/// <summary>
/// Shallow clone
/// </summary>
/// <returns>A new shallow copied instance of RawKinectFrames</returns>
public object Clone()
{
var copy = new RawKinectFrames();
this.CopyTo(copy);
return(copy);
}
/// <summary>
/// Read kinect frames when requested via GetFrame
/// </summary>
/// <param name="rawFrames">Raw Kinect Frames</param>
/// <param name="kinectSensorParam">Kinect Sensor</param>
/// <param name="includeDepth">Inclue depth?</param>
/// <param name="includeVideo">Inclue video?</param>
/// <param name="includeSkeletons">Inclue skeletons?</param>
private void ReadKinectFramesOnDemand(
RawKinectFrames rawFrames,
KinectSensor kinectSensorParam,
bool includeDepth,
bool includeVideo,
bool includeSkeletons)
{
if (includeVideo)
{
this.ReadColorFrameOnDemandBehavior(
rawFrames,
kinectSensorParam.ColorStream);
}
if (includeDepth)
{
this.ReadDepthFrameOnDemandBehavior(
rawFrames,
kinectSensorParam.DepthStream);
}
if (includeSkeletons)
{
this.ReadSkeletalFrameBehavior(rawFrames, kinectSensorParam.SkeletonStream);
}
this.lastFrameReadTime = Common.Utilities.ElapsedSecondsSinceStart;
}
/// <summary>
/// Read skeletal frame if needed
/// </summary>
/// <param name="rawFrames">Raw frames</param>
/// <param name="skeletonStream">Skeleton stream</param>
private void DoReadSkeletalFrame(RawKinectFrames rawFrames, SkeletonStream skeletonStream)
{
SkeletonFrame skeletonFrame = skeletonStream.OpenNextFrame(AVeryLargeNumberOfMilliseconds);
if (skeletonFrame != null)
{
rawFrames.RawSkeletonFrameData = new SkeletonDataFrame(skeletonFrame);
}
}
/// <summary>
/// Invoked right after a raw frame was obtained from Kinect service
/// </summary>
/// <param name="frames">Raw frame as recieved from Kinect sensor</param>
public void SetRawFrame(kinect.RawKinectFrames frames)
{
this.RawFrames = frames;
if (null == this.RawFrames.RawDepthFrameData)
{
// could be that depth frame was not requested
return;
}
}
/// <summary>
/// DoReadDepthFrame Frame Read Behavior
/// </summary>
/// <param name="rawFrames">Raw frames</param>
/// <param name="kinectStream">Kinect stream</param>
private void DoReadDepthFrame(RawKinectFrames rawFrames, DepthImageStream kinectStream)
{
DepthImageFrame kinectFrame = kinectStream.OpenNextFrame(AVeryLargeNumberOfMilliseconds);
if (kinectFrame != null)
{
rawFrames.RawDepthFrameInfo = new KinectFrameInfo(kinectFrame);
rawFrames.RawDepthFrameData = new short[kinectFrame.PixelDataLength];
kinectFrame.CopyPixelDataTo(rawFrames.RawDepthFrameData);
}
}
/// <summary>
/// Read frames for alternates
/// </summary>
/// <param name="rawFrames">Raw Kinect Frames</param>
/// <param name="kinectSensorParam">Kinect Sensor Parameters</param>
private void ReadKinectFramesForAlternates(RawKinectFrames rawFrames, KinectSensor kinectSensorParam)
{
this.ReadColorFrameForAlternateBehavior(
rawFrames,
kinectSensorParam.ColorStream);
this.ReadDepthFrameForAlternateBehavior(
rawFrames,
kinectSensorParam.DepthStream);
this.lastFrameReadTime = Common.Utilities.ElapsedSecondsSinceStart;
}
/// <summary>
/// Main read loop
/// Read raw frame from Kinect service, then process it asynchronously, then request UI update
/// </summary>
/// <returns>A standard CCR iterator.</returns>
private IEnumerator <ITask> ReadKinectLoop()
{
while (true)
{
kinectProxy.QueryRawFrameRequest frameRequest = new kinectProxy.QueryRawFrameRequest();
frameRequest.IncludeDepth = this.IncludeDepth;
frameRequest.IncludeVideo = this.IncludeVideo;
frameRequest.IncludeSkeletons = this.IncludeSkeletons;
if (!this.IncludeDepth && !this.IncludeVideo && !this.IncludeSkeletons)
{
// poll 5 times a sec if user for some reason deselected all image options (this would turn
// into a busy loop then)
yield return(TimeoutPort(200).Receive());
}
kinect.RawKinectFrames rawFrames = null;
// poll depth camera
yield return(this.kinectPort.QueryRawFrame(frameRequest).Choice(
rawFrameResponse =>
{
rawFrames = rawFrameResponse.RawFrames;
},
failure =>
{
if (!this.frameQueryFailed)
{
this.frameQueryFailed = true;
LogError(failure);
}
}));
this.frameProcessor.SetRawFrame(rawFrames);
if (null != rawFrames.RawSkeletonFrameData)
{
yield return(new IterativeTask(this.frameProcessor.ProcessSkeletons));
}
this.UpdateUI(this.frameProcessor);
// poll state at low frequency to see if tilt has shifted (may happen on an actual robot due to shaking)
if (common.Utilities.ElapsedSecondsSinceStart - this.lastStateReadTime > 1)
{
yield return(this.kinectPort.Get().Choice(
kinectState =>
{
this.UpdateState(kinectState);
},
failure =>
{
if (!this.tiltPollFailed)
{
this.tiltPollFailed = true;
LogError(failure);
}
}));
this.lastStateReadTime = common.Utilities.ElapsedSecondsSinceStart;
}
}
}
/// <summary>
/// Invoked right after a raw frame was obtained from Kinect service
/// </summary>
/// <param name="frames">Raw frame as recieved from Kinect sensor</param>
public void SetRawFrame(kinect.RawKinectFrames frames)
{
this.RawFrames = frames;
if (null == this.RawFrames.RawDepthFrameData)
{
// could be that depth frame was not requested
return;
}
}
/// <summary>
/// Main read loop
/// Read raw frame from Kinect service, then process it asynchronously, then request UI update
/// </summary>
/// <returns>A standard CCR iterator.</returns>
private IEnumerator <ITask> ReadKinectLoop()
{
// note: see frame rate at C:\Microsoft Robotics Dev Studio 4\projects\TrackRoamer\TrackRoamerServices\Config\TrackRoamer.TrackRoamerBot.Kinect.Config.xml
while (true)
{
try
{
kinectProxy.QueryRawFrameRequest frameRequest = new kinectProxy.QueryRawFrameRequest();
frameRequest.IncludeDepth = this.IncludeDepth;
frameRequest.IncludeVideo = this.IncludeVideo;
frameRequest.IncludeSkeletons = this.IncludeSkeletons;
if (!this.IncludeDepth && !this.IncludeVideo && !this.IncludeSkeletons)
{
// poll 2 times a sec if user for some reason deselected all image options (this would turn into a busy loop then)
yield return(TimeoutPort(KinectLoopWaitIntervalMs).Receive());
}
kinect.RawKinectFrames rawFrames = null;
// poll depth camera
yield return(this.kinectPort.QueryRawFrame(frameRequest).Choice(
rawFrameResponse =>
{
rawFrames = rawFrameResponse.RawFrames;
},
failure =>
{
if (!this.atLeastOneFrameQueryFailed)
{
this.atLeastOneFrameQueryFailed = true;
LogError(failure);
}
}));
this.frameProcessor.currentPanKinect = _state.currentPanKinect;
this.frameProcessor.currentTiltKinect = _state.currentTiltKinect;
this.frameProcessor.SetRawFrame(rawFrames);
if (null != rawFrames.RawSkeletonFrameData)
{
yield return(new IterativeTask(this.frameProcessor.ProcessSkeletons));
var tmpAllSkeletons = frameProcessor.AllSkeletons; // get a snapshot of the pointer to allocated array, and then take sweet time processing it knowing it will not change
if (tmpAllSkeletons != null)
{
// tmpAllSkeletons is a list of seven skeletons, those good enough for processing have IsSkeletonActive true
var skels = from s in tmpAllSkeletons
where s.IsSkeletonActive
select s;
foreach (VisualizableSkeletonInformation skel in skels)
{
// Kinect Z goes straight forward, X - to the left side, Y - up
double kZ = skel.JointPoints[nui.JointType.Spine].Z; // meters, relative to Kinect camera
double kX = skel.JointPoints[nui.JointType.Spine].X;
GeoPosition pos1 = (GeoPosition)_mapperVicinity.robotPosition.Clone();
double relBearing = Direction.to180fromRad(Math.Atan2(-kX, kZ));
double rangeMeters = Math.Sqrt(kZ * kZ + kX * kX);
pos1.translate(new Direction()
{
heading = _mapperVicinity.robotDirection.heading, bearingRelative = relBearing
}, new Distance(rangeMeters));
DetectedHuman dhum1 = new DetectedHuman()
{
geoPosition = pos1,
firstSeen = DateTime.Now.Ticks,
lastSeen = DateTime.Now.Ticks,
detectorType = DetectorType.KINECT_SKELETON,
};
lock (_mapperVicinity)
{
_mapperVicinity.Add(dhum1);
}
}
}
}
if (null != rawFrames.RawColorFrameData)
{
yield return(new IterativeTask(this.frameProcessor.ProcessImageFrame)); // RGB Video
}
if (null != rawFrames.RawDepthFrameData)
{
yield return(new IterativeTask(this.frameProcessor.ProcessDepthFrame)); // Depth information frame
}
this.UpdateUI(this.frameProcessor);
Decide(SensorEventSource.Kinect);
// poll state at low frequency to see if tilt has shifted (may happen on an actual robot due to shaking)
if (common.Utilities.ElapsedSecondsSinceStart - this.lastStateReadTime > 1)
{
yield return(this.kinectPort.Get().Choice(
kinectState =>
{
this.UpdateState(kinectState); // update value displayed in WPF window
_state.currentTiltKinect = kinectState.TiltDegrees;
},
failure =>
{
if (!this.atLeastOneTiltPollFailed)
{
this.atLeastOneTiltPollFailed = true;
LogError(failure);
}
}));
this.lastStateReadTime = common.Utilities.ElapsedSecondsSinceStart;
}
}
finally
{
}
}
}
