public override void ProcessRequest(JToken casJSON)
{
KinectSensor kinectSensor = SensorHandler.GetSensor();
this.coordinateMapper = kinectSensor.CoordinateMapper;
this.colorFrameDescription = kinectSensor.ColorFrameSource.FrameDescription;
int time_slept = 0;
while (!kinectSensor.IsAvailable)
{
Thread.Sleep(5);
time_slept += 5;
if (time_slept > TIMEOUT_MS)
{
System.Environment.Exit(-2);
}
}
bool dataReceived = false;
while (!dataReceived)
{
this.currColorFrame = SensorHandler.GetColorFrame();
if (this.currColorFrame != null)
{
dataReceived = true;
}
}
dataReceived = false;
while (!dataReceived)
{
this.currDepthFrame = SensorHandler.GetDepthFrame();
if (this.currDepthFrame != null)
{
dataReceived = true;
}
}
this.aggregatedData = this.ProcessBlocksFromFrames();
this.currColorFrame = null;
this.currDepthFrame = null;
}
public override void ProcessRequest(JToken allAnnotations)
{
KinectSensor kinectSensor = SensorHandler.GetSensor();
int ms_slept = 0;
while (!kinectSensor.IsAvailable)
{
Thread.Sleep(500);
ms_slept += 500;
System.Diagnostics.Debug.WriteLine("Waiting on sensor...");
if (ms_slept >= CONNECT_TIMEOUT_MS)
{
System.Environment.Exit(-1);
}
}
CoordinateMapper coordinateMapper = kinectSensor.CoordinateMapper;
FrameDescription frameDescription = kinectSensor.DepthFrameSource.FrameDescription;
List <Tuple <JointType, JointType> > bones = new List <Tuple <JointType, JointType> >();
bones.Add(new Tuple <JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
bool dataReceived = false;
Body[] bodies = null;
Body body = null;
ms_slept = 0;
while (!dataReceived)
{
BodyFrame bodyFrame = null;
System.Diagnostics.Debug.WriteLine("Waiting on body frame...");
while (bodyFrame == null)
{
bodyFrame = SensorHandler.GetBodyFrame();
}
bodies = new Body[bodyFrame.BodyCount];
bodyFrame.GetAndRefreshBodyData(bodies);
System.Diagnostics.Debug.WriteLine("Checking if body is detected in frame...");
System.Diagnostics.Debug.WriteLine(bodyFrame.BodyCount + " bodies detected");
int count = 0;
if (bodyFrame.BodyCount > 0)
{
foreach (Body b in bodies)
{
if (b.IsTracked)
{
System.Diagnostics.Debug.WriteLine("Found body frame.");
body = b;
dataReceived = true;
count++;
}
}
}
System.Diagnostics.Debug.WriteLine(count + " bodies tracked");
Thread.Sleep(100);
ms_slept += 100;
if (ms_slept >= POINTING_TIMEOUT_MS)
{
System.Environment.Exit(-1);
}
bodyFrame.Dispose();
}
//// convert the joint points to depth (display) space
///
IReadOnlyDictionary <JointType, Joint> joints = body.Joints;
Dictionary <JointType, CameraSpacePoint> jointPoints = new Dictionary <JointType, CameraSpacePoint>();
foreach (JointType jointType in joints.Keys)
{
// sometimes the depth(Z) of an inferred joint may show as negative
// clamp down to 0.1f to prevent coordinatemapper from returning (-Infinity, -Infinity)
CameraSpacePoint position = joints[jointType].Position;
if (position.Z < 0)
{
position.Z = 0.1f;
}
DepthSpacePoint depthSpacePoint = coordinateMapper.MapCameraPointToDepthSpace(position);
jointPoints[jointType] = position;
}
Tuple <JointType, JointType> bone = bones.First();
List <BlockData> blocks = this.GetBlocks(allAnnotations);
this.ComputeConfidenceScores(bone, jointPoints, blocks);
}
