private void OnMultipleFramesArrivedHandler(object sender, MultiSourceFrameArrivedEventArgs e)
{
init = true;
// Retrieve multisource frame reference
MultiSourceFrameReference multiRef = e.FrameReference;
MultiSourceFrame multiFrame = null;
try {
AllFrameWatch.Again();
multiFrame = multiRef.AcquireFrame();
if (multiFrame == null)
{
AllFrameWatch.Stop(); return;
}
HandleDepthFrame(multiFrame.DepthFrameReference);
// Motion check
if (Task.StandBy)
{
AllFrameWatch.Stop(); return;
}
HandleColorFrame(multiFrame.ColorFrameReference);
HandleBodyFrame(multiFrame.BodyFrameReference);
HandleBodyIndexFrame(multiFrame.BodyIndexFrameReference);
AllFrameWatch.Stop();
} catch (Exception) { /* ignore if the frame is no longer available */ } finally { }
}
// Dictionary<string, string> words = new Dictionary<string, string>();
private static void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
lock (updateLock)
{
frameReference = e.FrameReference;
}
dataAvailable.Set();
}
/// <summary>
/// Handles frame data arriving from the sensor
/// </summary>
/// <param name="sender">Object sending the event</param>
/// <param name="e">Event arguments</param>
private void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
lock (newFrameLock)
{
multiFrameReference = e.FrameReference;
dataAvailable.Set();
}
}
void multiFrameReader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
MultiSourceFrameReference frameReference = e.FrameReference;
MultiSourceFrame multiSourceFrame = null;
DepthFrame depthFrame = null;
ColorFrame colorFrame = null;
try {
multiSourceFrame = frameReference.AcquireFrame();
if (multiSourceFrame == null)
{
return;
}
depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame();
colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
if (depthFrame == null || colorFrame == null)
{
return;
}
depthFrame.CopyFrameDataToArray(depthImagePixels);
colorFrame.CopyConvertedFrameDataToArray(colorImagePixels, ColorImageFormat.Bgra);
}
catch (Exception ex) {
MessageBox.Show(ex.ToString());
}
finally {
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
if (colorFrame != null)
{
colorFrame.Dispose();
colorFrame = null;
}
if (multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
UpdateFusionFrame();
DrawFusionFrame();
}
void multiSourceFrameReader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
MultiSourceFrameReference msFrameReference = e.FrameReference;
try
{
MultiSourceFrame msFrame = msFrameReference.AcquireFrame();
if (msFrame != null)
{
LongExposureInfraredFrameReference leirFrameReference = msFrame.LongExposureInfraredFrameReference;
InfraredFrameReference irFrameReference = msFrame.InfraredFrameReference;
ColorFrameReference colorFrameReference = msFrame.ColorFrameReference;
DepthFrameReference depthFrameReference = msFrame.DepthFrameReference;
BodyFrameReference bodyFrameReference = msFrame.BodyFrameReference;
switch (this.imageType)
{
case ImageType.Color:
useColorFrame(colorFrameReference);
break;
case ImageType.Depth:
useDepthFrame(depthFrameReference);
break;
case ImageType.IR:
useIRFrame(irFrameReference);
break;
case ImageType.LEIR:
useLIRFrame(leirFrameReference);
break;
}
useBodyFrame(bodyFrameReference);
//updatePulse(colorFrameReference, irFrameReference, bodyFrameReference);
}
}
catch (Exception ex)
{
}
}
/// <summary>
/// Update frame data of color / depth frames
/// </summary>
/// <param name="frameReference"></param>
#region Update from Kinect sensor
public void Update(MultiSourceFrameReference frameReference)
{
var multiSourceFrame = frameReference.AcquireFrame();
if (multiSourceFrame == null)
{
logger.Trace("Abort update since MultiSourceFrame is null");
return;
}
using (var colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame())
{
if (colorFrame == null)
{
logger.Trace("Abort update since ColorFrame is null");
return;
}
using (var depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame())
{
if (depthFrame == null)
{
logger.Trace("Abort update since DepthFrame is null");
return;
}
UpdateColorData(colorFrame);
UpdateDepthData(depthFrame);
if (OnDataUpdate != null)
{
OnDataUpdate(this);
}
}
}
}
/// <summary>
/// Handles the multisource frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private unsafe void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
// Create instance of EMGUargs which holds the output of data from the kinect
EMGUargs emguArgs = new EMGUargs();
MultiSourceFrameReference frameReference = e.FrameReference;
// Variables initialized to null for easy check of camera failures
MultiSourceFrame multiSourceFrame = null;
InfraredFrame infraredFrame = null;
ColorFrame colorFrame = null;
DepthFrame depthFrame = null;
// Acquire frame from the Kinect
multiSourceFrame = frameReference.AcquireFrame();
// If the Frame has expired by the time we process this event, return.
if (multiSourceFrame == null)
{
return;
}
try
{
/*
* DepthSpacePoint dp = new DepthSpacePoint
* {
* X = 50,
* Y = 20
* };
* DepthSpacePoint[] dps = new DepthSpacePoint[] { dp };
* ushort[] depths = new ushort[] { 2000 };
* CameraSpacePoint[] ameraSpacePoints = new CameraSpacePoint[1];
*
* mapper.MapDepthPointsToCameraSpace(dps, depths, ameraSpacePoints);
*/
InfraredFrameReference infraredFrameReference = multiSourceFrame.InfraredFrameReference;
infraredFrame = infraredFrameReference.AcquireFrame();
DepthFrameReference depthFrameReference = multiSourceFrame.DepthFrameReference;
depthFrame = depthFrameReference.AcquireFrame();
// Check whether needed frames are avaliable
if (infraredFrame == null || depthFrame == null)
{
return;
}
// the fastest way to process the depth frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
// verify data and write the new depth frame data to the display bitmap
if (((this.depthFrameDescription.Width * this.depthFrameDescription.Height) ==
(depthBuffer.Size / this.depthFrameDescription.BytesPerPixel)))
{
// Conversion to needed EMGU image
Mat depthImage = this.ProcessDepthFrameData(depthFrame);
emguArgs.DepthImage = depthImage;
emguArgs.DepthFrameDimension = new FrameDimension(depthFrameDescription.Width, depthFrameDescription.Height);
}
//BgrToDephtPixel(depthBuffer.UnderlyingBuffer, depthBuffer.Size);
depthFrame.Dispose();
depthFrame = null;
}
// IR image
FrameDescription infraredFrameDescription = infraredFrame.FrameDescription;
// the fastest way to process the infrared frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer infraredBuffer = infraredFrame.LockImageBuffer())
{
// verify data and write the new infrared frame data to the display bitmap
if (((this.infraredFrameDescription.Width * this.infraredFrameDescription.Height) == (infraredBuffer.Size / this.infraredFrameDescription.BytesPerPixel)))
{
// Conversion to needed EMGU image
Mat infraredImage = this.ProcessInfaredFrameData(infraredFrame);
emguArgs.InfraredImage = infraredImage;
emguArgs.InfraredFrameDimension = new FrameDimension(infraredFrameDescription.Width, infraredFrameDescription.Height);
// infraredImage.Dispose();
}
infraredFrame.Dispose();
infraredFrame = null;
// Check as to whether or not the color image is needed for mainwindow view
if (generateColorImage)
{
ColorFrameReference colorFrameReference = multiSourceFrame.ColorFrameReference;
colorFrame = colorFrameReference.AcquireFrame();
if (colorFrame == null)
{
return;
}
// color image
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
// the fastest way to process the color frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
// Conversion to needed EMGU image
Mat colorImage = this.ProcessColorFrameData(colorFrame);
emguArgs.Colorimage = colorImage;
emguArgs.ColorFrameDimension = new FrameDimension(colorFrameDescription.Width, colorFrameDescription.Height);
}
// We're done with the colorFrame
colorFrame.Dispose();
colorFrame = null;
}
}
// Call the processing finished event for the conversion to EMGU images
OnEmguArgsProcessed(emguArgs);
}
catch (Exception ex)
{
// ignore if the frame is no longer available
Console.WriteLine("FRAME CHRASHED: " + ex.ToString());
}
finally
{
// generate event at send writeable bitmaps for each frame, and cleanup.
// only generate event if the mainwindow is shown.
// DepthFrame, ColorFrame are Disposable.
if (colorFrame != null)
{
colorFrame.Dispose();
colorFrame = null;
}
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
// infraredFrame is Disposable
if (infraredFrame != null)
{
infraredFrame.Dispose();
infraredFrame = null;
}
if (multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
}
private void ProcessFrameData(MultiSourceFrameArrivedEventArgs e)
{
MultiSourceFrameReference frameReference = e.FrameReference;
MultiSourceFrame multiSourceFrame = null;
DepthFrame depthFrame = null;
ColorFrame colorFrame = null;
try
{
multiSourceFrame = frameReference.AcquireFrame();
if (multiSourceFrame != null)
{
lock (rawDataLock)
{
ColorFrameReference colorFrameReference = multiSourceFrame.ColorFrameReference;
DepthFrameReference depthFrameReference = multiSourceFrame.DepthFrameReference;
colorFrame = colorFrameReference.AcquireFrame();
depthFrame = depthFrameReference.AcquireFrame();
if ((depthFrame != null) && (colorFrame != null))
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
int colorWidth = colorFrameDescription.Width;
int colorHeight = colorFrameDescription.Height;
if ((colorWidth * colorHeight * sizeof(int)) == colorImagePixels.Length)
{
colorFrame.CopyConvertedFrameDataToArray(colorImagePixels, ColorImageFormat.Bgra);
}
FrameDescription depthFrameDescription = depthFrame.FrameDescription;
int depthWidth = depthFrameDescription.Width;
int depthHeight = depthFrameDescription.Height;
if ((depthWidth * depthHeight) == depthImagePixels.Length)
{
depthFrame.CopyFrameDataToArray(depthImagePixels);
}
}
}
}
}
catch (Exception)
{
// ignore if the frame is no longer available
}
finally
{
// MultiSourceFrame, DepthFrame, ColorFrame, BodyIndexFrame are IDispoable
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
if (colorFrame != null)
{
colorFrame.Dispose();
colorFrame = null;
}
if (multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
}
private void KinectConnector_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
MultiSourceFrameReference frameReference = e.FrameReference;
try
{
MultiSourceFrame reference = frameReference.AcquireFrame();
// ColorFrame is IDisposable
using (ColorFrame colorFrame = reference.ColorFrameReference.AcquireFrame())
{
if (colorFrame != null)
{
if (m_ColorImgArrayBuffer == null)
{
m_ColorImgArrayBuffer = new byte[m_ColorFrameDescription.Width * m_ColorFrameDescription.Height * 4];
}
if (colorFrame.RawColorImageFormat == ColorImageFormat.Rgba)
{
colorFrame.CopyRawFrameDataToArray(this.m_ColorImgArrayBuffer);
}
else
{
colorFrame.CopyConvertedFrameDataToArray(this.m_ColorImgArrayBuffer, ColorImageFormat.Rgba);
}
Image <Rgba, byte> t = new Image <Rgba, byte>(GetColorFrameDescription().Width, GetColorFrameDescription().Height);
t.Bytes = m_ColorImgArrayBuffer;
m_ColorImg = new Image <Bgra, byte>(t.Width, t.Height);
CvInvoke.cvCopy(t.Convert <Bgra, byte>().Ptr, m_ColorImg.Ptr, IntPtr.Zero);
}
}
using (DepthFrame depthFrame = reference.DepthFrameReference.AcquireFrame())
{
if (depthFrame != null)
{
// the fastest way to process the body index data is to directly access
// the underlying buffer
using (KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
// verify data and write the color data to the display bitmap
if (((this.m_DepthFrameDescription.Width * this.m_DepthFrameDescription.Height) == (depthBuffer.Size / this.m_DepthFrameDescription.BytesPerPixel)))
{
int size = m_DepthFrameDescription.Width * m_DepthFrameDescription.Height * 2;
byte[] managedArray = new byte[size];
Marshal.Copy(depthBuffer.UnderlyingBuffer, managedArray, 0, size);
Image <Gray, Int16> t = new Image <Gray, Int16>(GetDepthFrameDescription().Width, GetDepthFrameDescription().Height);
t.Bytes = managedArray;
t = t.ConvertScale <Int16>(KinectManager.SCALE_FACTOR, 0);
m_DepthImg = t;
}
}
}
}
this.OnAllFramesReady(this, m_ColorImg, m_DepthImg);
}
catch (Exception ex)
{
// ignore if the frame is no longer available
}
}
