private void _OnFrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
if (OnDepthFrameArrived != null)
{
OnDepthFrameArrived(_Data);
}
}
// Update is called once per frame
void Update()
{
//Interval
//if ((i++ % interval) != 0)
//return;
//No reader? return
if (depthReader == null)
{
return;
}
//Otherwise read the frame
var frame = depthReader.AcquireLatestFrame();
//Frame null? return
if (frame == null)
{
return;
}
//Otherwise copy data
frame.CopyFrameDataToArray(depthBuffer);
frame.Dispose();
//Set buffer data
depthComputeBuffer.SetData(depthBuffer);
//Dispatch compute shaders
this.DispatchComputeShaders();
}
// Update is called once per frame
override public void Update()
{
base.Update();
if (_Sensor == null)
{
return;
}
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
RefreshData();
}
}
Material m = GetComponent <Renderer>().material;
m.SetFloat("_MinX", minX);
m.SetFloat("_MaxX", maxX);
m.SetFloat("_MinY", minY);
m.SetFloat("_MaxY", maxY);
m.SetFloat("_MinZ", minZ);
m.SetFloat("_MaxZ", maxZ);
m.SetFloat("_DistMin", minDist);
m.SetFloat("_DistMax", maxDist);
m.SetFloat("_ScaleFactor", scaleFactor);
//gameObject.GetComponent<Renderer>().material.mainTexture = _ColorManager.GetColorTexture();
}
private void DispactherTimerTick(object sender, EventArgs e)
{
var depthFrame = depthFrameReader.AcquireLatestFrame();
if (depthFrame == null)
{
return;
}
depthFrameData = new ushort[depthFrame.FrameDescription.LengthInPixels];
depthFrame.CopyFrameDataToArray(depthFrameData);
UpdateRawKinectImage(depthFrameData, 3000);
if (remaningReferenceSamples > 0)
{
CreateReferenceFrame(depthFrameData);
}
else
{
CreateBinaryImage(depthFrameData);
DetectPeople(frameWidth, frameHeight, binaryImage);
}
depthFrame.Dispose();
}
// Update is called once per frame
void Update()
{
if (reader != null)
{
var frame = reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(depthData);
for (var i = 0; i < depthData.Length; i++)
{
depthDataInt[i] = depthData[i];
}
depthBuffer.SetData(depthDataInt);
var kernel = depthTexGen.FindKernel("buildDepthTex");
depthTexGen.SetBuffer(kernel, "_DepthData", depthBuffer);
depthTexGen.SetTexture(kernel, "_DepthTex", depthTexture);
depthTexGen.Dispatch(kernel, width / 8, height / 8, 1);
frame.Dispose();
frame = null;
}
}
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
var frameDesc = _Sensor.DepthFrameSource.FrameDescription;
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
// ushort(16bit) のアレーをそのまま byte(8bit)のアレーとしてコピーする
// https://stackoverflow.com/questions/37213819/convert-ushort-into-byte-and-back
// https://msdn.microsoft.com/en-us/library/system.buffer.blockcopy(v=vs.110).aspx
Buffer.BlockCopy(_Data, 0, _RawData, 0, _Data.Length * 2);
// byteのデータを使ってテクスチャデータを更新する
// https://docs.unity3d.com/ScriptReference/Texture2D.LoadRawTextureData.html
_Texture.LoadRawTextureData(_RawData);
_Texture.Apply();
frame.Dispose();
frame = null;
}
}
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
//Debug.Log(frame != null);
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
int index = 0;
foreach (var ir in _Data)
{
byte intensity = (byte)Remap(minDist, maxDist, 255, 0, ir);
_RawData[index++] = intensity;
_RawData[index++] = intensity;
_RawData[index++] = intensity;
_RawData[index++] = 255; // Alpha
}
_Texture.LoadRawTextureData(_RawData);
_Texture.Apply();
frame.Dispose();
frame = null;
}
}
}
/// <summary>
/// Acquires the latest depth frame.
/// It calles the OnDepthFrameReceived only if the acquired frame is not null.
/// </summary>
protected void UpdateDepthFrame(bool updateFrameView = true)
{
if (depthFrameReader != null)
{
using (DepthFrame frame = depthFrameReader.AcquireLatestFrame())
{
if (frame != null)
{
if (updateFrameView)
{
frameView.FrameTexture = frame.ToBitmap();
}
OnDepthFrameReceived(frame);
}
}
}
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
ProcessFrame(frame);
}
}
public void Update()
{
DepthFrame frame = reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(Data);
frame.Dispose();
frame = null;
}
}
// Update is called once per frame
void Update()
{
if (depthReader == null)
{
return;
}
var frame = depthReader.AcquireLatestFrame();
if (frame != null)
{
int depthFrameWidth = frame.FrameDescription.Width;
int depthFrameHeight = frame.FrameDescription.Height;
int depthFramePixelCount = depthFrameWidth * depthFrameHeight;
float horizontalFov = frame.FrameDescription.HorizontalFieldOfView;
float verticalFov = frame.FrameDescription.VerticalFieldOfView;
mapDimensions[0] = depthFrameWidth;
mapDimensions[1] = depthFrameHeight;
if (tempPositionTexture != null && (tempPositionTexture.width != depthFrameWidth || tempPositionTexture.height != depthFrameHeight))
{
Destroy(tempPositionTexture);
tempPositionTexture = null;
}
if (tempPositionTexture == null)
{
tempPositionTexture = new RenderTexture(depthFrameWidth, depthFrameHeight, 0, RenderTextureFormat.ARGBHalf);
tempPositionTexture.enableRandomWrite = true;
tempPositionTexture.Create();
}
if (positionBuffer == null)
{
positionBuffer = new ComputeBuffer(depthFramePixelCount / 2, sizeof(uint));
}
using (KinectBuffer depthBuffer = frame.LockImageBuffer())
{
positionBuffer.SetData(depthBuffer.UnderlyingBuffer, depthFramePixelCount, sizeof(uint));
int bakeDepthkernel = pointerCloudBaker.FindKernel("BakeDepth");
pointerCloudBaker.SetInts("MapDimensions", mapDimensions);
pointerCloudBaker.SetFloat("NearThreshold", nearThreshold);
pointerCloudBaker.SetFloat("FarThreshold", farThreshold);
pointerCloudBaker.SetBuffer(bakeDepthkernel, "PositionBuffer", positionBuffer);
pointerCloudBaker.SetTexture(bakeDepthkernel, "PositionTexture", tempPositionTexture);
pointerCloudBaker.Dispatch(bakeDepthkernel, depthFrameHeight / 8, depthFrameWidth / 8, 1);
}
Graphics.Blit(tempPositionTexture, pointCloud);
frame.Dispose();
frame = null;
}
}
void Update()
{
if (depthFrameReader != null)
{
var frame = depthFrameReader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(depthFrameData);
int frameWidth = frame.FrameDescription.Width;
int frameHeight = frame.FrameDescription.Height;
frame.Dispose();
frame = null;
sensor.CoordinateMapper.MapDepthFrameToCameraSpace(depthFrameData, cameraSpacePoints);
mapDimensions[0] = frameWidth;
mapDimensions[1] = frameHeight;
if (tempPositionTexture != null && (tempPositionTexture.width != frameWidth || tempPositionTexture.height != frameHeight))
{
Destroy(tempPositionTexture);
tempPositionTexture = null;
}
if (positionBuffer != null && positionBuffer.count != cameraSpacePoints.Length)
{
positionBuffer.Dispose();
positionBuffer = null;
}
if (tempPositionTexture == null)
{
tempPositionTexture = new RenderTexture(frameWidth, frameHeight, 0, RenderTextureFormat.ARGBHalf);
tempPositionTexture.enableRandomWrite = true;
tempPositionTexture.Create();
}
if (positionBuffer == null)
{
positionBuffer = new ComputeBuffer(cameraSpacePoints.Length, sizeof(float) * 3);
}
positionBuffer.SetData(cameraSpacePoints);
int kernel = PointCloudBaker.FindKernel("BakeDepth");
PointCloudBaker.SetInts("MapDimensions", mapDimensions);
PointCloudBaker.SetBuffer(kernel, "PositionBuffer", positionBuffer);
PointCloudBaker.SetTexture(kernel, "PositionTexture", tempPositionTexture);
PointCloudBaker.Dispatch(kernel, frameWidth / 8, frameHeight / 8, 1);
Graphics.CopyTexture(tempPositionTexture, PointCloudMap);
}
}
}
//每個Updata讀取每個畫面的資訊儲存到DATA陣列之中。
public void UpdateDepth()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
}
}
void Update()
{
if (depthReader != null)
{
using (DepthFrame frame = depthReader.AcquireLatestFrame()) {
if (frame != null)
{
frame.CopyFrameDataToArray(Depth);
frame.Dispose();
}
}
}
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
//Debug.Log("depth not null");
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
}
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
print("frame");
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
}
}
void Update()
{
if (colorReader != null)
{
updateColor(colorReader.AcquireLatestFrame());
}
if (infraredReader != null)
{
updateInfrared(infraredReader.AcquireLatestFrame());
}
if (depthReader != null)
{
updateDepth(depthReader.AcquireLatestFrame());
}
}
public bool PollDepthFrame(KinectInterop.SensorData sensorData)
{
bool bNewFrame = false;
if ((multiSourceFrameReader != null && multiSourceFrame != null) ||
depthFrameReader != null)
{
var depthFrame = multiSourceFrame != null?multiSourceFrame.DepthFrameReference.AcquireFrame() :
depthFrameReader.AcquireLatestFrame();
if (depthFrame != null)
{
var pDepthData = GCHandle.Alloc(sensorData.depthImage, GCHandleType.Pinned);
depthFrame.CopyFrameDataToIntPtr(pDepthData.AddrOfPinnedObject(), (uint)sensorData.depthImage.Length * sizeof(ushort));
pDepthData.Free();
sensorData.lastDepthFrameTime = depthFrame.RelativeTime.Ticks;
depthFrame.Dispose();
depthFrame = null;
bNewFrame = true;
}
if ((multiSourceFrameReader != null && multiSourceFrame != null) ||
bodyIndexFrameReader != null)
{
var bodyIndexFrame = multiSourceFrame != null?multiSourceFrame.BodyIndexFrameReference.AcquireFrame() :
bodyIndexFrameReader.AcquireLatestFrame();
if (bodyIndexFrame != null)
{
var pBodyIndexData = GCHandle.Alloc(sensorData.bodyIndexImage, GCHandleType.Pinned);
bodyIndexFrame.CopyFrameDataToIntPtr(pBodyIndexData.AddrOfPinnedObject(), (uint)sensorData.bodyIndexImage.Length);
pBodyIndexData.Free();
sensorData.lastBodyIndexFrameTime = bodyIndexFrame.RelativeTime.Ticks;
bodyIndexFrame.Dispose();
bodyIndexFrame = null;
bNewFrame = true;
}
}
}
return(bNewFrame);
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
enhPixelData = DepthToColorImage(_Data);
_DTexture.LoadRawTextureData(enhPixelData);
_DTexture.Apply();
frame.Dispose();
frame = null;
}
}
}
// 毎フレームごとの処理
void Update()
{
if (_Reader != null)
{
// 最新の深度情報を取得
var frame = _Reader.AcquireLatestFrame();
// 現在のフレーム情報更新
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
}
}
/// <summary>
/// Update Kinect depth map
/// </summary>
private void UpdateDepthData()
{
if (_isInitialized)
{
DepthFrame depthFrame = _depthReader.AcquireLatestFrame();
if (depthFrame != null)
{
depthFrame.CopyFrameDataToArray(_depthData);
depthFrame.Dispose();
depthFrame = null;
}
}
}
public override bool pollDepth()
{
if (reader != null)
{
var frame = reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(data);
frame.Dispose();
frame = null;
return(true);
}
}
return(false);
}
public KinectTrackableSource GetDepthFrame()
{
using (var depthFrame = depthFrameReader.AcquireLatestFrame())
{
if (depthFrame == null)
{
return(null);//throw new ArgumentNullException("Could not get frame from Kinect");
}
kinectTrackableSource = new KinectTrackableSource(depthFrame.FrameDescription.LengthInPixels,
minimumRealiableTrackingDistance,
maximumRealiableTrackingDistance,
FrameHeight, FrameWidth);
depthFrame.CopyFrameDataToArray(kinectTrackableSource.DepthFrameData);
}
lastCollectedFrame = kinectTrackableSource;
return(kinectTrackableSource);
}
IEnumerator UpdateDepth()
{
while (true)
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
DepthFrameUpdateEvent(_Data, Width(), Height());
frame = null;
}
}
yield return(new WaitForSeconds(updateTimeMillis / 1000.0f));
}
}
public static bool PollDepth(DepthFrameReader reader, bool isNearMode, ref ushort[] depthFrameData)
{
bool newDepth = false;
if (reader != null)
{
var frame = reader.AcquireLatestFrame();
if (frame != null)
{
newDepth = true;
frame.CopyFrameDataToArray(depthFrameData);
frame.Dispose();
frame = null;
}
}
return(newDepth);
}
// Update is called once per frame
void Update()
{
if (_Reader == null)
{
return;
}
var frame = _Reader.AcquireLatestFrame();
if (frame == null)
{
return;
}
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
private Boolean updatingTerrain = true; // Flag that keeps the terrain update thread alive
void updateTerrain()
{
while (updatingTerrain)
{
// Debug.Log("Updating Terrain...");
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
}
UpdateHeightMap();
Thread.Sleep(100);
}
}
public static ushort[] GetDepthData(this DepthFrameReader reader)
{
if (reader == null)
{
return(null);
}
using (var frame = reader.AcquireLatestFrame())
{
if (frame == null)
{
return(null);
}
var data = new ushort[frame.FrameDescription.LengthInPixels];
frame.CopyFrameDataToArray(data);
return(data);
}
}
// Update is called once per frame
void Update()
{
//Checks to see if there is a reader, if so grab depth information and
//put it into the list of ushort called data
if (reader != null)
{
var frame = reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(data);
frame.Dispose();
frame = null;
}
else
{
state = true;
}
}
//When space is pressed write current data into a file
if (Input.GetKeyDown(KeyCode.Space))
{
print("Space key is pressed");
if (data != null)
{
//Path where the file is written. root location is project root
var path = ".\\snapShot.txt";
using (FileStream fs = new FileStream(path, FileMode.Truncate, FileAccess.Write))
{
using (StreamWriter sw = new StreamWriter(fs))
{
foreach (ushort value in data)
{
sw.Write(Convert.ToString(value) + ",");
}
}
}
//Prints out a sample, if this is not zero, you are probably detecting something
print(data[222]);
}
}
}
void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
updateSuccessful = true;
frame.CopyFrameDataToArray(_Data);
frame.Dispose();
frame = null;
}
else
{
updateSuccessful = false;
}
}
}
static void Main(string[] args)
{
unix_base_ts = new TimeSpan(unix_base_ticks);
// Initialize the kinect sensor
//kinect IS NOT AN INSTANTIABLE OBJECT - you get a 'device' from the system driver
try
{
kinect = KinectSensor.Default;
}
catch (ArgumentOutOfRangeException)
{
Console.WriteLine("It appears that no Kinect sensor is connected to your computer!");
return;
}
//device initialization code
try
{
Console.WriteLine("Starting initialization");
kinect.Open();
color_reader = kinect.ColorFrameSource.OpenReader();
depth_reader = kinect.DepthFrameSource.OpenReader();
Console.WriteLine("Initialization successful");
}
catch (InvalidOperationException)
{
Console.WriteLine("Failed trying to set up the kinect. Is the device connected, on, and not being used by another application?");
return;
}
// Initialize the socket bridge
color_tx = new ROS_CS.SocketBridge.SocketTX<ROS_CS.sensor_msgs.Image>(9001);
depth_tx = new ROS_CS.SocketBridge.SocketTX<ROS_CS.sensor_msgs.Image>(9002);
//color_rx = new ROS_CS.SocketBridge.SocketRX<ROS_CS.sensor_msgs.Image>("127.0.0.1", 9001, ColorImageCB);
bool control = true;
long depth_timestamp = 0;
long color_timestamp = 0;
while (control)
{
//Get depth data
DepthFrame latest_depth = depth_reader.AcquireLatestFrame();
if (latest_depth != null)
{
Console.WriteLine("Current depth timestamp: {0:D}, new timestamp: {1:D}", depth_timestamp, latest_depth.RelativeTime);
if (latest_depth.RelativeTime > depth_timestamp)
{
ROS_CS.sensor_msgs.Image depth_image = GetDepthImageFromRaw(latest_depth);
if (depth_image != null)
{
Console.WriteLine("Sending depth image");
depth_tx.Send(depth_image);
}
else
{
Console.WriteLine("Null depth image");
}
depth_timestamp = latest_depth.RelativeTime;
}
}
//Get color data
ColorFrame latest_color = color_reader.AcquireLatestFrame();
if (latest_color != null)
{
Console.WriteLine("Current color timestamp: {0:D}, new timestamp: {1:D}", color_timestamp, latest_color.RelativeTime);
if (latest_color.RelativeTime > color_timestamp)
{
ROS_CS.sensor_msgs.Image color_image = GetColorImageFromRaw(latest_color);
if (color_image != null)
{
Console.WriteLine("Sending color image");
color_tx.Send(color_image);
}
else
{
Console.WriteLine("Null color image");
}
color_timestamp = latest_color.RelativeTime;
}
}
}
}