルに表示する
                        ushort* pDepth = (ushort*)this.depth.DepthMapPtr.ToPointer(); //【depth16bit】
                        ushort* pLabels = (ushort*)this.userGenerator.GetUserPixels(0).LabelMapPtr.ToPointer();
                        for (int y = 0; y < depthMD.YRes; ++y)
                        {
                            byte* pDest = (byte*)data2.Scan0.ToPointer() + y * data.Stride;
                            for (int x = 0; x < depthMD.XRes; ++x, ++pDepth, ++pLabels, pDest += 3)
                            {
                                pDest[0] = pDest[1] = pDest[2] = 0;

                                ushort label = *pLabels;
                                if (this.shouldDrawBackground || *pLabels != 0)
                                {
                                    if (checkBox1.Checked)
                                    {   //depthに応じて着色表示
                                        byte dL = (byte)(255 - (int)((float)(*pDepth) * 0.0255));
                                        if (*pDepth == 0) { dL = 0; }  
                                        Color depthColor = Color.FromArgb(ColorLookupTable[dL]);
                                        pDest[0] = (byte)depthColor.B;
                                        pDest[1] = (byte)depthColor.G;
                                        pDest[2] = (byte)depthColor.R;
                                    }
                                    else
                                    {   //depth bufferにuser表示
                                        Color labelColor = Color.White;
                                        if (label != 0) {  labelColor = colors[label % ncolors];  }
                                        byte pixel = (byte)this.histogram[*pDepth];
                                        pDest[0] = (byte)(pixel * (labelColor.B / 256.0));
                                        pDest[1] = (byte)(pixel * (labelColor.G / 256.0));
                                        pDest[2] = (byte)(pixel * (labelColor.R / 256.0));
                                    }
                                }
                            }
                        }
                    }
                    this.bitmap.UnlockBits(data);
                    this.bitmap2.UnlockBits(data2);

                    //【Kinect Sensorの検出状態と骨格情報の表示】
                    Graphics g = Graphics.FromImage(this.bitmap);
             //       this.handsGenerator.
                    string hand = "Hand";
                    if (handsPos.Z != 0)
                    {
                        g.DrawString(hand, new Font("Arial", 6), new SolidBrush(anticolors[0]), handsPos.X, handsPos.Y);
                        label5.Text = "x = " + handsPos.X.ToString();
                        label6.Text = "y = " + handsPos.Y.ToString();
                        label7.Text = "z = " + handsPos.Z.ToString(); 
                    }

                    int[] users = this.userGenerator.GetUsers();
                    foreach (int user in users) //【各ユーザーに関して実施】
                    {
                        if (this.shouldPrintID)
                        {
                            Point3D com = this.userGenerator.GetCoM(user);
                            com = this.depth.ConvertRealWorldToProjective(com);
                            
                            string label = "";
                            if (!this.shouldPrintState)
                            { label += user; }
                            else if (this.skeletonCapbility.IsTracking(user))
                            { label += user + " - Tracking"; }
                            else if (this.skeletonCapbility.IsCalibrating(user))
                            { label += user + " - Calibrating..."; }
                            else
                            {
                                label += user + " - Looking for pose";
                             //   this.handsGenerator.StartTracking(ref handsPos);
                            }

                            g.DrawString(label, new Font("Arial", 6), new SolidBrush(anticolors[user % ncolors]), com.X, com.Y);

                        }

          //            if (this.shouldDrawSkeleton && this.skeletonCapbility.IsTracking(user))
                        if (this.skeletonCapbility.IsTracking(user))
                            DrawSkeleton(g, colors[0], user); //【赤で表示】
                    }
                    g.Dispose();
                }
                this.Invalidate();
            }
        }
    }
}
    

【Form1.Designer.cs】

namespace KinectSimpleViewer
{
    partial class Form1
    {
        /// 

        /// 必要なデザイナー変数です。
        /// 
        private System.ComponentModel.IContainer components = null;

        /// 

        /// 使用中のリソースをすべてクリーンアップします。
        /// 
        /// マネージ リソースが破棄される場合 true、破棄されない場合は false です。
        protected override void Dispose(bool disposing)
        {
            if (disposing && (components != null))
            {
                components.Dispose();
            }
            base.Dispose(disposing);
        }

        #region Windows フォーム デザイナーで生成されたコード

        /// 

        /// デザイナー サポートに必要なメソッドです。このメソッドの内容を
        /// コード エディターで変更しないでください。
        /// 
        private void InitializeComponent()
        {
            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form1));
            this.panel1 = new System.Windows.Forms.Panel();
            this.panel2 = new System.Windows.Forms.Panel();
            this.panel3 = new System.Windows.Forms.Panel();
            this.checkBox1 = new System.Windows.Forms.CheckBox();
            this.label1 = new System.Windows.Forms.Label();
            this.label2 = new System.Windows.Forms.Label();
            this.pictureBox1 = new System.Windows.Forms.PictureBox();
            this.label3 = new System.Windows.Forms.Label();
            this.label4 = new System.Windows.Forms.Label();
            this.panel3.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
            this.SuspendLayout();
            // 
            // panel1
            // 
            this.panel1.Location = new System.Drawing.Point(0, 0);
            this.panel1.Name = "panel1";
            this.panel1.Size = new System.Drawing.Size(602, 405);
            this.panel1.TabIndex = 0;
            this.panel1.Visible = false;
            // 
            // panel2
            // 
            this.panel2.Location = new System.Drawing.Point(603, 0);
            this.panel2.Name = "panel2";
            this.panel2.Size = new System.Drawing.Size(602, 405);
            this.panel2.TabIndex = 1;
            this.panel2.Visible = false;
            // 
            // panel3
            // 
            this.panel3.Controls.Add(this.label4);
            this.panel3.Controls.Add(this.label3);
            this.panel3.Controls.Add(this.pictureBox1);
            this.panel3.Controls.Add(this.label2);
            this.panel3.Controls.Add(this.label1);
            this.panel3.Controls.Add(this.checkBox1);
            this.panel3.Location = new System.Drawing.Point(0, 406);
            this.panel3.Name = "panel3";
            this.panel3.Size = new System.Drawing.Size(1204, 194);
            this.panel3.TabIndex = 2;
            // 
            // checkBox1
            // 
            this.checkBox1.AutoSize = true;
            this.checkBox1.Location = new System.Drawing.Point(1087, 7);
            this.checkBox1.Name = "checkBox1";
            this.checkBox1.Size = new System.Drawing.Size(103, 16);
            this.checkBox1.TabIndex = 2;
            this.checkBox1.Text = "カラー表示モード";
            this.checkBox1.UseVisualStyleBackColor = true;
            // 
            // label1
            // 
            this.label1.AutoSize = true;
            this.label1.Font = new System.Drawing.Font("MS UI Gothic", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(128)));
            this.label1.Location = new System.Drawing.Point(211, 2);
            this.label1.Name = "label1";
            this.label1.Size = new System.Drawing.Size(144, 19);
            this.label1.TabIndex = 3;
            this.label1.Text = "【RGBカメラ画像】";
            // 
            // label2
            // 
            this.label2.AutoSize = true;
            this.label2.Font = new System.Drawing.Font("MS UI Gothic", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(128)));
            this.label2.Location = new System.Drawing.Point(842, 2);
            this.label2.Name = "label2";
            this.label2.Size = new System.Drawing.Size(163, 19);
            this.label2.TabIndex = 4;
            this.label2.Text = "【デプスバッファ情報】";
            // 
            // pictureBox1
            // 
            this.pictureBox1.Image = ((System.Drawing.Image)(resources.GetObject("pictureBox1.Image")));
            this.pictureBox1.Location = new System.Drawing.Point(674, 44);
            this.pictureBox1.Name = "pictureBox1";
            this.pictureBox1.Size = new System.Drawing.Size(407, 20);
            this.pictureBox1.SizeMode = System.Windows.Forms.PictureBoxSizeMode.StretchImage;
            this.pictureBox1.TabIndex = 5;
            this.pictureBox1.TabStop = false;
            // 
            // label3
            // 
            this.label3.AutoSize = true;
            this.label3.Location = new System.Drawing.Point(1065, 28);
            this.label3.Name = "label3";
            this.label3.Size = new System.Drawing.Size(27, 12);
            this.label3.TabIndex = 6;
            this.label3.Text = "近い";
            // 
            // label4
            // 
            this.label4.AutoSize = true;
            this.label4.Location = new System.Drawing.Point(666, 28);
            this.label4.Name = "label4";
            this.label4.Size = new System.Drawing.Size(27, 12);
            this.label4.TabIndex = 7;
            this.label4.Text = "遠い";
            // 
            // Form1
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.ClientSize = new System.Drawing.Size(1204, 486);
            this.Controls.Add(this.panel3);
            this.Controls.Add(this.panel2);
            this.Controls.Add(this.panel1);
            this.KeyPreview = true;
            this.Name = "Form1";
            this.Text = "Kinect Sensor Simple Viewer";
            this.panel3.ResumeLayout(false);
            this.panel3.PerformLayout();
            ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
            this.ResumeLayout(false);

        }

        #endregion

        private System.Windows.Forms.Panel panel1;
        private System.Windows.Forms.Panel panel2;
        private System.Windows.Forms.Panel panel3;
        private System.Windows.Forms.CheckBox checkBox1;
        private System.Windows.Forms.Label label2;
        private System.Windows.Forms.Label label1;
        private System.Windows.Forms.Label label4;
        private System.Windows.Forms.Label label3;
        private System.Windows.Forms.PictureBox pictureBox1;

        //        private System.Windows.Forms.Panel panelView;
    }
}