/// <summary>
/// Handles the ImageFrameReady event of the kinect control.
/// </summary>
/// <param name="sender">The source of the event.</param>
/// <param name="e">The <see cref="Microsoft.Kinect.ColorImageFrameReadyEventArgs"/> instance containing the event data.</param>
private void Kinect_ImageFrameReady(object sender, Microsoft.Kinect.ColorImageFrameReadyEventArgs e)
{
//PlanarImage image = e.ImageFrame.Image;
bool receivedData = false;
using (ColorImageFrame colorImageFrame = e.OpenColorImageFrame())
{
if (colorImageFrame != null)
{
if (pixelData == null)
//allocate the first time
{
pixelData = new byte[colorImageFrame.PixelDataLength];
}
colorImageFrame.CopyPixelDataTo(pixelData);
receivedData = true;
}
else
{
// apps processing of image data is taking too long, it got more than 2 frames behind.
// the data is no longer avabilable.
}
if (receivedData)
{
cameraFeed.Source = BitmapSource.Create(colorImageFrame.Width, colorImageFrame.Height, 96, 96, PixelFormats.Bgr32, null, pixelData, colorImageFrame.Width * colorImageFrame.BytesPerPixel);
}
}
}
/// <summary>
/// 处理每一帧
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void _nui_ColorFrameReady(object sender, Microsoft.Kinect.ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame frame = e.OpenColorImageFrame())
{
if (frame == null)
{
return;
}
byte[] pixels = new byte[frame.PixelDataLength];
frame.CopyPixelDataTo(pixels);
// 通知对象进行处理
_subject.Notify(pixels, frame.Width, frame.Height);
}
}
void sensor_AllFramesReady(object sender, Microsoft.Kinect.AllFramesReadyEventArgs e)
{
if(this.command == "Stop")
{
Bot.stop();
}
if(this.command == "Forward")
{
Bot.traverse();
}
if (this.command == "Right")
{
Bot.turnRight();
}
if (this.command == "Left")
{
Bot.turnRight();
}
xf++;
if (xf % 5 == 0)
{
xf = 0;
if (this.command != null)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
humanPosition = frameToHuman(skeletonFrame);
if (colorFrame != null)
{
// Copy the pixel data from the image to a temporary array
colorFrame.CopyPixelDataTo(this.colorPixels);
// Write the pixel data into our bitmap
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
// Error here due to OpenCV_core290.dll
//int[] objPos = new int[2];
//objPos = tmp.matchColor(ImageProc.colorFrameToImage(colorFrame));
//if (objPos != null)
//{
// short blobDepth = getDepthAtPoint(objPos, depthFrame);
// this.lblObject.Content = objPos[0] + ", " + objPos[1] + ", " + blobDepth;
//}
//else
//{
// this.lblObject.Content = "Null";
//}
System.Drawing.Bitmap bmp = ImageProc.colorFrameToAforge(colorFrame);
HSLFiltering filter = new HSLFiltering();
// set color ranges to keep
if (objec[0] == -1)
{
if (command == "Fetching Bottle")
{
filter.Hue = bottleH;
filter.Saturation = bottleS;
filter.Luminance = bottleL;
}
else if (command == "Fetching Box")
{
filter.Hue = boxH;
filter.Saturation = boxS;
filter.Luminance = boxL;
}
//// apply the filter
filter.ApplyInPlace(bmp);
BlobCounter blobCounter = new BlobCounter(bmp);
int i = blobCounter.ObjectsCount;
ExtractBiggestBlob fil = new ExtractBiggestBlob();
int[] pp = new int[2];
pp[0] = 0;
pp[1] = 0;
int h = 0;
if (i > 0)
{
fil.Apply(bmp);
pp[0] = fil.BlobPosition.X;
pp[1] = fil.BlobPosition.Y;
h = fil.Apply(bmp).Height;
}
short blobDepth = getDepthAtPoint(pp, depthFrame);
this.lblObject.Content = pp[0] + ", " + pp[1] + ", " + blobDepth;
this.objec[0] = pp[0];
this.objec[1] = pp[1];
this.objec[2] = blobDepth;
}
else
{
filter.Hue = botH;
filter.Saturation = botS;
filter.Luminance = botL;
filter.ApplyInPlace(bmp);
BlobCounter blobCounter = new BlobCounter(bmp);
int i = blobCounter.ObjectsCount;
ExtractBiggestBlob fil = new ExtractBiggestBlob();
int[] pp = new int[2];
pp[0] = 0;
pp[1] = 0;
int h = 0;
if (i > 0)
{
fil.Apply(bmp);
pp[0] = fil.BlobPosition.X;
pp[1] = fil.BlobPosition.Y;
h = fil.Apply(bmp).Height;
}
short blobDepth = getDepthAtPoint(pp, depthFrame);
this.lblBot.Content = pp[0] + ", " + pp[1] + ", " + blobDepth;
this.bot[0] = pp[0];
this.bot[1] = pp[1];
this.bot[2] = blobDepth;
}
//Assign Manual Position to bot and object
}
if (humanPosition != null)
{
this.lblHuman.Content = humanPosition[0] + ", " + humanPosition[1] + ", " + humanPosition[2];
}
else
{
this.lblHuman.Content = "No Human detected";
}
if (this.path == 0)
{
if (humanPosition != null)
{
if (Bot.moveDoraemon(this.bot[0], this.humanPosition[0], this.bot[2], this.humanPosition[2]) == 0)
{
this.path = 1;
}
}
}
else
{
if (Bot.moveDoraemon(this.bot[0], this.objec[0], this.bot[2], this.objec[2]) == 0)
{
Bot.stop();
}
}
}
}
}
this.lbl.Content = command;
}
}
}
/// <summary>
/// Records frames
/// </summary>
public void VGAFrame(object sender, Microsoft.Kinect.ColorImageFrameReadyEventArgs e)
{
if (CurrentName == null)
return;
//Max 10 fps
if (Environment.TickCount - LastRecord < 200)
return;
using (ColorImageFrame cImageFrame = e.OpenColorImageFrame())
{
if (cImageFrame != null)
{
Actions.Add(new RecordedVideoFrame(cImageFrame) { Time = Environment.TickCount - StartTime });
LastRecord = Environment.TickCount;
}
}
}