//キャリブレーション装置LEDの中心をとる
//カラーイメージ取得
void ColorFrame_Arrived(object sender, ColorFrameArrivedEventArgs e)
{
try
{
ColorFrame colorFrame = e.FrameReference.AcquireFrame();
//フレームがなければ終了、あれば格納
if (colorFrame == null)
{
return;
}
colorFrame.CopyConvertedFrameDataToArray(this.colors, this.colorImageFormat);
//表示
this.colorImg.WritePixels(this.bitmapRect, this.colors, this.bitmapStride, 0);
//データ送信
if (this.IsCalib == true || this.SendData_LEDPt.IsChecked == true)
{
this.SendData_LEDPt.IsChecked = true;
this.SendData();
this.IsCalib = false;
}
//破棄
colorFrame.Dispose();
}
catch
{
this.ErrorPoint(System.Reflection.MethodBase.GetCurrentMethod().ToString());
}
}
//重点
/// <summary>
/// 处理从传感器接收到的颜色帧数据
/// </summary>
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// ColorFrameArrivedEventArgs：为事件传递参数，返回当前彩色图像帧
// ColorFrame：表示某一帧彩色图像帧
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
// FrameDescription：表示来自Kinect传感器的图像帧的属性
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
// 运行Kinect实例访问内存
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
// 不知道什么意思，可能是对内存的读写控制
this.colorBitmap.Lock();
// 验证数据并将新的颜色框数据写入显示位图
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
// 没找到，但我之前见过
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
// 不知道什么意思，估计是画图
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
// 不知道什么意思，可能是对内存的读写控制
this.colorBitmap.Unlock();
}
}
}
}
/// <summary>
/// creates a color picture from the colorframe data package and broadcasts it
/// </summary>
/// <param name="e">the colorframe data package</param>
void CalculateColorPicture(ColorFrameArrivedEventArgs e)
{
using (ColorFrame cf = e.FrameReference.AcquireFrame())
{
if (cf != null)
{
byte[] colorPixels = new byte[cf.FrameDescription.Width * cf.FrameDescription.Height * ((PixelFormats.Bgr32.BitsPerPixel + 7) / 8)];
WriteableBitmap colorBitmap = new WriteableBitmap(
cf.FrameDescription.Width,
cf.FrameDescription.Height,
96.0, 96.0, PixelFormats.Bgr32, null);
if ((cf.FrameDescription.Width == colorBitmap.PixelWidth) && (cf.FrameDescription.Height == colorBitmap.PixelHeight))
{
if (cf.RawColorImageFormat == ColorImageFormat.Bgra)
{
cf.CopyRawFrameDataToArray(colorPixels);
}
else
{
cf.CopyConvertedFrameDataToArray(colorPixels, ColorImageFormat.Bgra);
}
colorBitmap.WritePixels(
new Int32Rect(0, 0, colorBitmap.PixelWidth, colorBitmap.PixelHeight),
colorPixels,
colorBitmap.PixelWidth * ((PixelFormats.Bgr32.BitsPerPixel + 7) / 8),
0);
colorBitmap.Freeze();
OnColorPictureEvent.BeginInvoke(colorBitmap, null, null);
}
}
}
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
//use the current image frame in a memory safe manner
using (ColorFrame frame = e.FrameReference.AcquireFrame())
{
//sometimes this frame isn't available
//defensive programming
if (frame == null)
{
return;
}
using (KinectBuffer colorBuffer = frame.LockRawImageBuffer())
{
//threadsafe lock on this data so it doesn't get modified
pushupColorBitmap.Lock();
//let application to know where the image is being stored
frame.CopyConvertedFrameDataToIntPtr(pushupColorBitmap.BackBuffer, (uint)(1920 * 1080 * 4), ColorImageFormat.Bgra);
//the number is width*height*bytes per pixel
//redraw the screen in this area
pushupColorBitmap.AddDirtyRect(new Int32Rect(0, 0, pushupColorBitmap.PixelWidth, pushupColorBitmap.PixelHeight));
//unlock
pushupColorBitmap.Unlock();
}
}
}
/// <summary>
/// Handles the color frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
}
}
}
private void ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (!isRecording)
{
return;
}
colorFrameTick += 1;
var props = sensor.ColorFrameSource.FrameDescription;
if ((colorFrameTick % Resolution == 0))
{
var buffer = new byte[props.Width * props.Height * 4];
bool shouldProcess = false;
using (var frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
shouldProcess = true;
frame.CopyConvertedFrameDataToArray(buffer, ColorImageFormat.Bgra);
}
}
if (shouldProcess)
{
if (colorQueue.Count < 5)
{
BufferForFrame x;
x.buffer = buffer;
x.frame_id = colorFrameTick;
colorQueue.Add(x);
}
}
}
}
// ColorFrameReader event handler
void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame == null)
{
return;
}
// Locks raw pixel data for the captured frame
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
colorBitmap.Lock();
colorFrame.CopyConvertedFrameDataToIntPtr(
colorBitmap.BackBuffer,
(uint)(1920 * 1080 * 4),
ColorImageFormat.Bgra);
// Defines the entire image as update space
colorBitmap.AddDirtyRect(new Int32Rect(0, 0, colorBitmap.PixelWidth, colorBitmap.PixelHeight));
colorBitmap.Unlock();
}
}
}
private void Read_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(colorBitmap.BackBuffer, (uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4), ColorImageFormat.Bgra);
//colorframe의 현제 프레임 정보를 colorbitmap에 복사하는 기능, 이미지 크기 = 가로*세로*4바이트의 색상, 이미지포멧은 Bgra포맷
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, colorBitmap.PixelWidth, colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
}
}
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
colorBitmap.Lock();
if ((colorFrameDescription.Width == colorBitmap.PixelWidth) && (colorFrameDescription.Height == colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
colorBitmap.AddDirtyRect(new Int32Rect(0, 0, colorBitmap.PixelWidth, colorBitmap.PixelHeight));
}
colorBitmap.Unlock();
}
}
}
}
private void ColorReader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (this.processingColorFrame)
{
return;
}
this.processingColorFrame = true;
bool colorFrameProcessed = false;
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
if (colorFrame.RawColorImageFormat == ColorImageFormat.Rgba)
{
colorFrame.CopyRawFrameDataToArray(this.colorPixels);
}
else
{
colorFrame.CopyConvertedFrameDataToArray(this.colorPixels, ColorImageFormat.Rgba);
}
colorFrameProcessed = true;
}
}
}
if (colorFrameProcessed)
{
this.colorFrameCallback(this.colorPixels);
}
this.processingColorFrame = false;
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
var colorFrameProcessed = false;
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
if ((colorFrameDescription.Width == colorBitmap.PixelWidth) && (colorFrameDescription.Height == colorBitmap.PixelHeight))
{
if (colorFrame.RawColorImageFormat == ColorImageFormat.Bgra)
{
colorFrame.CopyRawFrameDataToBuffer(colorBitmap.PixelBuffer);
}
else
{
colorFrame.CopyConvertedFrameDataToBuffer(colorBitmap.PixelBuffer, ColorImageFormat.Bgra);
}
colorFrameProcessed = true;
}
}
}
if (colorFrameProcessed)
{
colorBitmap.Invalidate();
}
}
void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// Get the current image frame in a memory-safe manner
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
// Defensive programming: Just in case the sensor frame is no longer valid, exit the function
if (colorFrame == null)
{
return;
}
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
// Put a thread-safe lock on this data so it doesn't get modified elsewhere
colorBitmap.Lock();
// Let the application know where the image is being stored
colorFrame.CopyConvertedFrameDataToIntPtr(
colorBitmap.BackBuffer,
(uint)(1920 * 1080 * 4), // Width * Height * BytesPerPixel
ColorImageFormat.Bgra);
// Let the application know that it needs to redraw the screen in this area (the whole image)
colorBitmap.AddDirtyRect(new Int32Rect(0, 0, colorBitmap.PixelWidth, colorBitmap.PixelHeight));
// Remove the thread-safe lock on this data
colorBitmap.Unlock();
}
}
}
//színes képi adatok kezelése, ami a Kinect felől jön
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// ColorFrame elérhető
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
// adatok ellenőrzése és továbbítása a bittérképként a colorBitmap bufferbe
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
}
}
}
/// <summary>
/// Handle color frame arrived from dedicated Color frames reader.
/// Send frame to all registered processors and Dispose it.
/// </summary>
/// <param name="sender"></param>
/// <param name="evt"></param>
private void ColorFrameArrived(object sender, ColorFrameArrivedEventArgs evt)
{
try
{
if (ColorFrameEvent != null)
{
using (var colorFrame = evt.FrameReference.AcquireFrame())
{
if (!_firstFrameRelativeTimeEventFired)
{
OnFirstFrameRelativeTimeEvent(colorFrame.RelativeTime);
}
ColorFrameEvent(colorFrame);
}
}
_colorSourceFpsWatcher.Tick();
}
catch (Exception e)
{
if (FrameProcessExceptionEvent != null)
{
FrameProcessExceptionEvent(e);
}
}
}
private void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame frame = e.FrameReference.AcquireFrame())
{
if (frame == null)
{
return;
}
using (KinectBuffer buffer = frame.LockRawImageBuffer())
{
int width = frame.FrameDescription.Width;
int height = frame.FrameDescription.Height;
Rectangle rect = new Rectangle(0, 0, width, height);
uint size = (uint)(width * height * 4);
if (bmp == null)
{
bmp = new Bitmap(width, height, PixelFormat.Format32bppArgb);
}
BitmapData bmpData = bmp.LockBits(rect, ImageLockMode.ReadWrite, PixelFormat.Format32bppArgb);
frame.CopyConvertedFrameDataToIntPtr(bmpData.Scan0, size, ColorImageFormat.Bgra);
bmp.UnlockBits(bmpData);
}
}
if (bmp != null)
{
pictureBox1.Image = bmp;
pictureBox1.Refresh();
}
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
count += 1;
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
}
}
//on first image recieved
if (count == 1)
{
{
if (this.colorBitmap != null)
{
// create a png bitmap encoder which knows how to save a .png file
BitmapEncoder encoder = new PngBitmapEncoder();
// create frame from the writable bitmap and add to encoder
encoder.Frames.Add(BitmapFrame.Create(this.colorBitmap));
string path = Path.Combine("test_images", "image1.jpg");
// write the new file to disk
try
{
// FileStream is IDisposable
using (FileStream fs = new FileStream(path, FileMode.Create))
{
encoder.Save(fs);
}
}
catch (IOException)
{
Debug.WriteLine("failed to send screencap");
}
}
};
}
}
/// <summary>
/// 彩色图回调函数
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
//获取彩色坐标信息
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
//绘制彩色图
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
//分析数据将新的彩色图数据写入位图
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
}
}
}
/// <summary>
/// Dispatcher to update the color image control
/// 用 Dispatcher 更新主线程 (UI 线程) 组件
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Color_ShowImage(Object sender, ColorFrameArrivedEventArgs e)
{
this.Dispatcher.BeginInvoke(
(Action)
(() => this.RenderColorImage(ref this.colorBitmap, this.colorImage, e))
);
}
private void ColorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
_colorCameraIntrinsics = e.CameraIntrinsics;
var bitmap = e.GetDisplayableBitmap(BitmapPixelFormat.Bgra8);
bitmap = Interlocked.Exchange(ref _colorBackBuffer, bitmap);
bitmap?.Dispose();
#pragma warning disable CS4014 // Because this call is not awaited, execution of the current method continues before the call is completed
ColorOutput.Dispatcher.RunAsync(
Windows.UI.Core.CoreDispatcherPriority.Normal,
async() =>
{
if (Interlocked.CompareExchange(ref _isRenderingColor, 1, 0) == 0)
{
try
{
SoftwareBitmap availableFrame = null;
while ((availableFrame = Interlocked.Exchange(ref _colorBackBuffer, null)) != null)
{
await((SoftwareBitmapSource)ColorOutput.Source).SetBitmapAsync(availableFrame);
availableFrame.Dispose();
}
}
finally
{
Interlocked.Exchange(ref _isRenderingColor, 0);
}
}
});
#pragma warning restore CS4014 // Because this call is not awaited, execution of the current method continues before the call is completed
}
/// <summary>
/// Handles the color frame data arriving from the sensor.
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
bool colorFrameProcessed = false;
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
// verify data and write the new color frame data to the Writeable bitmap
if ((colorFrameDescription.Width == this.bitmap.PixelWidth) && (colorFrameDescription.Height == this.bitmap.PixelHeight))
{
if (colorFrame.RawColorImageFormat == ColorImageFormat.Bgra)
{
colorFrame.CopyRawFrameDataToBuffer(this.bitmap.PixelBuffer);
}
else
{
colorFrame.CopyConvertedFrameDataToBuffer(this.bitmap.PixelBuffer, ColorImageFormat.Bgra);
}
colorFrameProcessed = true;
}
}
}
// we got a frame, render
if (colorFrameProcessed)
{
this.bitmap.Invalidate();
}
}
/// <summary>
/// Display color image on image control
/// </summary>
/// <param name="bitmap">color bitmap</param>
/// <param name="image">color image control</param>
/// <param name="args">frame args</param>
private void RenderColorImage(ref WriteableBitmap bitmap,
System.Windows.Controls.Image image, ColorFrameArrivedEventArgs args)
{
using (ColorFrame colorFrame = args.FrameReference.AcquireFrame())
{
if (colorFrame == null)
{
return;
}
else
{
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
bitmap.Lock();
colorFrame.CopyConvertedFrameDataToIntPtr(
bitmap.BackBuffer,
(uint)(1920 * 1080 * 4),
ColorImageFormat.Bgra);
bitmap.AddDirtyRect(new Int32Rect(0, 0, bitmap.PixelWidth, bitmap.PixelHeight));
bitmap.Unlock();
image.Source = bitmap;
}
}
}
}
private void ColorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
var colorFrame = e.FrameReference.AcquireFrame();
if (colorFrame != null)
{
using (colorFrame)
{
lastColorGain = colorFrame.ColorCameraSettings.Gain;
lastColorExposureTimeTicks = colorFrame.ColorCameraSettings.ExposureTime.Ticks;
if (yuvFrameReady.Count > 0)
{
lock (yuvByteBuffer)
colorFrame.CopyRawFrameDataToArray(yuvByteBuffer);
lock (yuvFrameReady)
foreach (var autoResetEvent in yuvFrameReady)
{
autoResetEvent.Set();
}
}
if (rgbFrameReady.Any(ready => !ready.WaitOne(0)))
{
lock (rgbByteBuffer)
colorFrame.CopyConvertedFrameDataToArray(rgbByteBuffer, ColorImageFormat.Bgra);
lock (rgbFrameReady)
foreach (var autoResetEvent in rgbFrameReady)
{
autoResetEvent.Set();
}
}
}
}
}
/// <summary>
/// カラーフレームを取得した時のイベント
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (var colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame == null)
{
return;
}
//BGRAデータを登録
colorBuffer = new byte[colorFrameDesc.Width * colorFrameDesc.Height * colorFrameDesc.BytesPerPixel];
colorFrame.CopyConvertedFrameDataToArray(colorBuffer, ColorImageFormat.Bgra);
bitmapSource = BitmapSource.Create(colorFrameDesc.Width, colorFrameDesc.Height, 96, 96,
PixelFormats.Bgra32, null, colorBuffer, colorFrameDesc.Width * (int)colorFrameDesc.BytesPerPixel);
//ImageColor.Source = bitmapSource;
ImageColor.SetCurrentValue(System.Windows.Controls.Image.SourceProperty, bitmapSource);
if (RecordPoints.IsChecked == true && frameCount % 3 == 0)
{
using (Stream stream =
new FileStream(pathSaveFolder + "image/" + StopWatch.ElapsedMilliseconds + ".jpg", FileMode.Create))
{
JpegBitmapEncoder encoder = new JpegBitmapEncoder();
encoder.Frames.Add(BitmapFrame.Create(bitmapSource));
encoder.Save(stream);
stream.Close();
}
}
frameCount++;
}
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
//calculate FPS
this.fps = 1.0 / colorFrame.ColorCameraSettings.FrameInterval.TotalSeconds;
this.OnFrameArrived.Invoke(this, AgleView.KinectColor);
this.colorBitmap.Unlock();
}
}
}
}
private void Runtime_ColorFrameReady(object sender, ColorFrameArrivedEventArgs e)
{
if (this.ColorFrameReady != null)
{
this.ColorFrameReady(sender, e);
}
}
private void cfr_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (e.FrameReference == null)
{
return;
}
using (ColorFrame cf = e.FrameReference.AcquireFrame())
{
if (cf == null)
{
return;
}
cf.CopyConvertedFrameDataToArray(colorData, format);
var fd = cf.FrameDescription;
// Creating BitmapSource
var bytesPerPixel = (PixelFormats.Bgr32.BitsPerPixel) / 8;
var stride = bytesPerPixel * cf.FrameDescription.Width;
bmpSource = BitmapSource.Create(fd.Width, fd.Height, 96.0, 96.0, PixelFormats.Bgr32, null, colorData, stride);
// WritableBitmap to show on UI
wbmp = new WriteableBitmap(bmpSource);
image.Source = wbmp;
//image1.Source = People.png
}
}
void OnFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// I don't *think* this event is re-entrant in the sense that I
// don't think we'll get it fired while we're handling it. Once
// we return to the caller it can call us again though and that
// can happen after I've called Task.Run and returned below.
if (this.bufferIdle)
{
this.bufferIdle = false;
Task.Run(
async () =>
{
var frame = e.FrameReference.AcquireFrame();
if (frame != null)
{
frame.CopyConvertedFrameDataToArray(this.frameArray, ColorImageFormat.Bgra);
await this.frameHandler(
this.frameArray,
(int)this.FrameSize.Width,
(int)this.FrameSize.Height);
frame.Dispose();
this.bufferIdle = true;
}
else
{
this.bufferIdle = true;
}
});
}
}
/**
* @brief Converts Bitmap into .jpeg Image
* Recieves the frame captured by the Kinect Sensor as BITMAP and saves as a .jpeg every 3 frames
* to reduce game lag.
*
* @param object sender
* @param ColorFramArrivedEventArgs e
* @return void
* @pre
* @post
*/
private void cfr_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (e.FrameReference == null)
{
return;
}
using (ColorFrame cf = e.FrameReference.AcquireFrame())
{
if (cf == null)
{
return;
}
cf.CopyConvertedFrameDataToArray(colorData, format);
var fd = cf.FrameDescription;
bmpSource = new Bitmap(fd.Width, fd.Height, PixelFormat.Format32bppRgb);
BitmapData bmpData = bmpSource.LockBits(new Rectangle(0, 0, bmpSource.Width, bmpSource.Height), ImageLockMode.WriteOnly, bmpSource.PixelFormat);
Marshal.Copy(colorData, 0, bmpData.Scan0, colorData.Length);
bmpSource.UnlockBits(bmpData);
if (count % 3 == 0)
{
bmpSource.Save("..\\ffmpeg\\Images\\img" + (imageSerial++) + ".jpeg", myImageCodecInfo, myEncoderParameters);
}
}
count++;
}
private void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
// 防御性编程:以防传感器跳过一个框架,退出功能
if (colorFrame == null)
{
return;
}
// 设置一个数组,可以容纳所有的字节的图像
var colorFrameDescription = colorFrame.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
var frameSize = colorFrameDescription.Width * colorFrameDescription.Height * colorFrameDescription.BytesPerPixel;
var colorData = new byte[frameSize];
//填写的数组数据从相机
colorFrame.CopyConvertedFrameDataToArray(colorData, ColorImageFormat.Bgra);
// 使用字节数组,使图像在屏幕上
CameraImage.Source = BitmapSource.Create(
colorFrame.ColorFrameSource.FrameDescription.Width,
colorFrame.ColorFrameSource.FrameDescription.Height,
96, 96, PixelFormats.Bgr32, null, colorData, colorFrameDescription.Width * 4);
}
}
private void ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (null == e.FrameReference)
{
return;
}
// If you do not dispose of the frame, you never get another one...
using (ColorFrame _ColorFrame = e.FrameReference.AcquireFrame()) {
if (null == _ColorFrame)
{
return;
}
BitmapToDisplay.Lock();
_ColorFrame.CopyConvertedFrameDataToIntPtr(
BitmapToDisplay.BackBuffer,
Convert.ToUInt32(BitmapToDisplay.BackBufferStride * BitmapToDisplay.PixelHeight),
ColorImageFormat.Bgra);
BitmapToDisplay.AddDirtyRect(
new Int32Rect(
0,
0,
_ColorFrame.FrameDescription.Width,
_ColorFrame.FrameDescription.Height));
BitmapToDisplay.Unlock();
}
}
void _colorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (_displayType == FrameTypes.Color)
{
_colorBitmap.Update(e.FrameReference);
}
}
private void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
// Defensive programming: Just in case the sensor skips a frame, exit the function
if (colorFrame == null)
{
return;
}
// Setup an array that can hold all of the bytes of the image
var colorFrameDescription = colorFrame.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Bgra);
var frameSize = colorFrameDescription.Width * colorFrameDescription.Height * colorFrameDescription.BytesPerPixel;
var colorData = new byte[frameSize];
// Fill in the array with the data from the camera
colorFrame.CopyConvertedFrameDataToArray(colorData, ColorImageFormat.Bgra);
// Use the byte array to make an image and put it on the screen
CameraImage.Source = BitmapSource.Create(
colorFrame.ColorFrameSource.FrameDescription.Width,
colorFrame.ColorFrameSource.FrameDescription.Height,
96, 96, PixelFormats.Bgr32, null, colorData, colorFrameDescription.Width * 4);
}
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (!hasColorArrived)
{
hasArrived.Signal();
Console.WriteLine("Signal at color");
hasColorArrived = true;
}
if (recordMode != RecordMode.Playingback)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
// Write the data from colorFrame into rgbBitmap
colorFrame.CopyConvertedFrameDataToArray(rgbValues, ColorImageFormat.Bgra);
BitmapData bmapdata = rgbBitmap.LockBits(
new Rectangle(0, 0, colorFrameDescription.Width, colorFrameDescription.Height),
ImageLockMode.WriteOnly,
rgbBitmap.PixelFormat);
IntPtr ptr = bmapdata.Scan0;
Marshal.Copy(rgbValues, 0, ptr, colorFrameDescription.Width * colorFrameDescription.Height * 4);
rgbBitmap.UnlockBits(bmapdata);
this.widthAspect = (float)this.rgbBoard.Width / colorFrameDescription.Width;
this.heightAspect = (float)this.rgbBoard.Height / colorFrameDescription.Height;
// Show rgbBitmap into rgbBoard
this.rgbBoard.Image = rgbBitmap;
if (recordMode == RecordMode.Recording && this.writer != null)
{
tmspStartRecording = tmspStartRecording ?? DateTime.Now.TimeOfDay;
var currentTime = DateTime.Now.TimeOfDay;
if (!startRecordingRgb.HasValue)
{
startRecordingRgb = DateTime.Now;
}
TimeSpan elapse = currentTime - tmspStartRecording.Value;
//ResizeAndWriteImageAsync();
WriteImageIntoBufferAsync(elapse);
}
}
}
}
}
}
void colorFrameReader_FrameArrived( ColorFrameReader sender, ColorFrameArrivedEventArgs args )
{
using ( var colorFrame = args.FrameReference.AcquireFrame()){
// BGRAデータを取得する
colorFrame.CopyConvertedFrameDataToArray( colorBuffer, ColorImageFormat.Bgra );
// ビットマップにする
var stream = colorBitmap.PixelBuffer.AsStream();
stream.Write( colorBuffer, 0, colorBuffer.Length );
colorBitmap.Invalidate();
}
}
/// <summary>
/// Delegate which will be called, if a frame arrived
/// </summary>
/// <param name="sender">source which has fired this event</param>
/// <param name="e">event arguments containing the incoming frame</param>
private void Reader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
//load color frame
using (ColorFrame frame = e.FrameReference.AcquireFrame())
{
//pass color frame for interpretation, only if this handler is enabled
if (frame != null && Enabled)
{
controller.Ui.color_background.Source = ToBitmap(frame);
}
}
}
private void UpdateColorFrame( ColorFrameArrivedEventArgs e )
{
// カラーフレームを取得する
using ( var colorFrame = e.FrameReference.AcquireFrame() ) {
if ( colorFrame == null ) {
return;
}
// BGRAデータを取得する
colorFrame.CopyConvertedFrameDataToArray(
colorBuffer, colorFormat );
}
}
void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (var colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame == null)
{
return;
}
colorbuffer = new byte[frame.Width * frame.Height * frame.BytesPerPixel];
colorFrame.CopyConvertedFrameDataToArray(colorbuffer, ColorImageFormat.Bgra);
ImageColor.Source = BitmapSource.Create(frame.Width, frame.Height, 96, 96, PixelFormats.Bgr32, null, colorbuffer, frame.Width * (int)frame.BytesPerPixel);
}
}
void colorFrameReader_FrameArrived( object sender, ColorFrameArrivedEventArgs e )
{
using ( var colorFrame = e.FrameReference.AcquireFrame() ) {
if ( colorFrame == null ) {
return;
}
byte[] colorBuffer = new byte[colorFrame.FrameDescription.Width * colorFrame.FrameDescription.Height * 4];
colorFrame.CopyConvertedFrameDataToArray( colorBuffer, ColorImageFormat.Bgra );
ImageColor.Source = BitmapSource.Create( colorFrame.FrameDescription.Width, colorFrame.FrameDescription.Height, 96, 96,
PixelFormats.Bgra32, null, colorBuffer, colorFrame.FrameDescription.Width * 4 );
}
}
void colorFrameReader_FrameArrived( object sender, ColorFrameArrivedEventArgs e )
{
// カラーフレームを取得する
using ( var colorFrame = e.FrameReference.AcquireFrame() ) {
if ( colorFrame == null ) {
return;
}
// BGRAデータを取得する
colorBuffer = new byte[colorFrameDesc.Width * colorFrameDesc.Height * colorFrameDesc.BytesPerPixel];
colorFrame.CopyConvertedFrameDataToArray( colorBuffer, ColorImageFormat.Bgra );
// ビットマップにする
ImageColor.Source = BitmapSource.Create( colorFrameDesc.Width, colorFrameDesc.Height, 96, 96,
PixelFormats.Bgra32, null, colorBuffer, colorFrameDesc.Width * (int)colorFrameDesc.BytesPerPixel );
}
}
private static void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
//throw new NotImplementedException();
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame()) {
if (colorFrame != null) {
var blob = colorFrame.Serialize();
foreach (var client in clients)
{
if (blob != null)
{
client.Send(blob);
Console.WriteLine("After color Blob sent");
}
}
}
}
}
private void Runtime_ColorFrameReady(object sender, ColorFrameArrivedEventArgs e)
{
if (this.ColorFrameReady != null)
{
this.ColorFrameReady(sender, e);
}
}
/// <summary>
/// Handles the color frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
//update the audio view box visibility
this.AudioViewBox.Visibility = this.AudioMeterVisibility;
//render color layer
this.colorRenderer.Reader_ColorFrameArrived(sender, e);
elapsedFrames++;
var systemReady = (this.kinectSensor != null && this.kinectSensor.IsAvailable && this.kinectSensor.IsOpen && this.panTilt.IsReady);
if (systemReady)
{
this.statusText = Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.RunningStatusText;
}
string safetyText;
if (this.firingControl.VirtualSafetyOn)
{
safetyText = Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.SafetyDisengagedText;
}
else
{
safetyText = Microsoft.Samples.Kinect.BodyBasics.Properties.Resources.SafetyEngagedText;
}
//draw the headsup display initially
this.hudRenderer.RenderHud(new HudRenderingParameters()
{
CannonX = this.CannonX,
CannonY = this.CannonY,
//CannonTheta = this.CannonTheta,
StatusText = this.statusText,
SystemReady = systemReady,
FrameRate = this.FrameRate,
TrackingMode = this.trackingMode,
FiringSafety = this.firingControl.VirtualSafetyOn,
FiringSafetyText = safetyText
});
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.colorBitmap.AddDirtyRect(new Int32Rect(310, 0, this.colorBitmap.PixelWidth - 620, this.colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
}
}
}
private void ColorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
FrameDescription colorFrameDescription = frame.FrameDescription;
using (KinectBuffer colorBuffer = frame.LockRawImageBuffer())
{
this.ColorImage.Lock();
if ((colorFrameDescription.Width == this.ColorImage.PixelWidth) && (colorFrameDescription.Height == this.ColorImage.PixelHeight))
{
frame.CopyConvertedFrameDataToIntPtr(
this.ColorImage.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.ColorImage.AddDirtyRect(new Int32Rect(0, 0, this.ColorImage.PixelWidth, this.ColorImage.PixelHeight));
}
OnFrameArrived(e);
this.ColorImage.Unlock();
}
}
}
}
void ColorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (var frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
this.Back.Source = frame.ToBitmap();
Canvas.SetLeft(Back, -400);
}
}
}
void colorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
FrameDescription desc = frame.FrameDescription;
KinectBase.ColorFrameEventArgs colorE = new KinectBase.ColorFrameEventArgs();
colorE.bytesPerPixel = 4; //This is fixed to 4 because we are converting to bgra below)
colorE.pixelFormat = PixelFormats.Bgra32;
colorE.height = desc.Height;
colorE.width = desc.Width;
colorE.kinectID = kinectID;
colorE.timeStamp = frame.RelativeTime;
colorE.isIR = false;
colorE.image = colorImagePool.GetObject();
//colorE.image = new byte[desc.LengthInPixels * colorE.bytesPerPixel];
//frame.CopyConvertedFrameDataToArray(colorE.image, ColorImageFormat.Bgra);
unsafe
{
fixed (byte* ptr = colorE.image)
{
frame.CopyConvertedFrameDataToIntPtr((IntPtr)ptr, desc.LengthInPixels * sizeof(byte) * 4, ColorImageFormat.Bgra);
}
}
OnColorFrameReceived(colorE);
}
}
}
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
Frame_Update();
if (_needColor)
{
//lowers fps to improve performance
if (_frameCount % 2 == 0)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription frameDescription = this.GetFrameDescriptionForMode(BackgroundMode.Color);
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
// verify data and write the new color frame data to the display bitmap
if (this._source == null || (frameDescription.Width != this._source.PixelWidth) || (frameDescription.Height != this._source.PixelHeight))
{
this._source = new WriteableBitmap(frameDescription.Width, frameDescription.Height, 96.0, 96.0, PixelFormats.Bgr32, null);
}
this._source.Lock();
colorFrame.CopyConvertedFrameDataToIntPtr(this._source.BackBuffer, (uint)(frameDescription.Width * frameDescription.Height * 4), ColorImageFormat.Bgra);
this._source.AddDirtyRect(new Int32Rect(0, 0, this._source.PixelWidth, this._source.PixelHeight));
_gaussianSource = this._source.Resize(frameDescription.Width / 4, frameDescription.Height / 4, WriteableBitmapExtensions.Interpolation.Bilinear);
_gaussianSource = _gaussianSource.Convolute(WriteableBitmapExtensions.KernelGaussianBlur5x5);
this.Update();
this._source.Unlock();
}
}
}
}
_frameCount++;
}
}
//カラーイメージ取得時のイベント
void ColorFrame_Arrived(object sender, ColorFrameArrivedEventArgs e)
{
ColorFrame colorFrame = e.FrameReference.AcquireFrame();
//フレームがなければ終了、あれば格納
if (colorFrame == null) return;
colorFrame.CopyConvertedFrameDataToArray(this.colors, this.colorImageFormat);
this.package.K_colors = this.colors;
//破棄
colorFrame.Dispose();
}
/// <summary>
/// A new frame arrives 15 to 30 times per second.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
async void reader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
ColorFrameReference frameReference = e.FrameReference;
if (this.startTime.Ticks == 0)
{
this.startTime = frameReference.RelativeTime;
}
try
{
ColorFrame frame = frameReference.AcquireFrame();
if (frame != null)
{
// ColorFrame is IDisposable
using (frame)
{
SensorStatus = SensorStatus.Active;
FrameDescription frameDescription = frame.FrameDescription;
// verify data and write the new color frame data to the display bitmap
if ((frameDescription.Width == this.videoImageSource.PixelWidth) && (frameDescription.Height == this.videoImageSource.PixelHeight))
{
await DisplayColorFrame(frame);
}
CalculateFPS();
}
}
}
catch (Exception ex)
{
// ignore if the frame is no longer available
string msg = ex.Message;
Console.WriteLine(msg);
}
}
/// <summary>
/// Handles the color frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
public void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.imageSource.PixelWidth) && (colorFrameDescription.Height == this.imageSource.PixelHeight))
{
if (colorFrame.RawColorImageFormat == ColorImageFormat.Bgra)
{
colorFrame.CopyRawFrameDataToArray(this.colorPixels);
}
else
{
colorFrame.CopyConvertedFrameDataToArray(this.colorPixels, ColorImageFormat.Bgra);
}
}
this.RenderColorPixels();
}
}
}
private void ColorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (var frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
camera.Source = frame.ToBitmap();
}
}
}
//subscribed event set during kinect initialization (called each time a color frame is available)
private void Reader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
bool colorFrameProcessed = false;
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
if (colorFrame.RawColorImageFormat == ColorImageFormat.Bgra)
{
colorFrame.CopyRawFrameDataToArray(this.colorPixels);
}
else
{
colorFrame.CopyConvertedFrameDataToArray(this.colorPixels, ColorImageFormat.Bgra);
}
colorFrameProcessed = true;
}
//update the image collection buffer with the most recent frame and remove the old frames if the buffer is full
if (currentFrame % frameAcceptance == 0) //set to only add every frameAcceptanceth'd frame
_videoArray.Add(colorFrame.ToOpenCVImage<Rgb, Byte>());
if (_videoArray.Count() > videoRecordLength / frameAcceptance) // Frame limiter
_videoArray.RemoveAt(0);
}
}
// push the color frame data to the bitmap (set to UI from ColorSource call below)
if (colorFrameProcessed)
{
this.colorBitmap.WritePixels(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels, this.colorBitmap.PixelWidth * (int)this.bytesPerPixel, 0);
}
}
private void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.colorBitmap.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.colorBitmap.PixelHeight))
{
if ((bool)chk_skin.IsChecked)
{
var handLeft = coordinateMapper.MapCameraPointToColorSpace(leftHandPostition);
var handRight = coordinateMapper.MapCameraPointToColorSpace(rightHandPostition);
colorFrame.CopyConvertedFrameDataToArray(colorFrameData, ColorImageFormat.Bgra);
getSkinColor(handLeft, handRight);
}
colorFrame.CopyConvertedFrameDataToIntPtr(
this.colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * BytesPerPixel),
ColorImageFormat.Bgra); //32Bit(4Byte)
this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
}
this.colorBitmap.Unlock();
}
}
}
}
private void _colorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (var frame = e.FrameReference.AcquireFrame())
{
if (_isStarted && colorFpsCounter > 0)
{
if (frame != null)
{
//colorSw.Start();
_recordColorQueue.Enqueue(new RecordColorFrame(frame));
//colorSw.Stop();
//colorSum += colorSw.Elapsed.TotalMilliseconds;
//colorSw.Reset();
TimeCheckColor();
colorFrames++;
colorCounter++;
//Console.WriteLine("Color Enqueue time = {0}", colorSw.Elapsed.TotalMilliseconds);
//System.Diagnostics.Debug.WriteLine("+++ Enqueued Color Frame ({0})", _recordQueue.Count);
}
else
{
// System.Diagnostics.Debug.WriteLine("!!! FRAME SKIPPED (Color in KinectRecorder)");
}
colorFpsCounter -= ColorFramerate;
}
else if( colorFpsCounter == -50 || colorFpsCounter == -125)
{
colorFpsCounter -= ColorFramerate;
}
else
{
colorFpsCounter = 100;
// System.Diagnostics.Debug.WriteLine("!!! FRAME SKIPPED ");
}
}
}
void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
var colorFrame = e.FrameReference.AcquireFrame();
if (colorFrame != null)
{
using (colorFrame)
{
lastColorGain = colorFrame.ColorCameraSettings.Gain;
lastColorExposureTimeTicks = colorFrame.ColorCameraSettings.ExposureTime.Ticks;
if (yuvFrameReady.Count > 0)
{
lock (yuvByteBuffer)
colorFrame.CopyRawFrameDataToArray(yuvByteBuffer);
lock (yuvFrameReady)
foreach (var autoResetEvent in yuvFrameReady)
autoResetEvent.Set();
}
if ((rgbFrameReady.Count > 0) || (jpegFrameReady.Count > 0))
{
lock (rgbByteBuffer)
colorFrame.CopyConvertedFrameDataToArray(rgbByteBuffer, ColorImageFormat.Bgra);
lock (rgbFrameReady)
foreach (var autoResetEvent in rgbFrameReady)
autoResetEvent.Set();
}
if (jpegFrameReady.Count > 0)
{
// should be put in a separate thread?
stopWatch.Restart();
var bitmapSource = new Bitmap(imagingFactory, Kinect2Calibration.colorImageWidth, Kinect2Calibration.colorImageHeight, SharpDX.WIC.PixelFormat.Format32bppBGR, BitmapCreateCacheOption.CacheOnLoad);
var bitmapLock = bitmapSource.Lock(BitmapLockFlags.Write);
Marshal.Copy(rgbByteBuffer, 0, bitmapLock.Data.DataPointer, Kinect2Calibration.colorImageWidth * Kinect2Calibration.colorImageHeight * 4);
bitmapLock.Dispose();
var memoryStream = new MemoryStream();
//var fileStream = new FileStream("test" + frame++ + ".jpg", FileMode.Create);
//var stream = new WICStream(imagingFactory, "test" + frame++ + ".jpg", SharpDX.IO.NativeFileAccess.Write);
var stream = new WICStream(imagingFactory, memoryStream);
var jpegBitmapEncoder = new JpegBitmapEncoder(imagingFactory);
jpegBitmapEncoder.Initialize(stream);
var bitmapFrameEncode = new BitmapFrameEncode(jpegBitmapEncoder);
bitmapFrameEncode.Options.ImageQuality = 0.5f;
bitmapFrameEncode.Initialize();
bitmapFrameEncode.SetSize(Kinect2Calibration.colorImageWidth, Kinect2Calibration.colorImageHeight);
var pixelFormatGuid = PixelFormat.FormatDontCare;
bitmapFrameEncode.SetPixelFormat(ref pixelFormatGuid);
bitmapFrameEncode.WriteSource(bitmapSource);
bitmapFrameEncode.Commit();
jpegBitmapEncoder.Commit();
//fileStream.Close();
//fileStream.Dispose();
//Console.WriteLine(stopWatch.ElapsedMilliseconds + "ms " + memoryStream.Length + " bytes");
lock (jpegByteBuffer)
{
nJpegBytes = (int)memoryStream.Length;
memoryStream.Seek(0, SeekOrigin.Begin);
memoryStream.Read(jpegByteBuffer, 0, nJpegBytes);
}
lock (jpegFrameReady)
foreach (var autoResetEvent in jpegFrameReady)
autoResetEvent.Set();
//var file = new FileStream("test" + frame++ + ".jpg", FileMode.Create);
//file.Write(jpegByteBuffer, 0, nJpegBytes);
//file.Close();
bitmapSource.Dispose();
memoryStream.Close();
memoryStream.Dispose();
stream.Dispose();
jpegBitmapEncoder.Dispose();
bitmapFrameEncode.Dispose();
}
}
}
}
private void colorFrameReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
ColorFrame colorFrame = e.FrameReference.AcquireFrame();
if (colorFrame == null)
return;
/*以下はカラーデータの取得等の処理が入る・・・らしい*/
byte[] colors = new byte[colorFrameDescription.Width * colorFrameDescription.Height * colorFrameDescription.BytesPerPixel];
colorFrame.CopyConvertedFrameDataToArray(colors, this.colorImageFormat);
/*ここの処理が複雑なので解説、(画像の横幅指定,画像の縦幅指定,dpi...?,dpi?,フォーマット,(たしか)エフェクト,画素データのバッファ量指定,ストライド(横一列)のbyte数指定*/
BitmapSource bitmapSource = BitmapSource.Create(colorFrameDescription.Width, colorFrameDescription.Height, 96, 96, PixelFormats.Bgr32, null, colors, colorFrameDescription.Width * (int)colorFrameDescription.BytesPerPixel);
//キャンバスに表示する。
this.canvas.Background = new ImageBrush(bitmapSource);
/*ここまで*/
colorFrame.Dispose();//データの破棄、メモリの解放
}
private void ColorReader_ColorFrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
if (this.processingColorFrame)
{
return;
}
this.processingColorFrame = true;
bool colorFrameProcessed = false;
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e.FrameReference.AcquireFrame())
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
colorFrame.CopyConvertedFrameDataToArray(this.colorPixels, ColorImageFormat.Rgba);
colorFrameProcessed = true;
}
}
}
if (colorFrameProcessed)
{
this.colorFrameCallback(this.colorPixels);
}
this.processingColorFrame = false;
}
void ColorFrame_Arrived(object sender, ColorFrameArrivedEventArgs e)
{
var frameReference = e.FrameReference;
if (frameReference == null)
return;
var frame = frameReference.AcquireFrame();
if (frame == null)
return;
using (frame) {
var frameDescription = frame.FrameDescription;
if (frameDescription.Width == bitmap.PixelWidth && frameDescription.Height == bitmap.PixelHeight) {
if (frame.RawColorImageFormat == ColorImageFormat.Bgra) {
frame.CopyRawFrameDataToArray(intermediaryArray);
}
else {
frame.CopyConvertedFrameDataToArray(intermediaryArray, ColorImageFormat.Bgra);
}
bitmap.WritePixels(new Int32Rect(0, 0, frameDescription.Width, frameDescription.Height), intermediaryArray, (int)(frameDescription.Width * bytesPerPixel), 0);
}
}
}
private void DepthFrameReady(object sender, ColorFrameArrivedEventArgs e)
{
var frame = e.FrameReference.AcquireFrame();
if (frame != null)
{
using (frame)
{
lock (m_lock)
{
frame.CopyConvertedFrameDataToIntPtr(this.depthwrite,1920 * 1080 * 4, ColorImageFormat.Bgra);
IntPtr swap = this.depthread;
this.depthread = this.depthwrite;
this.depthwrite = swap;
}
this.FInvalidate = true;
this.frameindex = frame.RelativeTime.Ticks;
}
}
}
private void colorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (var frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
var width = frame.FrameDescription.Width;
var height = frame.FrameDescription.Height;
var pixels = new byte[width * height * (PixelFormats.Bgr32.BitsPerPixel / 8)];
frame.CopyConvertedFrameDataToArray(pixels, ColorImageFormat.Bgra);
ColorImage.Source = BitmapSource.Create(width, height, 96, 96, PixelFormats.Bgr32, BitmapPalettes.WebPalette, pixels, width * PixelFormats.Bgr32.BitsPerPixel / 8);
}
}
}
