private void Initialize()
{
if (IsInitialized)
{
return;
}
//loop through all the Kinects attached to this PC, and start the first that is connected without an error.
if (KinectSensorDefault == null)
{
var msg = new KinectMessage(MessageType.Error,
"Uexpected error. API call to KinectSensorDefault.GetDefault() return null");
EnqueueKinectMessage(msg);
throw new Exception(msg.Data);
}
// open the reader for the body frames
//if (MultiSourceFrameReader == null)
//{
MultiSourceFrameReader =
KinectSensorDefault.OpenMultiSourceFrameReader(FrameSourceTypes.Body | FrameSourceTypes.Depth |
FrameSourceTypes.BodyIndex);
MultiSourceFrameReader.MultiSourceFrameArrived -= MultiSourceFrameReaderOnMultiSourceFrameArrived;
MultiSourceFrameReader.MultiSourceFrameArrived += MultiSourceFrameReaderOnMultiSourceFrameArrived;
//}
IsInitialized = true;
}
protected void SendKinectMessageKeepAlive(object source, ElapsedEventArgs e)
{
if (Callback == null)
{
return;
}
KinectMessage kinectMessage = null;
var channelState = ((IChannel)Callback).State;
kinectMessage = new KinectMessage(MessageType.Information, "KeepAlive");
if (channelState == CommunicationState.Opened)
{
try
{
Callback.SendKinectMessage(kinectMessage.CreateBinaryMessage());
}
catch (Exception)
{
_keepAliveFaulted = true;
KeepAliveTimer.Enabled = false;
Console.WriteLine("Error sending keep-alive message.");
return;
//throw new FaultException<Exception>(new Exception("Client disconnected or unknown error."));
}
}
else
{
_keepAliveFaulted = true;
KeepAliveTimer.Enabled = false;
}
}
protected override void MultiSourceFrameReaderOnMultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
var reference = e.FrameReference.AcquireFrame();
using (var bodyFrame = reference.BodyFrameReference.AcquireFrame())
{
if (bodyFrame != null)
{
if (_bodies == null)
{
_bodies = new Body[bodyFrame.BodyCount];
}
// The first time GetAndRefreshBodyData is called, Kinect will allocate each Body in the array.
// As long as those body objects are not disposed and not set to null in the array,
// those body objects will be re-used.
bodyFrame.GetAndRefreshBodyData(this._bodies);
foreach (var body in Enumerable.Where <Body>(_bodies, body => body.IsTracked))
{
var handPositionMsg = new KinectMessage(string.Empty)
{
MessageType = MessageType.HandPosition,
LeftHand = GetCoordinatesFromJoint(body.Joints[JointType.HandLeft]),
RightHand = GetCoordinatesFromJoint(body.Joints[JointType.HandRight])
};
if (handPositionMsg.LeftHand.Item1 != 0 ||
handPositionMsg.LeftHand.Item2 != 0 ||
handPositionMsg.RightHand.Item1 != 0 ||
handPositionMsg.RightHand.Item2 != 0
)
{
EnqueueKinectMessage(handPositionMsg);
}
}
}
}
}
protected void EnqueueKinectMessage(KinectMessage message)
{
NextKinectMessage = message;
}
