private void ProcessBodyFrame(MultiSourceFrame multiSourceFrame)
{
// Body
using (var bodyIndexFrame = multiSourceFrame.BodyIndexFrameReference.AcquireFrame())
{
BodyIndexFrame frameBodyIndex = bodyIndexFrame;
if (bodyIndexFrame != null && this.DepthMetaData != null)
{
this.BodyMetaData = new BodyMetaData(frameBodyIndex);
ProcessDepthColorIR(multiSourceFrame);
}
}
}
/// <summary>
/// updates myDepthMetaData.FrameData
/// </summary>
/// <param name="myDepthMetaData"></param>
/// <param name="myBodyMetaData"></param>
public int DepthFrameData_RemoveBackground(DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
if (myBodyMetaData == null || myDepthMetaData == null)
{
return(-1);
}
int numberOfPixelsRemoved = 0;
int nCount = myDepthMetaData.FrameData.GetLength(0);
ushort[] myPixels = new ushort[nCount];
for (int i = 0; i < nCount; i++)
{
myPixels[i] = myDepthMetaData.FrameData[i];
}
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; ++x)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; ++y)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
byte player = myBodyMetaData.Pixels[depthIndex];
if (player != 0xff)
{
}
else
{
myDepthMetaData.FrameData[depthIndex] = 0;
numberOfPixelsRemoved++;
}
}
}
return(numberOfPixelsRemoved);
}
public WriteableBitmap Color_Bitmap(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
if (myDepthMetaData == null || myBodyMetaData == null || myColorMetaData == null)
{
return(null);
}
/// <summary>
/// The RGB pixel values used for the background removal (green-screen) effect.
/// </summary>
byte[] myPixelsColorPlayer = null;
ColorSpacePoint[] _colorPointsPlayer = null;
_colorPointsPlayer = new ColorSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
myPixelsColorPlayer = new byte[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect * BYTES_PER_PIXEL];
coordinateMapper.MapDepthFrameToColorSpace(myDepthMetaData.FrameData, _colorPointsPlayer);
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; ++x)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; ++y)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
byte player = myBodyMetaData.Pixels[depthIndex];
int displayIndex = depthIndex * BYTES_PER_PIXEL;
if (player != 0xff)
{
ColorSpacePoint colorPoint = _colorPointsPlayer[depthIndex];
//int colorX = (int)Math.Floor(colorPoint.X + 0.5);
//int colorY = (int)Math.Floor(colorPoint.Y + 0.5);
//EDGAR TO DO _ player
if ((colorPoint.X >= 0) && (colorPoint.X < ColorMetaData.XColorMaxKinect) && (colorPoint.Y >= 0) && (colorPoint.Y < ColorMetaData.YColorMaxKinect))
{
int colorIndex = ((Convert.ToInt32(colorPoint.Y) * ColorMetaData.XColorMaxKinect) + Convert.ToInt32(colorPoint.X)) * BYTES_PER_PIXEL;
myPixelsColorPlayer[displayIndex + 0] = myColorMetaData.Pixels[colorIndex];
myPixelsColorPlayer[displayIndex + 1] = myColorMetaData.Pixels[colorIndex + 1];
myPixelsColorPlayer[displayIndex + 2] = myColorMetaData.Pixels[colorIndex + 2];
myPixelsColorPlayer[displayIndex + 3] = 0xff;
}
else
{
}
}
else
{
myPixelsColorPlayer[displayIndex + 3] = 0;//identify later....
}
}
}
WriteableBitmap myBitmapColorPlayer = null;
myBitmapColorPlayer = new WriteableBitmap(DepthMetaData.XDepthMaxKinect, DepthMetaData.XDepthMaxKinect, DPI, DPI, FORMAT, null);
myBitmapColorPlayer.Lock();
Marshal.Copy(myPixelsColorPlayer, 0, myBitmapColorPlayer.BackBuffer, myPixelsColorPlayer.Length);
myBitmapColorPlayer.AddDirtyRect(new Int32Rect(0, 0, DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect));
myBitmapColorPlayer.Unlock();
return(myBitmapColorPlayer);
}
public WriteableBitmap ColorBitmap2(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
if (myDepthMetaData == null || myBodyMetaData == null || myColorMetaData == null)
{
return(null);
}
this.colorArrayWithDepthInfo = new DepthSpacePoint[ColorMetaData.XColorMaxKinect * ColorMetaData.YColorMaxKinect];
coordinateMapper.MapColorFrameToDepthSpace(myDepthMetaData.FrameData, this.colorArrayWithDepthInfo);
if (colorArrayWithDepthInfo == null)
{
return(null);
}
this.colorArrayWithDepthInfo = new DepthSpacePoint[ColorMetaData.XColorMaxKinect * ColorMetaData.YColorMaxKinect];
// Loop over each row and column of the color image
// Zero out any pixels that don't correspond to a body index
myColorMetaData.WriteableBitmapColor.Lock();
unsafe
{
int colorMappedToDepthPointCount = this.colorArrayWithDepthInfo.Length;
fixed(DepthSpacePoint *colorMappedToDepthPointsPointer = this.colorArrayWithDepthInfo)
{
for (int colorIndex = 0; colorIndex < colorMappedToDepthPointCount; ++colorIndex)
{
double colorMappedToDepthX = colorMappedToDepthPointsPointer[colorIndex].X;
double colorMappedToDepthY = colorMappedToDepthPointsPointer[colorIndex].Y;
if (!double.IsNegativeInfinity(colorMappedToDepthX) &&
!double.IsNegativeInfinity(colorMappedToDepthY))
{
// Make sure the depth pixel maps to a valid point in color space
int depthX = (int)(colorMappedToDepthX + 0.5f);
int depthY = (int)(colorMappedToDepthY + 0.5f);
// If the point is not valid, there is no body index there.
if ((depthX >= 0) && (depthX < DepthMetaData.XDepthMaxKinect) && (depthY >= 0) && (depthY < DepthMetaData.YDepthMaxKinect))
{
int depthIndex = (depthY * DepthMetaData.XDepthMaxKinect) + depthX;
byte player = myBodyMetaData.Pixels[depthIndex];
if (player != 0xff)
{
continue;
}
}
}
int displayIndex = colorIndex * BYTES_PER_PIXEL;
myColorMetaData.Pixels[colorIndex + 1] = 0;
myColorMetaData.Pixels[colorIndex + 2] = 0;
myColorMetaData.Pixels[colorIndex + 3] = 0xff;
}
myColorMetaData.WriteableBitmapColor.AddDirtyRect(new Int32Rect(0, 0, myColorMetaData.WriteableBitmapColor.PixelWidth, myColorMetaData.WriteableBitmapColor.PixelHeight));
}
}
myColorMetaData.WriteableBitmapColor.Unlock();
return(myColorMetaData.WriteableBitmapColor);
//}
}
public System.Drawing.Image Color_Image(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
WriteableBitmap myBitmapColorPlayer = Color_Bitmap(myColorMetaData, myDepthMetaData, myBodyMetaData);
if (myBitmapColorPlayer != null)
{
return(myBitmapColorPlayer.ToImage());
}
else
{
return(null);
}
}
private static PointCloud PointCloudBW(CameraSpacePoint[] myRealWorldPoints, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
int x = 0;
int y = 0;
// int indexVertex = 0;
List <Vector3> list = new List <Vector3>();
try
{
for (x = 0; x < DepthMetaData.XDepthMaxKinect; x++)
{
for (y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
//int depthIndex = ((DepthMetaData.YResDefault - y - 1) * DepthMetaData.XResDefault) + x;
if (myDepthMetaData.FrameData[depthIndex] != 0)
{
int depthIndexColor = depthIndex * MetaDataBase.BYTES_PER_PIXEL;
Vector3 vect = new Vector3(myRealWorldPoints[depthIndex].X, myRealWorldPoints[depthIndex].Y, -myRealWorldPoints[depthIndex].Z);
list.Add(vect);
}
}
}
}
catch
{
System.Diagnostics.Debug.WriteLine("..Debug : " + x.ToString() + " : " + y.ToString() + " : ");
}
return(PointCloud.FromListVector3(list));
}
private static PointCloud PointCloudWithColorParallel(ColorSpacePoint[] mycolorPointsInDepthSpace, CameraSpacePoint[] myRealWorldPoints, ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData)
{
Vector3[,] arrV = new Vector3[DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect];
Vector3[,] arrC = new Vector3[DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect];
try
{
System.Threading.Tasks.Parallel.For(0, DepthMetaData.XDepthMaxKinect, x =>
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
{
int depthIndex = (y * DepthMetaData.XDepthMaxKinect) + x;
if (myDepthMetaData.FrameData[depthIndex] != 0)
{
if (PointCloudScannerSettings.BackgroundRemoved && myBodyMetaData != null)
{
byte player = myBodyMetaData.Pixels[depthIndex];
if (player != 0xff)
{
SetPoint(depthIndex, x, y, arrV, arrC, mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData);
}
}
else
{
SetPoint(depthIndex, x, y, arrV, arrC, mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData);
}
}
}
});
//};
}
catch (Exception err)
{
System.Diagnostics.Debug.WriteLine(" error in PointCloudWithColor " + err.Message);
}
List <Vector3> listV = new List <Vector3>();
List <Vector3> listC = new List <Vector3>();
for (int x = 0; x < DepthMetaData.XDepthMaxKinect; x++)
{
for (int y = 0; y < DepthMetaData.YDepthMaxKinect; y++)
{
if (arrV[x, y] != Vector3.Zero)
{
listV.Add(arrV[x, y]);
listC.Add(arrC[x, y]);
}
}
}
PointCloud pc = new PointCloud(listV, listC, null, null, null, null);
if (GLSettings.ShowPointCloudAsTexture)
{
pc.TextureCreateFromColors(DepthMetaData.XDepthMaxKinect, DepthMetaData.YDepthMaxKinect);
}
return(pc);
}
/// <summary>
/// creates color info for all DEPTH pixels (to later e.g. write ply file from it)
/// </summary>
/// <param name="myColorMetaData"></param>
/// <param name="myDepthMetaData"></param>
/// <param name="myCoordinateMapper"></param>
/// <returns></returns>
public static PointCloud ToPointCloud(ColorMetaData myColorMetaData, DepthMetaData myDepthMetaData, BodyMetaData myBodyMetaData, CoordinateMapper myCoordinateMapper)
{
if (myColorMetaData == null && myDepthMetaData == null)
{
return(null);
}
ColorSpacePoint[] mycolorPointsInDepthSpace = new ColorSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
CameraSpacePoint[] myRealWorldPoints = new CameraSpacePoint[DepthMetaData.XDepthMaxKinect * DepthMetaData.YDepthMaxKinect];
myCoordinateMapper.MapDepthFrameToCameraSpace(myDepthMetaData.FrameData, myRealWorldPoints);
myCoordinateMapper.MapDepthFrameToColorSpace(myDepthMetaData.FrameData, mycolorPointsInDepthSpace);
if (myColorMetaData != null)
{
return(PointCloudWithColorParallel(mycolorPointsInDepthSpace, myRealWorldPoints, myColorMetaData, myDepthMetaData, myBodyMetaData));
}
else
{
return(PointCloudBW(myRealWorldPoints, myDepthMetaData, myBodyMetaData));
}
}