//--------------------------------------------------------Set-, Get- Methods:---------------------------------------------------------\\
#region --Set-, Get- Methods--
public void GetSoftwareBitmap(ref SoftwareBitmap softwareBitmap)
{
MediaFrameReference frameRef = frameReader.TryAcquireLatestFrame();
VideoMediaFrame frame = frameRef?.VideoMediaFrame;
softwareBitmap = frame?.SoftwareBitmap;
}
public static unsafe SoftwareBitmap ConvertToImageAsync(VideoMediaFrame input)
{
if (input != null)
{
var inputBitmap = input.SoftwareBitmap;
var surface = input.Direct3DSurface;
try
{
if (surface != null)
{
inputBitmap = SoftwareBitmap.CreateCopyFromSurfaceAsync(surface, BitmapAlphaMode.Ignore).AsTask().GetAwaiter().GetResult();
}
if (inputBitmap != null)
{
return(SoftwareBitmap.Convert(inputBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Ignore));
}
}
finally
{
inputBitmap?.Dispose();
surface?.Dispose();
}
}
return(null);
}
internal ExampleMediaFrame(VideoMediaFrame frame)
{
IsIlluminated = frame.InfraredMediaFrame?.IsIlluminated;
SourceKind = frame.FrameReference.SourceKind;
SystemRelativeTime = frame.FrameReference.SystemRelativeTime;
SoftwareBitmap = SoftwareBitmap.Copy(frame.SoftwareBitmap);
}
private async void FrameReader_FrameArrived(MultiSourceMediaFrameReader sender, MultiSourceMediaFrameArrivedEventArgs args)
{
if (capturing)
{
capturing = false;
using (MultiSourceMediaFrameReference muxedFrameRef = sender.TryAcquireLatestFrame())
using (MediaFrameReference colorFrameRef = muxedFrameRef.TryGetFrameReferenceBySourceId(_colorSourceId))
using (MediaFrameReference depthFrameRef = muxedFrameRef.TryGetFrameReferenceBySourceId(_depthSourceId))
{
_frameReceived.Set();
// do something with the frames
VideoMediaFrame colorFrame = colorFrameRef.VideoMediaFrame;
VideoMediaFrame depthFrame = depthFrameRef.VideoMediaFrame;
SoftwareBitmap colorBitmap = colorFrame?.SoftwareBitmap;
SoftwareBitmap depthBitmap = depthFrame?.SoftwareBitmap;
StorageFolder storageFolder = ApplicationData.Current.LocalFolder;
StorageFile outputFile = await storageFolder.CreateFileAsync("image.png", CreationCollisionOption.ReplaceExisting);
SaveSoftwareBitmapToFile(colorBitmap, outputFile);
colorBitmap.Dispose();
depthBitmap.Dispose();
}
}
}
private void NewFrameArrived(MediaFrameReader sender, MediaFrameArrivedEventArgs args)
{
if (!StreamFaultTimer.IsRunning)
{
StreamFaultTimer.Start();
}
StreamFaultTimer.Restart();
MediaFrameReference LatestFrame = sender.TryAcquireLatestFrame();
if (LatestFrame != null)
{
VideoMediaFrame LatestVideoFrame = LatestFrame.VideoMediaFrame;
if (LatestVideoFrame.SoftwareBitmap == null)
{
HandleFrame(Convert.Direct3dToSKImage(LatestVideoFrame.Direct3DSurface));
}
else
{
HandleFrame(Convert.SoftwareBitmapToSKImage(LatestVideoFrame.SoftwareBitmap));
}
if (LatestVideoFrame.Direct3DSurface != null)
{
LatestVideoFrame.Direct3DSurface.Dispose();
}
if (LatestVideoFrame.SoftwareBitmap != null)
{
LatestVideoFrame.SoftwareBitmap.Dispose();
}
LatestFrame.Dispose();
}
else
{
}
}
public override SoftwareBitmap ConvertFrame(VideoMediaFrame frame)
{
try {
// XAML requires Bgra8 with premultiplied alpha.
return(SoftwareBitmap.Convert(frame.SoftwareBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied));
}
catch (ObjectDisposedException) { }
return(null);
}
public override SoftwareBitmap ConvertFrame(VideoMediaFrame frame)
{
try {
var input = SoftwareBitmap.Convert(frame.SoftwareBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
return(ApplyFilter(input));
}
catch (ObjectDisposedException) { }
return(null);
}
public void ProcessFrame()
{
MediaFrameReference frame = videoFrameProcessor.GetLatestFrame();
VideoMediaFrame videoMediaFrame = frame?.VideoMediaFrame;
if (videoMediaFrame == null)
{
return;
}
// Validate that the incoming frame format is compatible with the FaceTracker
bool isBitmapPixelFormatSupported = videoMediaFrame.SoftwareBitmap != null && FaceTracker.IsBitmapPixelFormatSupported(videoMediaFrame.SoftwareBitmap.BitmapPixelFormat);
if (!isBitmapPixelFormatSupported)
{
return;
}
// Ask the FaceTracker to process this frame asynchronously
IAsyncOperation <IList <DetectedFace> > processFrameTask = faceTracker.ProcessNextFrameAsync(videoMediaFrame.GetVideoFrame());
try
{
IList <DetectedFace> faces = processFrameTask.GetResults();
lock (@lock)
{
if (faces.Count == 0)
{
++numFramesWithoutFaces;
// The FaceTracker might lose track of faces for a few frames, for example,
// if the person momentarily turns their head away from the videoFrameProcessor. To smooth out
// the tracking, we allow 30 video frames (~1 second) without faces before
// we say that we're no longer tracking any faces.
if (numFramesWithoutFaces > 30 && latestFaces.Any())
{
latestFaces.Clear();
}
}
else
{
numFramesWithoutFaces = 0;
latestFaces.Clear();
foreach (var face in faces)
{
latestFaces.Add(face.FaceBox);
}
}
}
}
catch (Exception e)
{
// The task might be cancelled if the FaceAnalysis failed.
Debug.LogException(e);
}
}
public override SoftwareBitmap ConvertFrame(VideoMediaFrame frame)
{
try {
var bitmap = SoftwareBitmap.Convert(frame.SoftwareBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
BoostGreen(bitmap);
return(bitmap);
}
catch (ObjectDisposedException) { }
return(null);
}
/// <summary>
/// Converts a frame to a SoftwareBitmap of a valid format to display in an Image control.
/// </summary>
/// <param name="inputFrame">Frame to convert.</param>
public static unsafe SoftwareBitmap ConvertToDisplayableImage(VideoMediaFrame inputFrame)
{
SoftwareBitmap result = null;
using (var inputBitmap = inputFrame?.SoftwareBitmap)
{
if (inputBitmap != null)
{
if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Bgra8 &&
inputBitmap.BitmapAlphaMode == BitmapAlphaMode.Premultiplied)
{
// SoftwareBitmap is already in the correct format for an Image control, so just return a copy.
result = SoftwareBitmap.Copy(inputBitmap);
}
else if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray16)
{
if (inputFrame.FrameReference.SourceKind == MediaFrameSourceKind.Depth)
{
// Use a special pseudo color to render 16 bits depth frame.
var depthScale = (float)inputFrame.DepthMediaFrame.DepthFormat.DepthScaleInMeters;
result = TransformBitmap(inputBitmap, (w, i, o) => PseudoColorHelper.PseudoColorForDepth(w, i, o, depthScale));
}
else
{
// Use pseudo color to render 16 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor16BitInfrared);
}
}
else if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray8)
{
// Use pseudo color to render 8 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor8BitInfrared);
}
else
{
try
{
// Convert to Bgra8 Premultiplied SoftwareBitmap, so xaml can display in UI.
result = SoftwareBitmap.Convert(inputBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
}
catch (ArgumentException exception)
{
// Conversion of software bitmap format is not supported. Drop this frame.
System.Diagnostics.Debug.WriteLine(exception.Message);
}
}
}
}
return(result);
}
/// <summary>
/// Converts a frame to a SoftwareBitmap of a valid format to display in an Image control.
/// </summary>
/// <param name="inputFrame">Frame to convert.</param>
public static unsafe SoftwareBitmap ConvertToDisplayableImage(VideoMediaFrame inputFrame)
{
SoftwareBitmap result = null;
using (var inputBitmap = inputFrame?.SoftwareBitmap)
{
if (inputBitmap != null)
{
if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Bgra8 &&
inputBitmap.BitmapAlphaMode == BitmapAlphaMode.Premultiplied)
{
// SoftwareBitmap is already in the correct format for an Image control, so just return a copy.
result = SoftwareBitmap.Copy(inputBitmap);
}
else if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray16)
{
string subtype = inputFrame.VideoFormat.MediaFrameFormat.Subtype;
if (string.Equals(subtype, "D16", StringComparison.OrdinalIgnoreCase))
{
// Use a special pseudo color to render 16 bits depth frame.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorForDepth);
}
else
{
// Use pseudo color to render 16 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor16BitInfrared);
}
}
else if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray8)
{
// Use pseudo color to render 8 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor8BitInfrared);
}
else
{
try
{
// Convert to Bgra8 Premultiplied SoftwareBitmap, so xaml can display in UI.
result = SoftwareBitmap.Convert(inputBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
}
catch (ArgumentException exception)
{
// Conversion of software bitmap format is not supported. Drop this frame.
System.Diagnostics.Debug.WriteLine(exception.Message);
}
}
}
}
return(result);
}
async Task <byte[]> GetFrameData(MediaFrameReference frame)
{
byte[] bytes = null;
if (frame == null)
{
return(bytes);
}
VideoMediaFrame videoMediaFrame = frame.VideoMediaFrame;
if (videoMediaFrame == null)
{
return(bytes);
}
VideoFrame videoFrame = videoMediaFrame.GetVideoFrame();
SoftwareBitmap softwareBitmap = videoFrame.SoftwareBitmap;
if (softwareBitmap == null)
{
return(bytes);
}
SoftwareBitmap bitmapBGRA8 = SoftwareBitmap.Convert(softwareBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Ignore);
using (InMemoryRandomAccessStream stream = new InMemoryRandomAccessStream())
{
BitmapEncoder encoder = await BitmapEncoder.CreateAsync(BitmapEncoder.JpegEncoderId, stream);
// Set the software bitmap
encoder.SetSoftwareBitmap(bitmapBGRA8);
encoder.IsThumbnailGenerated = false;
try
{
await encoder.FlushAsync();
bytes = new byte[stream.Size];
await stream.AsStream().ReadAsync(bytes, 0, bytes.Length);
}
catch (Exception e)
{
Debug.WriteLine($"Error while trying to encode frame into a byte array, expceiton {e.Message}");
}
}
return(bytes);
}
static unsafe SoftwareBitmap ConvertDepthFrame(VideoMediaFrame inputFrame, SoftwareBitmap inputBitmap)
{
// We requested D16 from the MediaFrameReader, so the frame should be in Gray16 format.
if (inputBitmap.BitmapPixelFormat != BitmapPixelFormat.Gray16)
{
return(null);
}
// Use a special pseudo color to render 16 bits depth frame.
var depthScale = (float)inputFrame.DepthMediaFrame.DepthFormat.DepthScaleInMeters;
var minReliableDepth = inputFrame.DepthMediaFrame.MinReliableDepth;
var maxReliableDepth = inputFrame.DepthMediaFrame.MaxReliableDepth;
return(TransformBitmap(inputBitmap, (w, i, o) => PseudoColorHelper.PseudoColorForDepth(w, i, o, depthScale, minReliableDepth, maxReliableDepth)));
}
private void ProcessVideoFrame(VideoMediaFrame videoMediaframe, TimeSpan timeStamp)
{
try
{
ImageFrame imageFrame = new ImageFrame();
imageFrame.FrameIllumination = GetLuminanceInfomation(videoMediaframe);
imageFrame.Timestamp = (UInt64)timeStamp.Ticks;
imageFrame.OriginalBitmap = new SoftwareBitmap(videoMediaframe.SoftwareBitmap.BitmapPixelFormat, (int)videoMediaframe.VideoFormat.Width, (int)videoMediaframe.VideoFormat.Height);
videoMediaframe.SoftwareBitmap.CopyTo(imageFrame.OriginalBitmap);
_frameQueue.Enqueue(imageFrame);
if (_frameQueue.Count > MaxQueueCount)
{
_frameQueue.Dequeue().Dispose();
}
_ImageAutoEvent.Set();
}
catch (Exception ex)
{
throw ex;
}
}
private LuminanceInfo GetLuminanceInfomation(VideoMediaFrame videoFrame)
{
LuminanceInfo illuminationInfo = LuminanceInfo.AmbientSubtractionEnabled;
try
{
if (videoFrame.InfraredMediaFrame.IsIlluminated)
{
illuminationInfo = LuminanceInfo.Light;
}
else
{
illuminationInfo = LuminanceInfo.Dark;
}
}
catch (Exception ex)
{
throw ex;
}
return(illuminationInfo);
}
unsafe private void ProcessVideoFrame(VideoMediaFrame videoMediaFrame)
{
float focalX = videoMediaFrame.CameraIntrinsics.FocalLength.X;
float focalY = videoMediaFrame.CameraIntrinsics.FocalLength.Y;
uint imageWidth = videoMediaFrame.CameraIntrinsics.ImageWidth;
uint imageHeight = videoMediaFrame.CameraIntrinsics.ImageHeight;
SoftwareBitmap softwareBitmap = videoMediaFrame.SoftwareBitmap;
if (softwareBitmap.BitmapPixelFormat != BitmapPixelFormat.Nv12)
{
softwareBitmap = SoftwareBitmap.Convert(softwareBitmap, BitmapPixelFormat.Nv12);
}
BitmapBuffer bitmapBuffer = softwareBitmap.LockBuffer(BitmapBufferAccessMode.Read);
IMemoryBufferReference reference = bitmapBuffer.CreateReference();
byte[] buf = new byte[4 * 4 + imageWidth * imageHeight * 3 / 2];
fixed(byte *pBufByte = buf)
{
float *pBufFloat = (float *)pBufByte;
uint * pBufUint = (uint *)pBufByte;
byte * dataInBytes;
uint capacityInBytes;
((IMemoryBufferByteAccess)reference).GetBuffer(out dataInBytes, out capacityInBytes);
pBufFloat[0] = focalX;
pBufFloat[1] = focalY;
pBufUint[2] = imageWidth;
pBufUint[3] = imageHeight;
for (uint i = 0; i < imageWidth * imageHeight * 3 / 2; i++)
{
pBufByte[4 * 4 + i] = dataInBytes[i];
}
}
videoStream.WriteAsync(buf.AsBuffer());
}
private CameraFrameInternal GetFrameFromMediaFrameReader(MediaFrameReader frameReader)
{
// get the latest frame
MediaFrameReference frameReference = frameReader?.TryAcquireLatestFrame();
VideoMediaFrame videoFrame = frameReference?.VideoMediaFrame;
SoftwareBitmap frameBmp = videoFrame?.SoftwareBitmap;
CameraFrameInternal frame = null;
if (frameBmp != null)
{
// get a camera frame and populate with the correct data for this frame - acquire copies the bitmap to the frame
frame = framePool.AcquireFrame(frameBmp, desiredPixelFormat);
frame.PixelFormat = desiredPixelFormat;
frame.Resolution = Resolution;
frame.FrameTime = frameReference.SystemRelativeTime.HasValue ? frameReference.SystemRelativeTime.Value.TotalSeconds : 0.0;
frame.Exposure = frameReference.Duration.TotalSeconds;
frame.Gain = Gain;
if (KeepSoftwareBitmap)
{
frame.SoftwareBitmap = frameBmp;
}
else
{
frameBmp.Dispose();
}
// extrinsics and intrinsics
frame.Extrinsics = GetExtrinsics(frameReference.CoordinateSystem);
frame.Intrinsics = ConvertIntrinsics(frameReference.VideoMediaFrame.CameraIntrinsics);
}
frameReference?.Dispose();
return(frame);
}
/// <summary>
/// Converts a frame to a SoftwareBitmap of a valid format to display in an Image control.
/// </summary>
/// <param name="inputFrame">Frame to convert.</param>
public static async Task <SoftwareBitmap> ConvertToDisplayableImageAsync(VideoMediaFrame inputFrame)
{
Debug.Assert(inputFrame != null);
var inputBitmap = inputFrame.SoftwareBitmap;
Debug.Assert(inputBitmap != null);
SoftwareBitmap result = null;
await Task.Run(() => {
try {
switch (inputFrame.FrameReference.SourceKind)
{
case MediaFrameSourceKind.Color:
result = ConvertColorFrame(inputBitmap);
break;
case MediaFrameSourceKind.Depth:
result = ConvertDepthFrame(inputFrame, inputBitmap);
break;
case MediaFrameSourceKind.Infrared:
result = ConvertInfraredFrame(inputBitmap);
break;
}
}
catch (ObjectDisposedException) { }
inputBitmap.Dispose();
});
Debug.Assert(result != null);
return(result);
}
/// <summary>
/// Converts a frame to a SoftwareBitmap of a valid format to display in an Image control.
/// </summary>
/// <param name="inputFrame">Frame to convert.</param>
public static unsafe SoftwareBitmap ConvertToDisplayableImage(VideoMediaFrame inputFrame)
{
SoftwareBitmap result = null;
using (var inputBitmap = inputFrame?.SoftwareBitmap)
{
if (inputBitmap != null)
{
switch (inputFrame.FrameReference.SourceKind)
{
case MediaFrameSourceKind.Color:
// XAML requires Bgra8 with premultiplied alpha.
// We requested Bgra8 from the MediaFrameReader, so all that's
// left is fixing the alpha channel if necessary.
if (inputBitmap.BitmapPixelFormat != BitmapPixelFormat.Bgra8)
{
Debug.WriteLine("Color frame in unexpected format.");
}
else if (inputBitmap.BitmapAlphaMode == BitmapAlphaMode.Premultiplied)
{
// Already in the correct format.
result = SoftwareBitmap.Copy(inputBitmap);
}
else
{
// Convert to premultiplied alpha.
result = SoftwareBitmap.Convert(inputBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
}
break;
case MediaFrameSourceKind.Depth:
// We requested D16 from the MediaFrameReader, so the frame should
// be in Gray16 format.
if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray16)
{
// Use a special pseudo color to render 16 bits depth frame.
var depthScale = (float)inputFrame.DepthMediaFrame.DepthFormat.DepthScaleInMeters;
var minReliableDepth = inputFrame.DepthMediaFrame.MinReliableDepth;
var maxReliableDepth = inputFrame.DepthMediaFrame.MaxReliableDepth;
result = TransformBitmap(inputBitmap, (w, i, o) => PseudoColorHelper.PseudoColorForDepth(w, i, o, depthScale, minReliableDepth, maxReliableDepth));
}
else
{
Debug.WriteLine("Depth frame in unexpected format.");
}
break;
case MediaFrameSourceKind.Infrared:
// We requested L8 or L16 from the MediaFrameReader, so the frame should
// be in Gray8 or Gray16 format.
switch (inputBitmap.BitmapPixelFormat)
{
case BitmapPixelFormat.Gray16:
// Use pseudo color to render 16 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor16BitInfrared);
break;
case BitmapPixelFormat.Gray8:
// Use pseudo color to render 8 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor8BitInfrared);
break;
default:
Debug.WriteLine("Infrared frame in unexpected format.");
break;
}
break;
}
}
}
return(result);
}
/// <summary>
/// Converts a frame to a SoftwareBitmap of a valid format to display in an Image control.
/// </summary>
/// <param name="inputFrame">Frame to convert.</param>
public static unsafe SoftwareBitmap ConvertToDisplayableImage(VideoMediaFrame inputFrame)
{
SoftwareBitmap result = null;
using (var inputBitmap = inputFrame?.SoftwareBitmap)
{
if (inputBitmap != null)
{
if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Bgra8 &&
inputBitmap.BitmapAlphaMode == BitmapAlphaMode.Premultiplied)
{
// SoftwareBitmap is already in the correct format for an Image control, so just return a copy.
result = SoftwareBitmap.Copy(inputBitmap);
}
else if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray16)
{
if (inputFrame.FrameReference.SourceKind == MediaFrameSourceKind.Depth)
{
// Use a special pseudo color to render 16 bits depth frame.
var depthScale = (float)inputFrame.DepthMediaFrame.DepthFormat.DepthScaleInMeters;
result = TransformBitmap(inputBitmap, (w, i, o) => PseudoColorHelper.PseudoColorForDepth(w, i, o, depthScale));
}
else
{
// Use pseudo color to render 16 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor16BitInfrared);
}
}
else if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray8)
{
// Use pseudo color to render 8 bits frames.
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor8BitInfrared);
}
else
{
try
{
// Convert to Bgra8 Premultiplied SoftwareBitmap, so xaml can display in UI.
result = SoftwareBitmap.Convert(inputBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
}
catch (ArgumentException exception)
{
// Conversion of software bitmap format is not supported. Drop this frame.
System.Diagnostics.Debug.WriteLine(exception.Message);
}
}
}
}
return result;
}
public async Task EvaluateVideoFrameAsync(VideoFrame frame, VideoMediaFrame VideoFrame, SpatialCoordinateSystem worldCoordinateSystem, SpatialCoordinateSystem cameraCoordinateSystem) // <-- 2
{
if (frame != null)
{
try
{
TimeRecorder.Restart();
// A matrix to transform camera coordinate system to world coordinate system
Matrix4x4 cameraToWorld = (Matrix4x4)cameraCoordinateSystem.TryGetTransformTo(worldCoordinateSystem);
// Internal orientation of camera
CameraIntrinsics cameraIntrinsics = VideoFrame.CameraIntrinsics;
// The frame of depth camera
DepthMediaFrame depthFrame = VideoFrame.DepthMediaFrame;
// not working, cause error
// DepthCorrelatedCoordinateMapper depthFrameMapper = depthFrame.TryCreateCoordinateMapper(cameraIntrinsics, cameraCoordinateSystem);
ONNXModelInput inputData = new ONNXModelInput();
inputData.Data = frame;
var output = await Model.EvaluateAsync(inputData).ConfigureAwait(false); // <-- 3
TimeRecorder.Stop();
string timeStamp = $"({DateTime.Now})";
// $" Evaluation took {TimeRecorder.ElapsedMilliseconds}ms\n";
int count = 0;
foreach (var prediction in output)
{
var product = prediction.TagName; // <-- 4
var loss = prediction.Probability; // <-- 5
if (loss > 0.5f)
{
float left = prediction.BoundingBox.Left;
float top = prediction.BoundingBox.Top;
float right = prediction.BoundingBox.Left + prediction.BoundingBox.Width;
float bottom = prediction.BoundingBox.Top + prediction.BoundingBox.Height;
float x = prediction.BoundingBox.Left + prediction.BoundingBox.Width / 2;
float y = prediction.BoundingBox.Top + prediction.BoundingBox.Height / 2;
Direct3DSurfaceDescription pixelData = frame.Direct3DSurface.Description;
int height = pixelData.Height;
int width = pixelData.Width;
Vector3 ImageToWorld(float X, float Y)
{
// remove image distortion
// Point objectCenterPoint = cameraIntrinsics.UndistortPoint(new Point(x, y));
// screen space -> camera space
// unproject pixel coordinate of object center towards a plane that is one meter from the camera
Vector2 objectCenter = cameraIntrinsics.UnprojectAtUnitDepth(new Point(X * width, Y * height));
// construct a ray towards object
Vector3 vectorTowardsObject = Vector3.Normalize(new Vector3(objectCenter.X, objectCenter.Y, -1.0f));
// estimate the vending machine distance by its width
// less accurate than use depth frame
// magic number 940 pixels in width for an average vending machine at 2m
// float estimatedVendingMachineDepth = (0.94f / prediction.BoundingBox.Width) * 2;
float estimatedVendingMachineDepth = (0.3f / prediction.BoundingBox.Width) * 1;
// times the vector towards object by the distance to get object's vector in camera coordinate system
Vector3 vectorToObject = vectorTowardsObject * estimatedVendingMachineDepth;
// camera space -> world space
// tranform the object postion from camera coordinate system to world coordinate system
Vector3 targetPositionInWorldSpace = Vector3.Transform(vectorToObject, cameraToWorld);
return(targetPositionInWorldSpace);
}
Vector3 objectCenterInWorld = ImageToWorld(x, y);
Vector3 objectTopLeft = ImageToWorld(left, top);
Vector3 objectTopRight = ImageToWorld(right, top);
Vector3 objectBotLeft = ImageToWorld(left, bottom);
float widthInWorld = Vector3.Distance(objectTopLeft, objectTopRight);
float heightInWorld = widthInWorld / (width * prediction.BoundingBox.Width) * (height * prediction.BoundingBox.Height);
var lossStr = (loss * 100.0f).ToString("#0.00") + "%";
// lossStr = $"{prediction.BoundingBox.Width*width}X{prediction.BoundingBox.Height*height}";
UnityApp.StoreNetworkResult(timeStamp, product, lossStr, objectCenterInWorld.X, objectCenterInWorld.Y, objectCenterInWorld.Z, widthInWorld, heightInWorld);
}
}
}
catch (Exception ex)
{
var err_message = $"{ex.Message}";
ModifyText(err_message);
}
}
}
/// <summary>
/// Converts a frame to a SoftwareBitmap of a valid format to display in an Image control.
/// </summary>
/// <param name="inputFrame">Frame to convert.</param>
public static unsafe SoftwareBitmap ConvertToDisplayableImage(VideoMediaFrame inputFrame)
{
SoftwareBitmap result = null;
using (var inputBitmap = inputFrame?.SoftwareBitmap)
{
if (inputBitmap != null)
{
switch (inputFrame.FrameReference.SourceKind)
{
case MediaFrameSourceKind.Color:
if (inputBitmap.BitmapPixelFormat != BitmapPixelFormat.Bgra8)
{
Debug.WriteLine("Color frame in unexpected format.");
}
else if (inputBitmap.BitmapAlphaMode == BitmapAlphaMode.Premultiplied)
{
result = SoftwareBitmap.Copy(inputBitmap);
}
else
{
result = SoftwareBitmap.Convert(inputBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
}
break;
case MediaFrameSourceKind.Depth:
if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray16)
{
var depthScale = (float)inputFrame.DepthMediaFrame.DepthFormat.DepthScaleInMeters;
var minReliableDepth = inputFrame.DepthMediaFrame.MinReliableDepth;
var maxReliableDepth = inputFrame.DepthMediaFrame.MaxReliableDepth;
result = TransformBitmap(inputBitmap, (w, i, o) => PseudoColorHelper.PseudoColorForDepth(w, i, o, depthScale, minReliableDepth, maxReliableDepth));
}
else
{
Debug.WriteLine("Depth frame in unexpected format.");
}
break;
case MediaFrameSourceKind.Infrared:
switch (inputBitmap.BitmapPixelFormat)
{
case BitmapPixelFormat.Gray16:
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor16BitInfrared);
break;
case BitmapPixelFormat.Gray8:
result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor8BitInfrared);
break;
default:
Debug.WriteLine("Infrared frame in unexpected format.");
break;
}
break;
}
}
}
return(result);
}
/// <summary>
/// Converts a frame to a SoftwareBitmap of a valid format to display in an Image control.
/// </summary>
/// <param name="inputFrame">Frame to convert.</param>
public static unsafe SoftwareBitmap ConvertToDisplayableImage(VideoMediaFrame inputFrame)
{
SoftwareBitmap result = null;
using (var inputBitmap = inputFrame?.SoftwareBitmap)
{
if (inputBitmap != null)
{
var depthScale = (float)inputFrame.DepthMediaFrame.DepthFormat.DepthScaleInMeters;
var minReliableDepth = inputFrame.DepthMediaFrame.MinReliableDepth;
var maxReliableDepth = inputFrame.DepthMediaFrame.MaxReliableDepth;
result = TransformBitmap(inputBitmap, (w, i, o) => PseudoColorHelper.PseudoColorForDepth(w, i, o, depthScale, minReliableDepth, maxReliableDepth));
/* switch (inputFrame.FrameReference.SourceKind)
* {
* case MediaFrameSourceKind.Color:
* // XAML requires Bgra8 with premultiplied alpha.
* // We requested Bgra8 from the MediaFrameReader, so all that's
* // left is fixing the alpha channel if necessary.
* if (inputBitmap.BitmapAlphaMode == BitmapAlphaMode.Premultiplied)
* {
* // Already in the correct format.
* result = SoftwareBitmap.Copy(inputBitmap);
* }
* else
* {
* // Convert to premultiplied alpha.
* result = SoftwareBitmap.Convert(inputBitmap, BitmapPixelFormat.Bgra8, BitmapAlphaMode.Premultiplied);
* }
* break;
*
* case MediaFrameSourceKind.Depth:
* // We requested D16 from the MediaFrameReader, so the frame should
* // be in Gray16 format.
* if (inputBitmap.BitmapPixelFormat == BitmapPixelFormat.Gray16)
* {
* // Use a special pseudo color to render 16 bits depth frame.
* var depthScale = (float)inputFrame.DepthMediaFrame.DepthFormat.DepthScaleInMeters;
* var minReliableDepth = inputFrame.DepthMediaFrame.MinReliableDepth;
* var maxReliableDepth = inputFrame.DepthMediaFrame.MaxReliableDepth;
* result = TransformBitmap(inputBitmap, (w, i, o) => PseudoColorHelper.PseudoColorForDepth(w, i, o, depthScale, minReliableDepth, maxReliableDepth));
* }
*
* break;
*
* case MediaFrameSourceKind.Infrared:
* // We requested L8 or L16 from the MediaFrameReader, so the frame should
* // be in Gray8 or Gray16 format.
* switch (inputBitmap.BitmapPixelFormat)
* {
* case BitmapPixelFormat.Gray16:
* // Use pseudo color to render 16 bits frames.
* result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor16BitInfrared);
* break;
*
* case BitmapPixelFormat.Gray8:
*
* // Use pseudo color to render 8 bits frames.
* result = TransformBitmap(inputBitmap, PseudoColorHelper.PseudoColorFor8BitInfrared);
* break;
*
* default:
*
* break;
* }
* break;
* }
*/
}
}
return(result);
}
public abstract SoftwareBitmap ConvertFrame(VideoMediaFrame videoMediaFrame);