private void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
if (this.DepthFrameToCameraSpaceTable.HasSubscribers)
{
this.DepthFrameToCameraSpaceTable.Post(this.kinectSensor.CoordinateMapper.GetDepthFrameToCameraSpaceTable(), this.pipeline.GetCurrentTime());
}
if (this.configuration.OutputCalibration)
{
if (!this.calibrationPosted)
{
// Extract and created old style calibration
var kinectInternalCalibration = new KinectInternalCalibration();
kinectInternalCalibration.RecoverCalibrationFromSensor(this.kinectSensor);
Matrix <double> colorCameraMatrix = Matrix <double> .Build.Dense(3, 3);
Matrix <double> depthCameraMatrix = Matrix <double> .Build.Dense(3, 3);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
colorCameraMatrix[i, j] = kinectInternalCalibration.colorCameraMatrix[i, j];
depthCameraMatrix[i, j] = kinectInternalCalibration.depthCameraMatrix[i, j];
}
}
Vector <double> colorLensDistortion = Vector <double> .Build.Dense(5);
Vector <double> depthLensDistortion = Vector <double> .Build.Dense(5);
for (int i = 0; i < 5; i++)
{
colorLensDistortion[i] = kinectInternalCalibration.colorLensDistortion[i];
depthLensDistortion[i] = kinectInternalCalibration.depthLensDistortion[i];
}
Matrix <double> depthToColorTransform = Matrix <double> .Build.Dense(4, 4);
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
depthToColorTransform[i, j] = kinectInternalCalibration.depthToColorTransform[i, j];
}
}
// Kinect uses a basis under the hood that assumes Forward=Z, Left=X, Up=Y.
var kinectBasis = new CoordinateSystem(default, UnitVector3D.ZAxis, UnitVector3D.XAxis, UnitVector3D.YAxis);
private void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
_logger.Info(string.Format("Coordinate mapper changed. Configuring events...", this.kinectSensor.UniqueKinectId));
this.depthFrameReader = this.kinectSensor.DepthFrameSource.OpenReader();
this.depthFrameReader.FrameArrived += DepthFrameReader_FrameArrived;
this.colorFrameReader = this.kinectSensor.ColorFrameSource.OpenReader();
this.colorFrameReader.FrameArrived += ColorFrameReader_FrameArrived;
this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();
this.bodyFrameReader.FrameArrived += BodyFrameReader_FrameArrived;
this.audioBeamFrameReader = this.kinectSensor.AudioSource.OpenReader();
this.audioBeamFrameReader.FrameArrived += AudioBeamFrameReader_FrameArrived;
this.audioBeamFrameReader.AudioSource.AudioBeams[0].AudioBeamMode = AudioBeamMode.Automatic;
this.audioBeamFrameReader.AudioSource.AudioBeams[0].BeamAngle = 0.0f;
this.coordinateMapper = this.kinectSensor.CoordinateMapper;
coordinateMapperReady.Set();
}
private void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
if (this.DepthFrameToCameraSpaceTable.HasSubscribers)
{
this.DepthFrameToCameraSpaceTable.Post(this.kinectSensor.CoordinateMapper.GetDepthFrameToCameraSpaceTable(), this.pipeline.GetCurrentTime());
}
if (this.configuration.OutputCalibration)
{
if (!this.calibrationPosted)
{
// Extract and created old style calibration
var kinectInternalCalibration = new KinectInternalCalibration();
kinectInternalCalibration.RecoverCalibrationFromSensor(this.kinectSensor);
// Kinect uses a basis under the hood that assumes Forward=Z, Left=X, Up=Y.
var kinectBasis = new CoordinateSystem(default, UnitVector3D.ZAxis, UnitVector3D.XAxis, UnitVector3D.YAxis);
void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
kinect2Calibration = new Kinect2.Kinect2Calibration();
kinect2Calibration.RecoverCalibrationFromSensor(kinectSensor);
kinect2CalibrationReady.Set();
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
depthFrameReader.FrameArrived += depthFrameReader_FrameArrived;
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
colorFrameReader.FrameArrived += colorFrameReader_FrameArrived;
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyFrameReader.FrameArrived += bodyFrameReader_FrameArrived;
audioBeamFrameReader = kinectSensor.AudioSource.OpenReader();
audioBeamFrameReader.FrameArrived += audioBeamFrameReader_FrameArrived;
audioBeamFrameReader.AudioSource.AudioBeams[0].AudioBeamMode = AudioBeamMode.Manual;
audioBeamFrameReader.AudioSource.AudioBeams[0].BeamAngle = 0;
}
//CoordinateMappingExample cooordinateMappingExample;
void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
kinect2Calibration = new RoomAliveToolkit.Kinect2Calibration();
kinect2Calibration.RecoverCalibrationFromSensor(kinectSensor);
kinect2CalibrationReady.Set();
//cooordinateMappingExample = new CoordinateMappingExample();
//cooordinateMappingExample.Run(kinect2Calibration, kinectSensor);
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
depthFrameReader.FrameArrived += depthFrameReader_FrameArrived;
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
colorFrameReader.FrameArrived += colorFrameReader_FrameArrived;
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyFrameReader.FrameArrived += bodyFrameReader_FrameArrived;
audioBeamFrameReader = kinectSensor.AudioSource.OpenReader();
audioBeamFrameReader.FrameArrived += audioBeamFrameReader_FrameArrived;
audioBeamFrameReader.AudioSource.AudioBeams[0].AudioBeamMode = AudioBeamMode.Manual;
audioBeamFrameReader.AudioSource.AudioBeams[0].BeamAngle = 0;
}
private void CoordinateMappingChangedCallback(object sender, CoordinateMappingChangedEventArgs args)
{
cameraSpaceTable = kinectSensor.CoordinateMapper.GetDepthFrameToCameraSpaceTable();
}
private void CoordinateMapper_CoordinateMappingChanged(object sender, CoordinateMappingChangedEventArgs e)
{
if (this.DepthFrameToCameraSpaceTable.HasSubscribers)
{
this.DepthFrameToCameraSpaceTable.Post(this.kinectSensor.CoordinateMapper.GetDepthFrameToCameraSpaceTable(), this.pipeline.GetCurrentTime());
}
if (this.configuration.OutputCalibration)
{
if (!this.calibrationPosted)
{
// Extract and created old style calibration
var kinectInternalCalibration = new KinectInternalCalibration();
kinectInternalCalibration.RecoverCalibrationFromSensor(this.kinectSensor);
Matrix <double> colorCameraMatrix = Matrix <double> .Build.Dense(3, 3);
Matrix <double> depthCameraMatrix = Matrix <double> .Build.Dense(3, 3);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
colorCameraMatrix[i, j] = kinectInternalCalibration.colorCameraMatrix[i, j];
depthCameraMatrix[i, j] = kinectInternalCalibration.depthCameraMatrix[i, j];
}
}
Vector <double> colorLensDistortion = Vector <double> .Build.Dense(5);
Vector <double> depthLensDistortion = Vector <double> .Build.Dense(5);
for (int i = 0; i < 5; i++)
{
colorLensDistortion[i] = kinectInternalCalibration.colorLensDistortion[i];
depthLensDistortion[i] = kinectInternalCalibration.depthLensDistortion[i];
}
Matrix <double> depthToColorTransform = Matrix <double> .Build.Dense(4, 4);
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
depthToColorTransform[i, j] = kinectInternalCalibration.depthToColorTransform[i, j];
}
}
// Extract and create new style calibration
this.kinectCalibration = new KinectCalibration(
this.kinectSensor.ColorFrameSource.FrameDescription.Width,
this.kinectSensor.ColorFrameSource.FrameDescription.Height,
colorCameraMatrix,
kinectInternalCalibration.colorLensDistortion[0],
kinectInternalCalibration.colorLensDistortion[1],
0.0,
0.0,
depthToColorTransform,
this.kinectSensor.DepthFrameSource.FrameDescription.Width,
this.kinectSensor.DepthFrameSource.FrameDescription.Height,
depthCameraMatrix,
kinectInternalCalibration.depthLensDistortion[0],
kinectInternalCalibration.depthLensDistortion[1],
0.0,
0.0);
/* Warning about comments being preceded by blank line */
#pragma warning disable SA1515
// KinectCalibrationOld's original ToColorSpace() method flips the Y axis (height-Y). To account
// for this we adjust our Transform.
// Matrix<double> flipY = Matrix<double>.Build.DenseIdentity(3, 3);
// flipY[1, 1] = -1.0;
// flipY[1, 2] = this.kinectSensor.ColorFrameSource.FrameDescription.Height;
// this.kinectCalibration.ColorIntrinsics.Transform = flipY * this.kinectCalibration.ColorIntrinsics.Transform;
#pragma warning restore SA1515
this.Calibration.Post(this.kinectCalibration, this.pipeline.GetCurrentTime());
this.calibrationPosted = true;
}
}
}
