public void DFrameTest_LT_1Sec()
{
string[] files = Directory.GetFiles("C:\\KStudioRepo", "*.xef");
using (KStudioClient client = KStudio.CreateClient()) {
client.ConnectToService();
var broken = false;
using (KStudioPlayback playback = client.CreatePlayback(files[0])) {
playback.Start();
Stopwatch time = new Stopwatch();
DepthStream stream = DepthStream.Instance;
while (playback.State == KStudioPlaybackState.Playing)
{
time.Start();
BaseFrame frame = stream.GetFrame();
if (time.ElapsedMilliseconds > (1 * 1000))
{
//Console.WriteLine("Elapsed time: {0}, frame: {1}", time.ElapsedMilliseconds, frame);
if (frame == null)
{
broken = true;
System.DateTime now = DateTime.Now;
//System.Diagnostics.////Debug.WriteLine("Failed at: {0}:{1}:{2}:{3}", now.Hour, now.Minute, now.Second, now.Millisecond);
}
}
Thread.Sleep(100);
}
}
client.DisconnectFromService();
Assert.IsFalse(broken, "The frame should not be null after 1 second");
}
}
public void GetDepthArrayTest()
{
string[] files = Directory.GetFiles("C:\\KStudioRepo", "*.xef");
using (KStudioClient client = KStudio.CreateClient()) {
client.ConnectToService();
using (KStudioPlayback playback = client.CreatePlayback(files[0])) {
playback.Start();
DepthStream stream = DepthStream.Instance;
Assert.IsNotNull(stream);
while (playback.State == KStudioPlaybackState.Playing)
{
System.Threading.Thread.Sleep(500);
DFrame frame = (DFrame)stream.GetFrame();
if (frame != null)
{
//ushort[] testArr = frame.GetDepthArray();
//System.Diagnostics.////Debug.WriteLine("Test Arr length : " + testArr.Length);
//Assert.IsNotNull(testArr);
}
}
Assert.AreNotEqual(playback.State, KStudioPlaybackState.Error);
}
client.DisconnectFromService();
}
}
public void GetDepthBitmapTest()
{
string[] files = Directory.GetFiles("C:\\KStudioRepo", "*.xef");
using (KStudioClient client = KStudio.CreateClient()) {
client.ConnectToService();
using (KStudioPlayback playback = client.CreatePlayback(files[0])) {
playback.Start();
DepthStream stream = DepthStream.Instance;
Assert.IsNotNull(stream);
while (playback.State == KStudioPlaybackState.Playing)
{
System.Threading.Thread.Sleep(500);
DFrame frame = (DFrame)stream.GetFrame();
if (frame == null)
{
continue;
}
WriteableBitmap bmp = frame.GetBitmap();
Assert.IsNotNull(bmp);
//System.Diagnostics.////Debug.WriteLine("Bitmap : " + bmp.ToString());
}
Assert.AreNotEqual(playback.State, KStudioPlaybackState.Error);
}
}
}
private void initStreams()
{
StreamBase color = new ColorStream();
_streams.Add(color);
Stream = color;
StreamBase depth = new DepthStream();
_streams.Add(depth);
}
private void InitializeStreams()
{
try
{
_streamSet = Astra.StreamSet.Open();
_reader1 = _streamSet.CreateReader();
_reader1.FrameReady += FrameReady;
_reader2 = _streamSet.CreateReader();
_reader2.FrameReady += FrameReady;
_reader3 = _streamSet.CreateReader();
_reader3.FrameReady += FrameReady;
_reader4 = _streamSet.CreateReader();
_reader4.FrameReady += FrameReady;
_reader5 = _streamSet.CreateReader();
_reader5.FrameReady += FrameReady;
_depthStream = _reader1.GetStream <DepthStream>();
var depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = depthModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetDepthWidth = 160;
int targetDepthHeight = 120;
int targetDepthFps = 30;
#else
int targetDepthWidth = 320;
int targetDepthHeight = 240;
int targetDepthFps = 60;
#endif
foreach (var m in depthModes)
{
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight &&
m.FramesPerSecond == targetDepthFps)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _reader2.GetStream <ColorStream>();
var colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = colorModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth = 320;
int targetColorHeight = 240;
int targetColorFps = 30;
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 60;
#endif
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
_bodyStream = _reader3.GetStream <BodyStream>();
_maskedColorStream = _reader4.GetStream <MaskedColorStream>();
_colorizedBodyStream = _reader5.GetStream <ColorizedBodyStream>();
_areStreamsInitialized = true;
}
catch (AstraException e)
{
Debug.Log("AstraController: Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
}
}
private void InitializeStreams()
{
try
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
_streamSet = Astra.StreamSet.Open();
_readerDepth = _streamSet.CreateReader();
_readerColor = _streamSet.CreateReader();
_readerBody = _streamSet.CreateReader();
_readerMaskedColor = _streamSet.CreateReader();
_readerColorizedBody = _streamSet.CreateReader();
_readerPoint = _streamSet.CreateReader();
_depthStream = _readerDepth.GetStream <DepthStream>();
var depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = depthModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetDepthWidth = 160;
int targetDepthHeight = 120;
int targetDepthFps = 30;
#else
int targetDepthWidth = 320;
int targetDepthHeight = 240;
int targetDepthFps = 30;
#endif
foreach (var m in depthModes)
{
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight &&
m.FramesPerSecond == targetDepthFps)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _readerColor.GetStream <ColorStream>();
var colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = colorModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth = 320;
int targetColorHeight = 240;
int targetColorFps = 30;
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 30;
#endif
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
_bodyStream = _readerBody.GetStream <BodyStream>();
_maskedColorStream = _readerMaskedColor.GetStream <MaskedColorStream>();
_colorizedBodyStream = _readerColorizedBody.GetStream <ColorizedBodyStream>();
_pointStream = _readerPoint.GetStream <PointStream>();
_areStreamsInitialized = true;
}
catch (AstraException e)
{
Debug.Log("AstraController: Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
}
}
public void InitializeStreams()
{
try
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
_streamSet = Astra.StreamSet.Open();
_readerDepth = _streamSet.CreateReader();
_readerColor = _streamSet.CreateReader();
_readerNV21Color = _streamSet.CreateReader();
_readerBody = _streamSet.CreateReader();
_readerMaskedColor = _streamSet.CreateReader();
_readerColorizedBody = _streamSet.CreateReader();
_depthStream = _readerDepth.GetStream <DepthStream>();
var depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = depthModes[0];
int targetDepthWidth, targetDepthHeight, targetDepthFps;
#if ASTRA_UNITY_ANDROID_NATIVE
//Deeyea and Dabai doesn't support qqvga and qvga resolution.
//use 640*400.
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x60e ||
_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x617)
{
targetDepthWidth = 640;
targetDepthHeight = 400;
targetDepthFps = 30;
}
else
{
targetDepthWidth = 160;
targetDepthHeight = 120;
targetDepthFps = 30;
}
#else
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x60e ||
_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x617)
{
targetDepthWidth = 640;
targetDepthHeight = 400;
targetDepthFps = 30;
}
else
{
targetDepthWidth = 320;
targetDepthHeight = 240;
targetDepthFps = 30;
}
#endif
foreach (var m in depthModes)
{
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight &&
m.FramesPerSecond == targetDepthFps)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _readerColor.GetStream <ColorStream>();
var colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = colorModes[0];
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x617)
{
//for deeyea, set mirror to false to match depth.
_colorStream.IsMirroring = false;
}
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth, targetColorHeight, targetColorFps;
if (_depthStream.usbInfo.Pid == 0x608 ||
_depthStream.usbInfo.Pid == 0x60f ||
_depthStream.usbInfo.Pid == 0x617)
{
targetColorWidth = 640;
targetColorHeight = 480;
targetColorFps = 30;
}
else
{
targetColorWidth = 320;
targetColorHeight = 240;
targetColorFps = 30;
}
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 30;
#endif
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
#if ASTRA_UNITY_ANDROID_NATIVE
_nv21ColorStream = _readerNV21Color.GetStream <ColorStream>(Astra.Core.StreamSubType.COLOR_NV21_SUBTYPE);
if (_nv21ColorStream.IsAvailable)
{
//COLOR_NV21_SUBTYPE is only available when using astra pro and astra pro plus.
colorModes = _nv21ColorStream.AvailableModes;
selectedColorMode = colorModes[0];
foreach (var m in colorModes)
{
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight &&
m.FramesPerSecond == targetColorFps)
{
selectedColorMode = m;
break;
}
}
_nv21ColorStream.SetMode(selectedColorMode);
if (_depthStream.usbInfo.Pid == 0x60b ||
_depthStream.usbInfo.Pid == 0x617)
{
//for deeyea, set mirror to false to match depth.
_nv21ColorStream.IsMirroring = false;
}
}
else
{
_readerNV21Color.Dispose();
_readerNV21Color = null;
_nv21ColorStream = null;
}
#endif
_bodyStream = _readerBody.GetStream <BodyStream>();
_maskedColorStream = _readerMaskedColor.GetStream <MaskedColorStream>();
_colorizedBodyStream = _readerColorizedBody.GetStream <ColorizedBodyStream>();
_areStreamsInitialized = true;
}
catch (AstraException e)
{
Debug.Log("AstraController: Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
}
}
private void InitializeStreams()
{
try
{
AstraUnityContext.Instance.WaitForUpdate(AstraBackgroundUpdater.WaitIndefinitely);
_streamSet = Astra.StreamSet.Open();
_readerDepth = _streamSet.CreateReader();
_readerColor = _streamSet.CreateReader();
_readerBody = _streamSet.CreateReader();
_readerMaskedColor = _streamSet.CreateReader();
_readerColorizedBody = _streamSet.CreateReader();
_depthStream = _readerDepth.GetStream <DepthStream>();
_depthModes = _depthStream.AvailableModes;
ImageMode selectedDepthMode = _depthModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetDepthWidth = 160;
int targetDepthHeight = 120;
int targetDepthFps = 30;
#else
int targetDepthWidth = 320;
int targetDepthHeight = 240;
int targetDepthFps = 30;
#endif
foreach (var m in _depthModes)
{
Debug.Log("Depth mode: " + m.Width + "x" + m.Height + "@" + m.FramesPerSecond);
if (m.Width == targetDepthWidth &&
m.Height == targetDepthHeight)
{
selectedDepthMode = m;
break;
}
}
_depthStream.SetMode(selectedDepthMode);
_colorStream = _readerColor.GetStream <ColorStream>();
try
{
_colorModes = _colorStream.AvailableModes;
ImageMode selectedColorMode = _colorModes[0];
#if ASTRA_UNITY_ANDROID_NATIVE
int targetColorWidth = 320;
int targetColorHeight = 240;
int targetColorFps = 30;
#else
int targetColorWidth = 640;
int targetColorHeight = 480;
int targetColorFps = 30;
#endif
foreach (var m in _colorModes)
{
Debug.Log("Color mode: " + m.Width + "x" + m.Height + "@" + m.FramesPerSecond);
if (m.Width == targetColorWidth &&
m.Height == targetColorHeight)
{
selectedColorMode = m;
break;
}
}
_colorStream.SetMode(selectedColorMode);
}
catch (System.Exception e)
{
Debug.Log("Couldn't initialize color stream: " + e.ToString());
}
_bodyStream = _readerBody.GetStream <BodyStream>();
_maskedColorStream = _readerMaskedColor.GetStream <MaskedColorStream>();
_colorizedBodyStream = _readerColorizedBody.GetStream <ColorizedBodyStream>();
_areStreamsInitialized = true;
Debug.Log("Stream initialize success");
OnInitializeSuccess.Invoke();
}
catch (System.Exception e)
{
Debug.Log("Couldn't initialize streams: " + e.ToString());
UninitializeStreams();
if (_initializeCount > 0)
{
_initializeCount--;
}
else
{
Debug.Log("Initialize failed");
OnInitializeFailed.Invoke();
}
}
}
void clientHandler(object o)
{
byte[] _buffer = new byte[868352];
byte[] _dbuffer = new byte[868352];
int SIZEHELLO = 200;
TcpClient client = (TcpClient)o;
DepthStream kstream = new DepthStream(client);
_depthStreams.Add(kstream);
using (NetworkStream ns = client.GetStream())
{
byte[] message = new byte[SIZEHELLO];
int bytesRead = 0;
try
{
bytesRead = ns.Read(message, 0, SIZEHELLO);
}
catch
{
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_depthStreams.Remove(kstream);;
}
if (bytesRead == 0)
{
Debug.Log("Connection Lost from " + kstream.name);
client.Close();
_depthStreams.Remove(kstream);;
}
//Login
string s = System.Text.Encoding.Default.GetString(message);
string[] l = s.Split('/');
if (l.Length == 3 && l[0] == "k")
{
kstream.name = l[1];
Debug.Log("New stream from " + l[1]);
}
bool colorFrame = false;
while (_running)
{
try
{
bytesRead = ns.Read(message, 0, 13);
}
catch (Exception e)
{
Debug.Log(e.Message);
// _running = false;
break;
}
if (bytesRead == 0)
{
// _running = false;
break;
}
byte[] idb = { message[0], message[1], message[2], message[3] };
uint id = BitConverter.ToUInt32(idb, 0);
kstream.lastID = id;
byte[] sizeb = { message[4], message[5], message[6], message[7] };
int size = BitConverter.ToInt32(sizeb, 0);
if (colorFrame)
{
kstream.sizec = size;
}
else
{
kstream.sized = size;
}
if (message[8] == 1)
{
kstream.compressed = true;
}
else
{
kstream.compressed = false;
}
byte[] sc = { message[9], message[10], message[11], message[12] };
int scale = BitConverter.ToInt32(sc, 0);
while (size > 0)
{
try
{
if (colorFrame)
{
bytesRead = ns.Read(_buffer, 0, size);
}
else
{
bytesRead = ns.Read(_dbuffer, 0, size);
}
}
catch (Exception e)
{
Debug.Log(e.Message + "color frame " + colorFrame + " size " + size);
//_running = false;
break;
}
if (bytesRead == 0)
{
// _running = false;
break;
}
//save because can't update from outside main thread
if (colorFrame)
{
//Wait till things are processed
while (kstream.dirty)
{
Thread.Sleep(5);
}
Array.Copy(_buffer, 0, kstream.colorData, kstream.sizec - size, bytesRead);
}
else
{
//Wait till things are processed
while (kstream.dirty)
{
Thread.Sleep(5);
}
Array.Copy(_dbuffer, 0, kstream.depthData, kstream.sized - size, bytesRead);
}
size -= bytesRead;
}
if (colorFrame)
{
kstream.scale = scale;
kstream.dirty = true;
}
colorFrame = !colorFrame;
}
}
}
