/// <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();
}
}
}
}
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");
}
}
};
}
}
//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();
}
}
}
}
void DepthFrameReader_FrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
using (DepthFrame depthFrame = e.FrameReference.AcquireFrame())
{
if (depthFrame != null)
{
if (mIs15Fps)
{
if (mDiscardFrame)
{
mDiscardFrame = false;
return;
}
else
{
mDiscardFrame = true;
}
}
using (KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
if (((mFrameDescription.Width * mFrameDescription.Height) ==
(depthBuffer.Size / mFrameDescription.BytesPerPixel)))
{
ProcessDepthFrameData(depthBuffer);
mFeedPixels(mDepthPixels);
}
}
}
}
}
private void Reader_DepthFrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
bool depthFrameProcessed = false;
using (DepthFrame depthFrame = e.FrameReference.AcquireFrame())
{
if (depthFrame != null)
{
using (KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
if ((depthFrameDescription.Width * depthFrameDescription.Height) == (depthBuffer.Size / depthFrameDescription.BytesPerPixel))
{
ushort maxDepth = ushort.MaxValue;
ProcessDepthFrameData(depthBuffer.UnderlyingBuffer, depthBuffer.Size, depthFrame.DepthMinReliableDistance, maxDepth);
depthFrameProcessed = true;
}
}
}
}
if (depthFrameProcessed)
{
depthBitmap.WritePixels(
new Int32Rect(0, 0, depthBitmap.PixelWidth, depthBitmap.PixelHeight),
depthPixels,
depthBitmap.PixelWidth,
0);
}
}
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 FrameDescription depthFrameDescription = null;
internal DFrame(DepthFrame depthFrame)
{
this.frameDescriptor = depthFrame.FrameDescription;
this.width = depthFrame.FrameDescription.Width;
this.height = depthFrame.FrameDescription.Height;
this.pixels = new ushort[width * height];
// this.depthFrameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
this.WriteableBitmap = new WriteableBitmap(
this.width, this.height,
96.0, 96.0,
PixelFormats.Bgr32,
null);
this.WriteableBitmapForDoorNavigation = new WriteableBitmap(this.width, this.height, 96.0, 96.0, PixelFormats.Gray8, null);
using (KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
// ushort maxDepth = ushort.MaxValue;
this.ProcessDepthFrameData(depthFrame, depthBuffer.UnderlyingBuffer, depthBuffer.Size);
}
this.ProcessBitmap(); // creates bitmap, and bitmap source
}
/// <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 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();
}
}
}
public void PollMostRecentDepthFrame()
{
MultiSourceFrame multiFrame = _reader.AcquireLatestFrame();
if (multiFrame == null)
{
return;
}
using (DepthFrame frame = multiFrame.DepthFrameReference.AcquireFrame())
{
if (frame == null)
{
return; // Could not find multi-frame or depth-frame
}
using (KinectBuffer buffer = frame.LockImageBuffer())
{
if (DepthFrameDescription.Width * DepthFrameDescription.Height == buffer.Size / DepthFrameDescription.BytesPerPixel)
{
ProcessDepthFrameData(
buffer.UnderlyingBuffer,
buffer.Size,
frame.DepthMinReliableDistance,
ushort.MaxValue);
}
}
}
}
//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();
}
}
}
}
private void ProcessColorFrame(ColorFrame colorFrame)
{
if ((null == colorFrame))
{
return;
}
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.m_colorBitmap.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.m_colorBitmap.PixelWidth) && (colorFrameDescription.Height == this.m_colorBitmap.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.m_colorBitmap.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.m_colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.m_colorBitmap.PixelWidth, this.m_colorBitmap.PixelHeight));
//this.m_colorBitmap.AddDirtyRect(new Int32Rect(m_drawingRegion.Left, m_drawingRegion.Top, m_drawingRegion.Right, m_drawingRegion.Bottom));
}
this.m_colorBitmap.Unlock();
}
}
/// <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 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();
}
}
}
}
/// <summary>
/// Use color frame and store to a WritableBitmap
/// </summary>
private void CaptureOriginalColorFrame(ColorFrame e)
{
// ColorFrame is IDisposable
using (ColorFrame colorFrame = e)
{
if (colorFrame != null)
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.capturedBackground.Lock();
// verify data and write the new color frame data to the display bitmap
if ((colorFrameDescription.Width == this.capturedBackground.PixelWidth) && (colorFrameDescription.Height == this.capturedBackground.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.capturedBackground.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.capturedBackground.AddDirtyRect(new Int32Rect(0, 0, this.capturedBackground.PixelWidth, this.capturedBackground.PixelHeight));
}
this.capturedBackground.Unlock();
}
}
}
}
private void HandleColorFrame(ColorFrame colorFrame)
{
if (colorFrame == null)
{
return;
}
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
this.currentViewModel.VideoImageSource.Lock();
if ((colorFrameDescription.Width == this.currentViewModel.VideoImageSource.PixelWidth) &&
(colorFrameDescription.Height == this.currentViewModel.VideoImageSource.PixelHeight))
{
colorFrame.CopyConvertedFrameDataToIntPtr(
this.currentViewModel.VideoImageSource.BackBuffer,
(uint)(colorFrameDescription.Width * colorFrameDescription.Height * 4),
ColorImageFormat.Bgra);
this.currentViewModel.VideoImageSource.AddDirtyRect(
new Int32Rect(0, 0, this.currentViewModel.VideoImageSource.PixelWidth, this.currentViewModel.VideoImageSource.PixelHeight));
}
this.currentViewModel.VideoImageSource.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;
}
// 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();
}
}
}
/// <summary>
/// Processes the Depth Image.
/// </summary>
/// <param name="frame">The frame.</param>
private void ProcessDepthImage(DepthFrame frame)
{
if (updateDepthTexture)
{
return;
}
if (frame != null)
{
FrameDescription frameDescription = frame.FrameDescription;
// the fastest way to process the body index data is to directly access
// the underlying buffer
using (KinectBuffer buffer = frame.LockImageBuffer())
{
// verify data and write the color data to the display bitmap
if (((frameDescription.Width * frameDescription.Height) == (buffer.Size / frameDescription.BytesPerPixel)) &&
(frameDescription.Width == this.depthTexture.Width) && (frameDescription.Height == this.depthTexture.Height))
{
this.ProcessGrayFrameData(buffer.UnderlyingBuffer, buffer.Size, this.depthMinReliableDistance, this.depthMaxReliableDistance, frameDescription.BytesPerPixel, this.depthData);
this.updateDepthTexture = true;
}
}
}
}
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();
}
}
}
private bool aquireBodyDataAndBuffers(
BodyFrame bodyFrame, DepthFrame depthFrame, BodyIndexFrame bodyIndexFrame,
out Body body, out KinectBuffer depthBuffer, out KinectBuffer bodyIndexBuffer)
{
depthBuffer = null;
bodyIndexBuffer = null;
body = getActiveBody(bodyFrame);
if (body == null)
{
return(false);
}
depthBuffer = depthFrame.LockImageBuffer();
var width = depthFrameDescription.Width;
var height = depthFrameDescription.Height;
if (depthBuffer == null ||
(width * height) != (depthBuffer.Size / this.depthFrameDescription.BytesPerPixel))
{
return(false);
}
bodyIndexBuffer = bodyIndexFrame.LockImageBuffer();
if (bodyIndexBuffer == null || bodyIndexBuffer.Size * 2 != depthBuffer.Size)
{
depthBuffer.Dispose();
return(false);
}
return(true);
}
public void PollMostRecentInfraredFrame()
{
MultiSourceFrame multiFrame = _reader.AcquireLatestFrame();
if (multiFrame == null)
{
return;
}
using (InfraredFrame frame = multiFrame.InfraredFrameReference.AcquireFrame())
{
if (frame == null)
{
return; // Could not find multi-frame or infrared-frame
}
using (KinectBuffer buffer = frame.LockImageBuffer())
{
if (InfraredFrameDescription.Width * InfraredFrameDescription.Height == buffer.Size / InfraredFrameDescription.BytesPerPixel)
{
ProcessInfraredFrameData(buffer.UnderlyingBuffer, buffer.Size);
}
}
}
}
public unsafe void ParseToBitmaps(ColorFrame colorFrame, out Bitmap bitmap, out WriteableBitmap writeableBitmap)
{
int width = colorFrame.FrameDescription.Width;
int height = colorFrame.FrameDescription.Height;
WriteableBitmap colorWBitmap = new WriteableBitmap(width, height, 96.0, 96.0, PixelFormats.Bgr32, null);
Bitmap colorBitmap = new Bitmap(width, height, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
colorWBitmap.Lock();
colorFrame.CopyConvertedFrameDataToIntPtr(
colorWBitmap.BackBuffer,
(uint)(colorFrame.FrameDescription.Width * colorFrame.FrameDescription.Height * 4),
ColorImageFormat.Bgra);
colorWBitmap.AddDirtyRect(new Int32Rect(0, 0, colorWBitmap.PixelWidth, colorWBitmap.PixelHeight));
colorWBitmap.Unlock();
writeableBitmap = colorWBitmap;
BitmapData bitmapData = colorBitmap.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, colorBitmap.PixelFormat);
Buffer.MemoryCopy(colorWBitmap.BackBuffer.ToPointer(), bitmapData.Scan0.ToPointer(), colorFrame.FrameDescription.Width * colorFrame.FrameDescription.Height * 4, colorFrame.FrameDescription.Width * colorFrame.FrameDescription.Height * 4);
colorBitmap.UnlockBits(bitmapData);
bitmap = colorBitmap;
}
}
public void PollMostRecentSilhouetteFrame()
{
MultiSourceFrame multiFrame = _reader.AcquireLatestFrame();
if (multiFrame == null)
{
return;
}
using (BodyIndexFrame frame = multiFrame.BodyIndexFrameReference.AcquireFrame())
{
if (frame == null)
{
return; // Could not find multi-frame or body index frame
}
using (KinectBuffer buffer = frame.LockImageBuffer())
{
if (
SilhouetteFrameDescription.Width *
SilhouetteFrameDescription.Height == buffer.Size)
{
ProcessSilhouetteData(buffer.UnderlyingBuffer, buffer.Size);
}
}
}
}
public void ParseToBitmaps(DepthFrame depthFrame, out Bitmap bitmap, out WriteableBitmap writeableBitmap)
{
int width = depthFrame.FrameDescription.Width;
int height = depthFrame.FrameDescription.Height;
Bitmap depthBitmap = new Bitmap(width, height, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
WriteableBitmap depthWBitmap = new WriteableBitmap(width, height, 96.0, 96.0, PixelFormats.Gray8, null);
using (KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
ushort maxDepth = ushort.MaxValue;
//maxDepth = depthFrame.DepthMaxReliableDistance; //TODO: make this a setting?
byte[] depthPixels = ConvertDepthFrameData(depthFrame.FrameDescription, depthBuffer.UnderlyingBuffer, depthBuffer.Size, depthFrame.DepthMinReliableDistance, maxDepth);
//Create writeable bitmap
depthWBitmap.WritePixels(new Int32Rect(0, 0, depthWBitmap.PixelWidth, depthWBitmap.PixelHeight), depthPixels, depthWBitmap.PixelWidth, 0);
writeableBitmap = depthWBitmap;
//Create bitmap
BitmapData bitmapData = depthBitmap.LockBits(new Rectangle(0, 0, width, height), ImageLockMode.WriteOnly, depthBitmap.PixelFormat);
IntPtr intPointer = bitmapData.Scan0;
Marshal.Copy(depthPixels, 0, intPointer, depthPixels.Length);
depthBitmap.UnlockBits(bitmapData);
bitmap = depthBitmap;
}
}
private void UpdateCameraView(MultiSourceFrame multiframe)
{
using (ColorFrame colorFrame = multiframe.ColorFrameReference.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 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();
}
}
}
}
/// <summary>
/// Performs color based threshold on the color frame
/// </summary>
/// <param name="colorFrame"></param>
/// <returns></returns>
private async Task <Tuple <Mat, Mat> > ProcessColorFrame(ColorFrame colorFrame)
{
return(await Task.Run(() =>
{
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
using (KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer()) {
if (convertedColorDataPtr == IntPtr.Zero)
{
convertedColorDataPtr = Marshal.AllocHGlobal(4 * (int)colorFrameDescription.LengthInPixels);
}
colorFrame.CopyConvertedFrameDataToIntPtr(convertedColorDataPtr, 4 * colorFrameDescription.LengthInPixels, ColorImageFormat.Bgra);
Mat resizedImage = new Mat();
using (Mat convertedImage_Bgr = new Mat(colorFrameDescription.Height, colorFrameDescription.Width, DepthType.Cv8U, 3))
using (Mat convertedImage_Bgra = new Mat(colorFrameDescription.Height, colorFrameDescription.Width, DepthType.Cv8U, 4, convertedColorDataPtr, colorFrameDescription.Width * 4)) {
CvInvoke.CvtColor(convertedImage_Bgra, convertedImage_Bgr, ColorConversion.Bgra2Bgr);
CvInvoke.Resize(convertedImage_Bgr, resizedImage, new System.Drawing.Size(imageSizeX, imageSizeY));
if (inspectPosition != null)
{
InspectPixel(resizedImage);
}
}
//return Tuple.Create(resizedImage, CannyShapeDetection(resizedImage));
return Tuple.Create(resizedImage, ChromaShapeDetection(resizedImage));
}
}));
}
private static void Reader_FrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
if (e.FrameReference != null)
{
MultiSourceFrame multiFrame = e.FrameReference.AcquireFrame();
if (multiFrame.DepthFrameReference != null)
{
try
{
using (DepthFrame depthFrame = multiFrame.DepthFrameReference.AcquireFrame())
{
if (depthFrame != null)
{
using (KinectBuffer buffer = depthFrame.LockImageBuffer())
{
depthFrameDescription = depthFrame.FrameDescription;
depthWidth = depthFrameDescription.Width;
depthHeight = depthFrameDescription.Height;
depthFrameData = new ushort[depthWidth * depthHeight];
depthFrame.CopyFrameDataToArray(depthFrameData);
}
}
}
}
catch (Exception) { return; }
}
}
}
private unsafe 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();
byte[] colorData = new byte[this.colorFrameDescription.Width * this.colorFrameDescription.Height * this.bytesPerPixel];
colorFrame.CopyConvertedFrameDataToArray(colorData, ColorImageFormat.Bgra);
/**
* Nothing works, not sure if it will work, I think the code is too inefficient to be executed at a rate to refresh the
* frame properly. Although I am leary of this assessment because the coordinate mapping sample has a for loop that
* executes the same number of times and includes 4 conditionals. This code has no problem refreshing the image.
*
* Note: Even when part of the image was displaying and being processed, the offset between the depth and color
* pixels was not being resolved.
**/
// 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.CopyPixels(colorData, this.colorBitmap.BackBufferStride, 0);
for (int i = 0; i < colorMappedToDepthPoints.Length / 3; i++)
{
DepthSpacePoint dPoint = this.colorMappedToDepthPoints[i];
if (float.IsNegativeInfinity((float)dPoint.X))
{
colorData[i * 4] = 0;
// Console.Write(i.ToString() + ",");
}
}
this.colorBitmap.WritePixels(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight), colorData, this.colorBitmap.BackBufferStride, 0);
// this.colorBitmap.AddDirtyRect(new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight));
// }
this.colorBitmap.Unlock();
}
}
}
}
private unsafe void ProcessDepthFrameData(KinectBuffer buffer, DepthFrame depthFrame)
{
ushort* frameData = (ushort*)buffer.UnderlyingBuffer;
ushort minDepth = (ushort)(depthFrame.DepthMinReliableDistance * DEPTH_SCALE);
ushort maxDepth = (ushort)(depthFrame.DepthMaxReliableDistance * DEPTH_SCALE);
int maxCounter = (int)(buffer.Size / depthFrame.FrameDescription.BytesPerPixel);
for (int i = 0; i < maxCounter; ++i)
{
ushort depth = frameData[i];
depth *= DEPTH_SCALE;
depthPixels[i] = (ushort)(depth >= minDepth && depth <= maxDepth ? depth : 0);
}
}
