/// <summary>
/// Event handler for every kinect depth frame,
/// </summary>
/// <param name="sender">Event sender</param>
/// <param name="e">Event arguments</param>
private void OnSensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
/// Note: this method is running inside the kinectCallbackThread
/// And are called every time the kinect API have a new depth frame ready
// 1. Get depth image frame
DepthImageFrame newDepthFrame = e.OpenDepthImageFrame();
if (newDepthFrame != null)
{
lock (rawDepthFrameBuffer_lock)
{
// 2. Copy to raw depth frame buffer
newDepthFrame.CopyPixelDataTo(rawDepthFrameBuffer);
}
if (postProsessingTask.Status != TaskStatus.Running)
{
// 3. Start new post-processing task
postProsessingTask = Task.Factory.StartNew(() => PostProcessFrame());
}
else
{
// If post-processing is already running increment frames dropped and ignore current frame
frameDroped++;
}
}
newDepthFrame.Dispose();
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
if (this.first || frame.Width != width || frame.Height != height)
{
this.InitBuffers(frame);
this.DisposeTextures();
this.first = false;
}
this.FInvalidate = true;
this.frameindex = frame.FrameNumber;
lock (m_lock)
{
frame.CopyPixelDataTo(this.rawdepth);
for (int i16 = 0; i16 < this.width * this.height; i16++)
{
int player = rawdepth[i16] & DepthImageFrame.PlayerIndexBitmask;
player = player % this.colors.Length;
this.playerimage[i16] = this.colors[player];
}
}
frame.Dispose();
}
}
private void AllFrameReady(object sender, AllFramesReadyEventArgs e)
{
if (!FUpdate)
{
return;
}
DepthImageFrame df = e.OpenDepthImageFrame();
if (df != null)
{
df.CopyPixelDataTo(this.depthimage);
this.runtime.Runtime.MapDepthFrameToColorFrame(DepthImageFormat.Resolution640x480Fps30, this.depthimage, ColorImageFormat.RgbResolution640x480Fps30, this.cp);
lock (m_lock)
{
for (int i = 0; i < this.cp.Length; i++)
{
this.colorimage[i * 2] = (float)VMath.Map(cp[i].X, 0, 640, 0, 1, TMapMode.Clamp);
this.colorimage[i * 2 + 1] = (float)VMath.Map(cp[i].Y, 0, 480, 0, 1, TMapMode.Clamp);
}
}
this.FInvalidate = true;
this.FUpdate = false;
this.frameindex = df.FrameNumber;
df.Dispose();
}
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
this.FInvalidate = true;
this.frameindex = frame.FrameNumber;
bool[] fnd = new bool[9];
lock (m_lock)
{
frame.CopyPixelDataTo(this.rawdepth);
for (int i16 = 0; i16 < 640 * 480; i16++)
{
int player = rawdepth[i16] & DepthImageFrame.PlayerIndexBitmask;
this.playerimage[i16] = this.colors[player];
fnd[player] = true;
}
}
this.found = fnd;
frame.Dispose();
}
}
private void CalibrateFrameByFrame(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame depthFrame = e.OpenDepthImageFrame();
if (depthFrame == null)
{
return;
}
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
depthFrame.Dispose();
for (int i = 0; i < this.depthPixels.Length; ++i)
{
if (!depthPixelsReference[i].Contains(depthPixels[i].Depth))
{
depthPixelsReference[i].Add(depthPixels[i].Depth);
}
}
currentCalibrateImageNb++;
if (currentCalibrateImageNb >= CALIBRATE_LEVEL && !isCalibrate)
{
isCalibrate = true;
kinectSensor.DepthFrameReady += this.SensorDepthFrameReady;
kinectSensor.DepthFrameReady -= this.CalibrateFrameByFrame;
}
}
void mykinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
#region 基本彩色影像與深度影像處理
depthframe = e.OpenDepthImageFrame();
colorframe = e.OpenColorImageFrame();
if (depthframe == null || colorframe == null)
{
return;
}
depthpixelData = new short[depthframe.PixelDataLength];
depthframe.CopyPixelDataTo(depthpixelData);
_DepthImageBitmap.WritePixels(_DepthImageBitmapRect, depthpixelData, _DepthImageStride, 0);
depthPixel = new DepthImagePixel[depthframe.PixelDataLength];
depthframe.CopyDepthImagePixelDataTo(depthPixel);
colorpixelData = new byte[colorframe.PixelDataLength];
colorframe.CopyPixelDataTo(colorpixelData);
#endregion
if (depthpixelData != null)
{
PlayerFilter();
Alarm();
}
_ColorImageBitmap.WritePixels(_ColorImageBitmapRect, colorpixelData, _ColorImageStride, 0);
depthframe.Dispose();
colorframe.Dispose();
}
void mykinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
depthframe = e.OpenDepthImageFrame();
colorframe = e.OpenColorImageFrame();
if (depthframe == null || colorframe == null)
{
return;
}
depthpixelData = new short[depthframe.PixelDataLength];
depthframe.CopyPixelDataTo(depthpixelData);
_DepthImageBitmap.WritePixels(_DepthImageBitmapRect, depthpixelData, _DepthImageStride, 0);
depthPixel = new DepthImagePixel[depthframe.PixelDataLength];
depthframe.CopyDepthImagePixelDataTo(depthPixel);
colorpixelData = new byte[colorframe.PixelDataLength];
colorframe.CopyPixelDataTo(colorpixelData);
if (depthpixelData != null)
{
UserBorderCaculation();
}
_ColorImageBitmap.WritePixels(_ColorImageBitmapRect, colorpixelData, _ColorImageStride, 0);
depthframe.Dispose();
colorframe.Dispose();
}
//[MethodImpl(MethodImplOptions.Synchronized)]
private void OnDepthFrameReady(object sender, DepthImageFrameReadyEventArgs eventArgs)
{
DepthImageFrame frame = eventArgs.OpenDepthImageFrame();
if (frame != null)
{
try
{
if (depthPixelData.Length != frame.PixelDataLength)
{
depthPixelData = new short[frame.PixelDataLength];
}
frame.CopyPixelDataTo(depthPixelData);
foreach (DepthFrameListener listener in depthFrameListeners)
{
listener.onDepthFrameReady(depthPixelData);
}
}
finally
{
if (frame != null)
{
frame.Dispose();
}
}
}
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
if (this.first || frame.Format != this.format || this.width != frame.Width || this.height != frame.Height)
{
this.InitBuffers(frame);
this.DisposeTextures();
this.first = false;
}
this.FInvalidate = true;
this.frameindex = frame.FrameNumber;
lock (m_lock)
{
frame.CopyDepthImagePixelDataTo(this.depthpixels);
for (int i16 = 0; i16 < this.width * this.height; i16++)
{
this.rawdepth[i16] = this.depthpixels[i16].Depth;
}
}
frame.Dispose();
}
}
void mykinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
depthframe = e.OpenDepthImageFrame();
colorframe = e.OpenColorImageFrame();
if (depthframe != null && colorframe != null)
{
depthpixelData = new short[depthframe.PixelDataLength];
depthframe.CopyPixelDataTo(depthpixelData);
_DepthImageBitmap.WritePixels(_DepthImageBitmapRect, depthpixelData, _DepthImageStride, 0);
colorpixelData = new byte[colorframe.PixelDataLength];
colorframe.CopyPixelDataTo(colorpixelData);
if (depthpixelData != null)
{
RangeFilter();
}
_ColorImageBitmap.WritePixels(_ColorImageBitmapRect, colorpixelData, _ColorImageStride, 0);
depthframe.Dispose();
colorframe.Dispose();
}
}
private void SensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (this.isTreating == true)
{
return;
}
this.isTreating = true;
DepthImageFrame depthFrame = e.OpenDepthImageFrame();
if (depthFrame != null)
{
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
depthFrame.Dispose();
int colorPixelIndex = 0;
int lenght = this.depthPixels.Length;
for (int i = 0; i < lenght; ++i)
{
short depth = this.depthPixels[i].Depth;
byte intensity;
if (depth < MIN_DEPTH || depth > MAX_DEPTH || !IsUserPixel(i, depth))
{
intensity = (byte)255;
}
else
{
intensity = (byte)0;
}
// Write out blue byte
this.colorPixels[colorPixelIndex++] = intensity;
// Write out green byte
this.colorPixels[colorPixelIndex++] = intensity;
// Write out red byte
this.colorPixels[colorPixelIndex++] = intensity;
//colorPixelIndex++; si on a pas de transparence (bgr32)
if (intensity == 0)
{
this.colorPixels[colorPixelIndex++] = 255;
}
else
{
this.colorPixels[colorPixelIndex++] = 0;
}
}
// Ecriture de l'image
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
OnImageReady();
}
this.isTreating = false;
}
/// <summary>
/// Handles the Kinect AllFramesReady event
/// </summary>
private void Sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
ColorImageFrame colorFrame = null;
DepthImageFrame depthFrame = null;
Skeleton[] skeletonData;
try
{
colorFrame = e.OpenColorImageFrame();
depthFrame = e.OpenDepthImageFrame();
using (var skeletonFrame = e.OpenSkeletonFrame())
{
if (colorFrame == null || depthFrame == null || skeletonFrame == null)
{
return;
}
skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletonData);
}
// Find a skeleton to track.
// First see if our old one is good.
// When a skeleton is in PositionOnly tracking state, don't pick a new one
// as it may become fully tracked again.
Skeleton skeletonOfInterest = skeletonData.FirstOrDefault(s => s.TrackingId == this.trackedSkeletonId && s.TrackingState != SkeletonTrackingState.NotTracked);
if (skeletonOfInterest == null)
{
// Old one wasn't around. Find any skeleton that is being tracked and use it.
skeletonOfInterest = skeletonData.FirstOrDefault(s => s.TrackingState == SkeletonTrackingState.Tracked);
if (skeletonOfInterest != null)
{
this.trackedSkeletonId = skeletonOfInterest.TrackingId;
}
}
if (this.FrameDataUpdated != null)
{
this.FrameDataUpdated(this, new FrameData(colorFrame, depthFrame, skeletonOfInterest));
}
}
finally
{
if (colorFrame != null)
{
colorFrame.Dispose();
}
if (depthFrame != null)
{
depthFrame.Dispose();
}
}
}
private void Sensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
CurrentFrame++;
DepthImagePixel[] pixelArray = new DepthImagePixel[sensor.DepthStream.FramePixelDataLength];
//Copy depth data to Array
frame.CopyDepthImagePixelDataTo(pixelArray);
if (isSet == false && focusPoint.X != -1)
{
focusPoint.Depth = pixelArray[pointToIndex(frame.Width, focusPoint)].Depth;
lbl_Point.Text = "(" + focusPoint.X + "," + focusPoint.Y + ")";
lbl_Distance.Text = (float)focusPoint.Depth / 1000 + " m";
//Debug.WriteLine("Set New Focus Point On {" + focusPoint.X + "," + focusPoint.Y + "} Distance : " + (float)focusPoint.Depth / 1000 + " Meters");
isSet = true;
focusSet = true;
}
else if (focusSet == true)
{
lbl_Distance.Text = (float)focusPoint.Depth / 1000 + " m";
}
//Dont collide with graphics driver
if (isWorking == false)
{
isWorking = true;
t = new Thread(() =>
{
depthSet(ref pixelArray, frame.Width, frame.Height);
});
t.Start();
//Modify Text
lbl_status.Text = "Depth Average : " + average(ref pixelArray);
}
frame.Dispose();
}
else
{
//If frame is null do nothing...
//Modify Text
lbl_status.Text = "DATA : Not Received";
}
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
bool openColorFrame = (IsTrackingFace || IsWritingColorStream);
bool openDepthFrame = (IsTrackingFace || IsWritingDepthStream);
bool openSkeletonFrame = (IsTrackingFace || IsTrackingSkeletons);
try
{
if (openColorFrame)
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
}
if (openDepthFrame)
{
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
}
if (openSkeletonFrame)
{
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
}
ProcessFrame(colorImageFrame);
ProcessFrame(depthImageFrame);
ProcessFrame(skeletonFrame);
int skeletonFrameNumber = (skeletonFrame != null ? skeletonFrame.FrameNumber : -1);
ProcessData(skeletonFrameNumber);
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
void kinectSensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (lastDepthFrame != null)
{
lastDepthFrame.Dispose();
lastDepthFrame = null;
}
lastDepthFrame = e.OpenDepthImageFrame();
if (lastDepthFrame != null)
{
depthPixelDate = new short[lastDepthFrame.PixelDataLength];
lastDepthFrame.CopyPixelDataTo(depthPixelDate);
depthImageBitMap.WritePixels(depthImageBitmapRect, depthPixelDate, depthImageStride, 0);
}
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
this.FInvalidate = true;
if (frame.FrameNumber != this.frameindex)
{
this.RebuildBuffer(frame.Format, false);
this.frameindex = frame.FrameNumber;
frame.CopyDepthImagePixelDataTo(this.depthpixels);
int cnt = 0;
int img = 0;
//DepthImagePixel dp;
//dp.
this.runtime.Runtime.CoordinateMapper.MapDepthFrameToSkeletonFrame(frame.Format, this.depthpixels, this.skelpoints);
for (int h = 0; h < this.height; h++)
{
for (int w = 0; w < this.width; w++)
{
//this.runtime.Runtime.CoordinateMapper.
//SkeletonPoint sp = frame.MapToSkeletonPoint(w, h);
SkeletonPoint sp = this.skelpoints[img];
this.world0[cnt] = sp.X;
this.world0[cnt + 1] = sp.Y;
this.world0[cnt + 2] = sp.Z;
this.world0[cnt + 3] = 1.0f;
cnt += 4;
img++;
}
}
frame.Dispose();
lock (m_lock)
{
float[] tmp = this.world0;
this.world0 = this.world1;
this.world1 = tmp;
}
}
}
}
private void KinectDevice_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
depthFrame = e.OpenDepthImageFrame();
{
if (depthFrame != null)
{
depthPixelData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixelData);
}
}
}
void kinectSensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (lastDepthFrame != null)
{
lastDepthFrame.Dispose();
lastDepthFrame = null;
}
lastDepthFrame = e.OpenDepthImageFrame();
if (lastDepthFrame != null)
{
depthPixelData = new short[lastDepthFrame.PixelDataLength];
lastDepthFrame.CopyPixelDataTo(depthPixelData);
depthImageBitmap.WritePixels(depthImageBitmapRect, depthPixelData, depthImageStride, 0);
CreateLighterShadesOfGray(depthFrame, depthPixelData);
}
}
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
this.FInvalidate = true;
this.frameindex = frame.FrameNumber;
lock (m_lock)
{
frame.CopyDepthImagePixelDataTo(this.depthpixels);
for (int i16 = 0; i16 < 640 * 480; i16++)
{
this.rawdepth[i16] = this.depthpixels[i16].Depth;
}
}
frame.Dispose();
}
}
void kinectSensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
depthFrame = e.OpenDepthImageFrame();
{
if (depthFrame != null)
{
depthPixelData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixelData);
this.depthImageBitMap.WritePixels(this.depthImageBitmapRect, depthPixelData, this.depthImageStride, 0);
CreatePlayerDepthImage(this.depthFrame, depthPixelData);
}
}
}
void kinectSensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (lastDepthFrame != null)
{
lastDepthFrame.Dispose();
lastDepthFrame = null;
}
lastDepthFrame = e.OpenDepthImageFrame();
if (lastDepthFrame != null)
{
depthPixelDate = new short[lastDepthFrame.PixelDataLength];
lastDepthFrame.CopyPixelDataTo(depthPixelDate);
depthImageBitMap.WritePixels(depthImageBitmapRect, depthPixelDate, depthImageStride, 0);
// CreateLighterShadesOfGray(this.lastDepthFrame, depthPixelDate);
// CreateBetterShadesOfGray(this.lastDepthFrame, depthPixelDate);
CreateColorDepthImage(this.lastDepthFrame, depthPixelDate);
// DepthImage.MouseLeftButtonUp += new EventHandler<MouseButtonEventArgs>(DepthImage_MouseLeftButtonUp);
}
}
private void AllFrameReady(object sender, AllFramesReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
if (frame.FrameNumber != this.frameindex)
{
this.FInvalidate = true;
this.RebuildBuffer(frame.Format, false);
this.frameindex = frame.FrameNumber;
frame.CopyDepthImagePixelDataTo(this.depthpixels);
lock (m_lock)
{
this.runtime.Runtime.CoordinateMapper.MapDepthFrameToColorFrame(frame.Format, this.depthpixels, ColorImageFormat.RgbResolution640x480Fps30, this.colpoints);
}
frame.Dispose();
}
}
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
if (frame.FrameNumber != this.frameindex)
{
this.FInvalidate = true;
this.RebuildBuffer(frame.Format, false);
this.frameindex = frame.FrameNumber;
frame.CopyDepthImagePixelDataTo(this.depthpixels);
lock (m_lock)
{
this.runtime.Runtime.CoordinateMapper.MapDepthFrameToSkeletonFrame(frame.Format, this.depthpixels, this.skelpoints);
}
frame.Dispose();
}
}
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
this.FInvalidate = true;
this.frameindex = frame.FrameNumber;
lock (m_lock)
{
frame.CopyPixelDataTo(this.rawdepth);
for (int i16 = 0; i16 < 512 * 424; i16++)
{
int player = rawdepth[i16] & DepthImageFrame.PlayerIndexBitmask;
player = player % this.colors.Length;
this.playerimage[i16] = this.colors[player];
}
}
frame.Dispose();
}
}
void mykinect_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
#region 基本影像處理
depthframe = e.OpenDepthImageFrame();
colorframe = e.OpenColorImageFrame();
if (depthframe == null || colorframe == null)
{
return;
}
depthpixelData = new short[depthframe.PixelDataLength];
depthframe.CopyPixelDataTo(depthpixelData);
depthPixel = new DepthImagePixel[depthframe.PixelDataLength];
depthframe.CopyDepthImagePixelDataTo(depthPixel);
_DepthImageBitmap.WritePixels(_DepthImageBitmapRect, depthpixelData, _DepthImageStride, 0);
colorpixelData = new byte[colorframe.PixelDataLength];
colorframe.CopyPixelDataTo(colorpixelData);
#endregion
#region 座標轉換與過濾
colorpoints = new ColorImagePoint[depthpixelData.Length];
kinect.CoordinateMapper.MapDepthFrameToColorFrame(
depthframe.Format,
depthPixel,
colorframe.Format,
colorpoints);
if (depthpixelData != null)
{
RangeFilter();
}
#endregion
_ColorImageBitmap.WritePixels(_ColorImageBitmapRect, colorpixelData, _ColorImageStride, 0);
depthframe.Dispose();
colorframe.Dispose();
}
void kinectSensor_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
depthFrame = e.OpenDepthImageFrame();
{
if (depthFrame != null)
{
depthPixelData = new short[depthFrame.PixelDataLength];
depthFrame.CopyPixelDataTo(depthPixelData);
this.depthImageBitMap.WritePixels(this.depthImageBitmapRect, depthPixelData, this.depthImageStride, 0);
//choice one of the last two
//CreateLighterShadesOfGray(this.depthFrame, depthPixelData);
CreateColorDepthImage(this.depthFrame, depthPixelData);
}
}
}
private void AllFrameReady(object sender, AllFramesReadyEventArgs e)
{
//ColorImageFrame frame = e.OpenColorImageFrame();
DepthImageFrame df = e.OpenDepthImageFrame();
if (df != null)
{
this.FInvalidate = true;
//this.frameindex = frame.FrameNumber;
lock (m_colorlock)
{
df.CopyPixelDataTo(this.depthimage);
//frame.CopyPixelDataTo(this.colorimage);
//Marshal.Copy(frame..Image.Bits, 0, this.colorimage, 640 * 480 * 4);
}
this.runtime.Runtime.MapDepthFrameToColorFrame(DepthImageFormat.Resolution320x240Fps30, this.depthimage, ColorImageFormat.RgbResolution640x480Fps30, this.cp);
lock (m_colorlock)
{
for (int i = 0; i < this.cp.Length; i++)
{
this.colorimage[i * 2] = (float)VMath.Map(cp[i].X, 0, 640, 0, 1, TMapMode.Clamp);
this.colorimage[i * 2 + 1] = (float)VMath.Map(cp[i].Y, 0, 480, 0, 1, TMapMode.Clamp);
}
}
this.FInvalidate = true;
this.frameindex = df.FrameNumber;
df.Dispose();
}
}
private void DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
DepthImageFrame frame = e.OpenDepthImageFrame();
if (frame != null)
{
this.FInvalidate = true;
if (frame.FrameNumber != this.frameindex)
{
this.frameindex = frame.FrameNumber;
int cnt = 0;
for (int h = 0; h < 240; h++)
{
for (int w = 0; w < 320; w++)
{
SkeletonPoint sp = frame.MapToSkeletonPoint(w, h);
this.color0[cnt] = sp.X;
this.color0[cnt + 1] = sp.Y;
this.color0[cnt + 2] = sp.Z;
this.color0[cnt + 3] = 1.0f;
cnt += 4;
}
}
frame.Dispose();
lock (m_lock)
{
float[] tmp = this.color0;
this.color0 = this.color1;
this.color1 = tmp;
}
}
}
}
private void AllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for changes in any of the data this function is receiving
// and reset things appropriately.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.DestroyFaceTracker();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.DestroyFaceTracker();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
this.colorImageWritableBitmap = null;
this.ColorImage.Source = null;
this.theMaterial.Brush = null;
}
if (this.skeletonData != null && this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = null;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
if (this.colorImageWritableBitmap == null)
{
this.colorImageWritableBitmap = new WriteableBitmap(
colorImageFrame.Width, colorImageFrame.Height, 96, 96, PixelFormats.Bgr32, null);
this.ColorImage.Source = this.colorImageWritableBitmap;
this.theMaterial.Brush = new ImageBrush(this.colorImageWritableBitmap)
{
ViewportUnits = BrushMappingMode.Absolute
};
}
if (this.skeletonData == null)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
// Copy data received in this event to our buffers.
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
this.colorImageWritableBitmap.WritePixels(
new Int32Rect(0, 0, colorImageFrame.Width, colorImageFrame.Height),
this.colorImage,
colorImageFrame.Width * Bgr32BytesPerPixel,
0);
// Find a skeleton to track.
// First see if our old one is good.
// When a skeleton is in PositionOnly tracking state, don't pick a new one
// as it may become fully tracked again.
Skeleton skeletonOfInterest =
this.skeletonData.FirstOrDefault(
skeleton =>
skeleton.TrackingId == this.trackingId &&
skeleton.TrackingState != SkeletonTrackingState.NotTracked);
if (skeletonOfInterest == null)
{
// Old one wasn't around. Find any skeleton that is being tracked and use it.
skeletonOfInterest =
this.skeletonData.FirstOrDefault(
skeleton => skeleton.TrackingState == SkeletonTrackingState.Tracked);
if (skeletonOfInterest != null)
{
// This may be a different person so reset the tracker which
// could have tuned itself to the previous person.
if (this.faceTracker != null)
{
this.faceTracker.ResetTracking();
}
this.trackingId = skeletonOfInterest.TrackingId;
}
}
bool displayFaceMesh = false;
if (skeletonOfInterest != null && skeletonOfInterest.TrackingState == SkeletonTrackingState.Tracked)
{
if (this.faceTracker == null)
{
try
{
this.faceTracker = new FaceTracker(this.Kinect);
}
catch (InvalidOperationException)
{
// During some shutdown scenarios the FaceTracker
// is unable to be instantiated. Catch that exception
// and don't track a face.
Debug.WriteLine("AllFramesReady - creating a new FaceTracker threw an InvalidOperationException");
this.faceTracker = null;
}
}
if (this.faceTracker != null)
{
FaceTrackFrame faceTrackFrame = this.faceTracker.Track(
this.colorImageFormat,
this.colorImage,
this.depthImageFormat,
this.depthImage,
skeletonOfInterest);
if (faceTrackFrame.TrackSuccessful)
{
this.UpdateMesh(faceTrackFrame);
// Only display the face mesh if there was a successful track.
displayFaceMesh = true;
}
}
}
else
{
this.trackingId = -1;
}
this.viewport3d.Visibility = displayFaceMesh ? Visibility.Visible : Visibility.Hidden;
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
private void OnAllFramesReady(object sender, AllFramesReadyEventArgs allFramesReadyEventArgs)
{
ColorImageFrame colorImageFrame = null;
DepthImageFrame depthImageFrame = null;
SkeletonFrame skeletonFrame = null;
try
{
colorImageFrame = allFramesReadyEventArgs.OpenColorImageFrame();
depthImageFrame = allFramesReadyEventArgs.OpenDepthImageFrame();
skeletonFrame = allFramesReadyEventArgs.OpenSkeletonFrame();
if (colorImageFrame == null || depthImageFrame == null || skeletonFrame == null)
{
return;
}
// Check for image format changes. The FaceTracker doesn't
// deal with that so we need to reset.
if (this.depthImageFormat != depthImageFrame.Format)
{
this.ResetFaceTracking();
this.depthImage = null;
this.depthImageFormat = depthImageFrame.Format;
}
if (this.colorImageFormat != colorImageFrame.Format)
{
this.ResetFaceTracking();
this.colorImage = null;
this.colorImageFormat = colorImageFrame.Format;
}
// Create any buffers to store copies of the data we work with
if (this.depthImage == null)
{
this.depthImage = new short[depthImageFrame.PixelDataLength];
}
if (this.colorImage == null)
{
this.colorImage = new byte[colorImageFrame.PixelDataLength];
}
// Get the skeleton information
if (this.skeletonData == null || this.skeletonData.Length != skeletonFrame.SkeletonArrayLength)
{
this.skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
}
colorImageFrame.CopyPixelDataTo(this.colorImage);
depthImageFrame.CopyPixelDataTo(this.depthImage);
skeletonFrame.CopySkeletonDataTo(this.skeletonData);
// Update the list of trackers and the trackers with the current frame information
var i = 0;
foreach (Skeleton skeleton in this.skeletonData)
{
if (skeleton.TrackingState == SkeletonTrackingState.Tracked ||
skeleton.TrackingState == SkeletonTrackingState.PositionOnly)
{
// We want keep a record of any skeleton, tracked or untracked.
if (!this.trackedSkeletons.ContainsKey(skeleton.TrackingId))
{
this.trackedSkeletons.Add(skeleton.TrackingId, new SkeletonFaceTracker());
}
var position = skeleton.Position;
if (position.X != 0 && position.Y != 0 && position.Z != 0)
{
Console.WriteLine($"Face {i}: X {position.X}, Y {position.Y}, Z {position.Z}");
string text = position.X + "@x " + position.Y + "@y " + position.Z + "@z";
System.IO.File.WriteAllText(@"C:\Users\Corbin Pixels\Desktop\kinect\FaceTrackingBasics-WPF\coords.txt", text);
}
// Give each tracker the upated frame.
SkeletonFaceTracker skeletonFaceTracker;
if (this.trackedSkeletons.TryGetValue(skeleton.TrackingId, out skeletonFaceTracker))
{
skeletonFaceTracker.OnFrameReady(this.Kinect, colorImageFormat, colorImage, depthImageFormat, depthImage, skeleton);
skeletonFaceTracker.LastTrackedFrame = skeletonFrame.FrameNumber;
}
}
i += 1;
}
this.RemoveOldTrackers(skeletonFrame.FrameNumber);
this.InvalidateVisual();
}
finally
{
if (colorImageFrame != null)
{
colorImageFrame.Dispose();
}
if (depthImageFrame != null)
{
depthImageFrame.Dispose();
}
if (skeletonFrame != null)
{
skeletonFrame.Dispose();
}
}
}
