I’m using realsense D435, and have successfully run the nuitrack.exe file
I tried to run the c# sample but it failed to create the user and skeleton sensors.
I have got the
“System.NullReferenceException: Object reference not set to an instance of an object. _bitmap was null”
It failed in this line (_userTracker = UserTracker.Create()
Code Source:
using System;
using System.Drawing;
using System.Drawing.Imaging;
using System.Windows.Forms;
using System.Runtime.InteropServices;
using nuitrack;
using nuitrack.issues;
namespace nuitrack
{
public class Program
{
static public void Main()
{
Console.CancelKeyPress += delegate {
Nuitrack.Release();
GC.Collect();
GC.WaitForPendingFinalizers();
};
try
{
Application.Run(new MainForm());
}
catch (Exception exception)
{
Console.WriteLine(exception.ToString());
}
}
}
public class DirectBitmap : IDisposable
{
public Bitmap Bitmap { get; private set; }
public Int32[] Bits { get; private set; }
public bool Disposed { get; private set; }
public int Height { get; private set; }
public int Width { get; private set; }
protected GCHandle BitsHandle { get; private set; }
public DirectBitmap(int width, int height)
{
Width = width;
Height = height;
Bits = new Int32[width * height];
BitsHandle = GCHandle.Alloc(Bits, GCHandleType.Pinned);
Bitmap = new Bitmap(width, height, width * 4, PixelFormat.Format32bppPArgb, BitsHandle.AddrOfPinnedObject());
}
public void SetPixel(int x, int y, Color colour)
{
int index = x + (y * Width);
int col = colour.ToArgb();
Bits[index] = col;
}
public Color GetPixel(int x, int y)
{
int index = x + (y * Width);
int col = Bits[index];
Color result = Color.FromArgb(col);
return result;
}
public void Dispose()
{
if (Disposed)
return;
Disposed = true;
Bitmap.Dispose();
BitsHandle.Free();
}
}
public class MainForm : Form
{
private DirectBitmap _bitmap;
private bool _visualizeColorImage = false;
private bool _colorStreamEnabled = false;
private DepthSensor _depthSensor;
private ColorSensor _colorSensor;
private UserTracker _userTracker;
private SkeletonTracker _skeletonTracker;
private GestureRecognizer _gestureRecognizer;
private HandTracker _handTracker;
private DepthFrame _depthFrame;
private SkeletonData _skeletonData;
private HandTrackerData _handTrackerData;
private IssuesData _issuesData = null;
public MainForm()
{
// Initialize Nuitrack. This should be called before using any Nuitrack module.
// By passing the default arguments we specify that Nuitrack must determine
// the location automatically.
try
{
Nuitrack.Init("");
}
catch (Exception exception)
{
Console.WriteLine(“Cannot initialize Nuitrack.”);
throw exception;
}
try
{
// Create and setup all required modules
_depthSensor = DepthSensor.Create();
_colorSensor = ColorSensor.Create();
_userTracker = UserTracker.Create();
_skeletonTracker = SkeletonTracker.Create();
_handTracker = HandTracker.Create();
_gestureRecognizer = GestureRecognizer.Create();
}
catch (Exception exception)
{
Console.WriteLine(“Cannot create Nuitrack module.”);
throw exception;
}
_depthSensor.SetMirror(false);
// Add event handlers for all modules
_depthSensor.OnUpdateEvent += onDepthSensorUpdate;
_colorSensor.OnUpdateEvent += onColorSensorUpdate;
_userTracker.OnUpdateEvent += onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent += onSkeletonUpdate;
_handTracker.OnUpdateEvent += onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent += onNewGestures;
// Add an event handler for the IssueUpdate event
Nuitrack.onIssueUpdateEvent += onIssueDataUpdate;
// Create and configure the Bitmap object according to the depth sensor output mode
OutputMode mode = _depthSensor.GetOutputMode();
OutputMode colorMode = _colorSensor.GetOutputMode();
if (mode.XRes < colorMode.XRes)
mode.XRes = colorMode.XRes;
if (mode.YRes < colorMode.YRes)
mode.YRes = colorMode.YRes;
_bitmap = new DirectBitmap(mode.XRes, mode.YRes);
for (int y = 0; y < mode.YRes; ++y)
{
for (int x = 0; x < mode.XRes; ++x)
_bitmap.SetPixel(x, y, Color.FromKnownColor(KnownColor.Aqua));
}
// Set fixed form size
this.MinimumSize = this.MaximumSize = new Size(mode.XRes, mode.YRes);
// Disable unnecessary caption bar buttons
this.MinimizeBox = this.MaximizeBox = false;
// Enable double buffering to prevent flicker
this.DoubleBuffered = true;
// Run Nuitrack. This starts sensor data processing.
try
{
Nuitrack.Run();
}
catch (Exception exception)
{
Console.WriteLine(“Cannot start Nuitrack.”);
throw exception;
}
this.Show();
}
~MainForm()
{
_bitmap.Dispose();
}
protected override void OnFormClosing(FormClosingEventArgs e)
{
// Release Nuitrack and remove all modules
try
{
Nuitrack.onIssueUpdateEvent -= onIssueDataUpdate;
_depthSensor.OnUpdateEvent -= onDepthSensorUpdate;
_colorSensor.OnUpdateEvent -= onColorSensorUpdate;
_userTracker.OnUpdateEvent -= onUserTrackerUpdate;
_skeletonTracker.OnSkeletonUpdateEvent -= onSkeletonUpdate;
_handTracker.OnUpdateEvent -= onHandTrackerUpdate;
_gestureRecognizer.OnNewGesturesEvent -= onNewGestures;
Nuitrack.Release();
}
catch (Exception exception)
{
Console.WriteLine(“Nuitrack release failed.”);
throw exception;
}
}
// Switch visualization mode on a mouse click
protected override void OnClick(EventArgs args)
{
base.OnClick(args);
_visualizeColorImage = !_visualizeColorImage;
}
protected override void OnPaint(PaintEventArgs args)
{
base.OnPaint(args);
// Update Nuitrack data. Data will be synchronized with skeleton time stamps.
try
{
Nuitrack.Update(_skeletonTracker);
}
catch (LicenseNotAcquiredException exception)
{
Console.WriteLine("LicenseNotAcquired exception. Exception: ", exception);
throw exception;
}
catch (Exception exception)
{
Console.WriteLine("Nuitrack update failed. Exception: ", exception);
}
// Draw a bitmap
args.Graphics.DrawImage(_bitmap.Bitmap, new Point(0, 0));
// Draw skeleton joints
if (_skeletonData != null)
{
const int jointSize = 10;
foreach (var skeleton in _skeletonData.Skeletons)
{
SolidBrush brush = new SolidBrush(Color.FromArgb(255 - 40 * skeleton.ID, 0, 0));
foreach (var joint in skeleton.Joints)
{
args.Graphics.FillEllipse(brush, joint.Proj.X * _bitmap.Width - jointSize / 2,
joint.Proj.Y * _bitmap.Height - jointSize / 2, jointSize, jointSize);
}
}
}
// Draw hand pointers
if (_handTrackerData != null)
{
foreach (var userHands in _handTrackerData.UsersHands)
{
if (userHands.LeftHand != null)
{
HandContent hand = userHands.LeftHand.Value;
int size = hand.Click ? 20 : 30;
Brush brush = new SolidBrush(Color.Aquamarine);
args.Graphics.FillEllipse(brush, hand.X * _bitmap.Width - size / 2, hand.Y * _bitmap.Height - size / 2, size, size);
}
if (userHands.RightHand != null)
{
HandContent hand = userHands.RightHand.Value;
int size = hand.Click ? 20 : 30;
Brush brush = new SolidBrush(Color.DarkBlue);
args.Graphics.FillEllipse(brush, hand.X * _bitmap.Width - size / 2, hand.Y * _bitmap.Height - size / 2, size, size);
}
}
}
// Update Form
this.Invalidate();
}
private void onIssueDataUpdate(IssuesData issuesData)
{
_issuesData = issuesData;
}
// Event handler for the DepthSensorUpdate event
private void onDepthSensorUpdate(DepthFrame depthFrame)
{
_depthFrame = depthFrame;
}
// Event handler for the ColorSensorUpdate event
private void onColorSensorUpdate(ColorFrame colorFrame)
{
if (!_visualizeColorImage)
return;
_colorStreamEnabled = true;
float wStep = (float)_bitmap.Width / colorFrame.Cols;
float hStep = (float)_bitmap.Height / colorFrame.Rows;float nextVerticalBorder = hStep; Byte[] data = colorFrame.Data; int colorPtr = 0; int bitmapPtr = 0; const int elemSizeInBytes = 3; for (int i = 0; i < _bitmap.Height; ++i) { if (i == (int)nextVerticalBorder) { colorPtr += colorFrame.Cols * elemSizeInBytes; nextVerticalBorder += hStep; } int offset = 0; int argb = data[colorPtr] | (data[colorPtr + 1] << 8) | (data[colorPtr + 2] << 16) | (0xFF << 24); float nextHorizontalBorder = wStep; for (int j = 0; j < _bitmap.Width; ++j) { if (j == (int)nextHorizontalBorder) { offset += elemSizeInBytes; argb = data[colorPtr + offset] | (data[colorPtr + offset + 1] << 8) | (data[colorPtr + offset + 2] << 16) | (0xFF << 24); nextHorizontalBorder += wStep; } _bitmap.Bits[bitmapPtr++] = argb; } } } // Event handler for the UserTrackerUpdate event private void onUserTrackerUpdate(UserFrame userFrame) { if (_visualizeColorImage && _colorStreamEnabled) return; if (_depthFrame == null) return; const int MAX_LABELS = 7; bool[] labelIssueState = new bool[MAX_LABELS]; for (UInt16 label = 0; label < MAX_LABELS; ++label) { labelIssueState[label] = false; if (_issuesData != null) { FrameBorderIssue frameBorderIssue = _issuesData.GetUserIssue<FrameBorderIssue>(label); labelIssueState[label] = (frameBorderIssue != null); } } float wStep = (float)_bitmap.Width / _depthFrame.Cols; float hStep = (float)_bitmap.Height / _depthFrame.Rows; float nextVerticalBorder = hStep; Byte[] dataDepth = _depthFrame.Data; Byte[] dataUser = userFrame.Data; int dataPtr = 0; int bitmapPtr = 0; const int elemSizeInBytes = 2; for (int i = 0; i < _bitmap.Height; ++i) { if (i == (int)nextVerticalBorder) { dataPtr += _depthFrame.Cols * elemSizeInBytes; nextVerticalBorder += hStep; } int offset = 0; int argb = 0; int label = dataUser[dataPtr] | dataUser[dataPtr + 1] << 8; int depth = Math.Min(255, (dataDepth[dataPtr] | dataDepth[dataPtr + 1] << 8) / 32); float nextHorizontalBorder = wStep; for (int j = 0; j < _bitmap.Width; ++j) { if (j == (int)nextHorizontalBorder) { offset += elemSizeInBytes; label = dataUser[dataPtr + offset] | dataUser[dataPtr + offset + 1] << 8; if (label == 0) depth = Math.Min(255, (dataDepth[dataPtr + offset] | dataDepth[dataPtr + offset + 1] << 8) / 32); nextHorizontalBorder += wStep; } if (label > 0) { int user = label * 40; if (!labelIssueState[label]) user += 40; argb = 0 | (user << 8) | (0 << 16) | (0xFF << 24); } else { argb = depth | (depth << 8) | (depth << 16) | (0xFF << 24); } _bitmap.Bits[bitmapPtr++] = argb; } } } // Event handler for the SkeletonUpdate event private void onSkeletonUpdate(SkeletonData skeletonData) { _skeletonData = skeletonData; } // Event handler for the HandTrackerUpdate event private void onHandTrackerUpdate(HandTrackerData handTrackerData) { _handTrackerData = handTrackerData; } // Event handler for the gesture detection event private void onNewGestures(GestureData gestureData) { // Display the information about detected gestures in the console foreach (var gesture in gestureData.Gestures) Console.WriteLine("Recognized {0} from user {1}", gesture.Type.ToString(), gesture.UserID); } }}
Thanks