コード例 #1
0
        protected override void OnStart(string[] args)
        {
            // Try to open the first available Kinect sensor.
            this.kinect = KinectSensor.GetDefault();
            if (this.kinect == null)
            {
                EventLog.WriteEntry("No Kinect device was detected.");
                ExitCode = -1;
                throw new KinectException("No kinect device was detected.");
            }
            else
            {
                this.filter = new KinectJointFilter();
                this.filter.Init(0.5f, 0.5f, 0.5f, 0.05f, 0.04f); // change params if you want
                this.kinect.Open();
                this.kinect.IsAvailableChanged += this.OnAvailableChanged;
            }

            // Register as a handler for the image data being returned by the Kinect.
            this.reader      = this.kinect.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.Infrared | FrameSourceTypes.Body);
            this.audioSource = this.kinect.AudioSource;
            if (this.reader == null)
            {
                EventLog.WriteEntry("Unable to connect to Kinect data stream.");
                ExitCode = -2;
                throw new KinectException("Unable to connect to Kinect data stream.");
            }
            else
            {
                this.reader.MultiSourceFrameArrived += this.OnFrameArrived;
            }
            if (this.audioSource == null)
            {
                EventLog.WriteEntry("Unable to open audio source on kinect");
                ExitCode = -3;
                throw new KinectException("Unable to connect to kinect audio source");
            }
            else
            {
                this.audioReader = this.audioSource.OpenReader();
                if (this.audioReader == null)
                {
                    Console.WriteLine("Issues with audio reader");
                }
                else
                {
                    this.audioReader.FrameArrived += this.onAudioFrameArrived;
                }
            }


            // Allocate storage for the data from the Kinect.
            this.colorArray     = new byte[(this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL)];
            this.depthArray     = new ushort[this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width];
            this.irArray        = new ushort[this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width];
            this.byteColorArray = new byte[(this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL) + sizeof(double)];
            this.byteDepthArray = new byte[this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width * BYTES_PER_DEPTH_PIXEL + sizeof(double)];
            this.byteIRArray    = new byte[this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width * BYTES_PER_IR_PIXEL + sizeof(double)];
            this.bodyArray      = new Body[this.kinect.BodyFrameSource.BodyCount];
            this.audioContainer = new AudioContainer();
            this.audioContainer.samplingFrequency  = 16000;
            this.audioContainer.frameLifeTime      = 0.016;
            this.audioContainer.numSamplesPerFrame = (int)(this.audioContainer.samplingFrequency * this.audioContainer.frameLifeTime);
            this.audioContainer.numBytesPerSample  = sizeof(float);
            this.audioContainer.audioStream        = new float[256];

            // Create network connectors that will send out the data when it is received.
            this.colorConnector = new AsyncNetworkConnector(Properties.Settings.Default.RgbImagePort);
            this.depthConnector = new AsyncNetworkConnector(Properties.Settings.Default.DepthImagePort);
            this.irConnector    = new AsyncNetworkConnector(Properties.Settings.Default.IrImagePort);
            this.bodyConnector  = new AsyncNetworkConnector(Properties.Settings.Default.BodyPort);
            this.audioConnector = new AsyncNetworkConnector(Properties.Settings.Default.AudioPort);

            // Open the server connections.
            this.colorConnector.Listen();
            this.depthConnector.Listen();
            this.irConnector.Listen();
            this.bodyConnector.Listen();
            this.audioConnector.Listen();
        }
コード例 #2
0
        protected override void OnStart(string[] args)
        {
            // Try to open the first available Kinect sensor.
            this.kinect = KinectSensor.GetDefault();
            if (this.kinect == null)
            {
                EventLog.WriteEntry("No Kinect device was detected.");
                ExitCode = -1;
                throw new KinectException("No kinect device was detected.");
            }
            else
            {
                this.kinect.Open();
                this.kinect.IsAvailableChanged += this.OnAvailableChanged;
            }

            // Register as a handler for the image data being returned by the Kinect.
            this.reader      = this.kinect.OpenMultiSourceFrameReader(FrameSourceTypes.Color | FrameSourceTypes.Depth | FrameSourceTypes.Infrared | FrameSourceTypes.Body);
            this.audioSource = this.kinect.AudioSource;
            if (this.reader == null)
            {
                EventLog.WriteEntry("Unable to connect to Kinect data stream.");
                ExitCode = -2;
                throw new KinectException("Unable to connect to Kinect data stream.");
            }
            else
            {
                this.reader.MultiSourceFrameArrived += this.OnFrameArrived;
            }
            if (this.audioSource == null)
            {
                EventLog.WriteEntry("Unable to open audio source on kinect");
                ExitCode = -3;
                throw new KinectException("Unable to connect to kinect audio source");
            }
            else
            {
                this.audioReader = this.audioSource.OpenReader();
                if (this.audioReader == null)
                {
                    Console.WriteLine("Issues with audio reader");
                }
                else
                {
                    this.audioReader.FrameArrived += this.onAudioFrameArrived;
                }
            }


            // Allocate storage for the data from the Kinect.
            this.colorArray      = new byte[(this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL)];
            this.depthArray      = new ushort[this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width];
            this.irArray         = new ushort[this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width];
            this.byteColorArray  = new byte[(this.kinect.ColorFrameSource.FrameDescription.Height * this.kinect.ColorFrameSource.FrameDescription.Width * BYTES_PER_COLOR_PIXEL) + sizeof(double)];
            this.byteDepthArray  = new byte[this.kinect.DepthFrameSource.FrameDescription.Height * this.kinect.DepthFrameSource.FrameDescription.Width * BYTES_PER_DEPTH_PIXEL + sizeof(double)];
            this.byteIRArray     = new byte[this.kinect.InfraredFrameSource.FrameDescription.Height * this.kinect.InfraredFrameSource.FrameDescription.Width * BYTES_PER_IR_PIXEL + sizeof(double)];
            this.bodyArray       = new Body[this.kinect.BodyFrameSource.BodyCount];
            this.scan2DArray     = new float[this.kinect.DepthFrameSource.FrameDescription.Width * 6 + 3];
            this.byteScan2DArray = new byte[this.kinect.DepthFrameSource.FrameDescription.Width * 6 * 4 + 12];
            this.audioContainer  = new AudioContainer();
            this.audioContainer.samplingFrequency  = 16000;
            this.audioContainer.frameLifeTime      = 0.016;
            this.audioContainer.numSamplesPerFrame = (int)(this.audioContainer.samplingFrequency * this.audioContainer.frameLifeTime);
            this.audioContainer.numBytesPerSample  = sizeof(float);
            this.audioContainer.audioStream        = new float[256];

            // Create network connectors that will send out the data when it is received.
            this.colorConnector  = new AsyncNetworkConnector(Properties.Settings.Default.RgbImagePort);
            this.depthConnector  = new AsyncNetworkConnector(Properties.Settings.Default.DepthImagePort);
            this.irConnector     = new AsyncNetworkConnector(Properties.Settings.Default.IrImagePort);
            this.bodyConnector   = new AsyncNetworkConnector(Properties.Settings.Default.BodyPort);
            this.audioConnector  = new AsyncNetworkConnector(Properties.Settings.Default.AudioPort);
            this.scan2DConnector = new AsyncNetworkConnector(Properties.Settings.Default.Scan2DPort);

            // Open the server connections.
            this.colorConnector.Listen();
            this.depthConnector.Listen();
            this.irConnector.Listen();
            this.bodyConnector.Listen();
            this.audioConnector.Listen();
            this.scan2DConnector.Listen();
            // get the depth (display)extents

            FrameDescription colorFrameDescription = this.kinect.ColorFrameSource.FrameDescription;

            // get size of joint space
            this.displayWidth  = colorFrameDescription.Width;
            this.displayHeight = colorFrameDescription.Height;

            // open the reader for the body frames


            // open the reader for the color frames

            // create the bitmap to display
            this.colorBitmap = new WriteableBitmap(colorFrameDescription.Width, colorFrameDescription.Height, 96.0, 96.0, PixelFormats.Bgr32, null);

            mapper = this.kinect.CoordinateMapper;
            lower  = new CvMat(3, 1, MatrixType.U8C1);
            upper  = new CvMat(3, 1, MatrixType.U8C1);
            // Set specific color threshold for orange.
            lower[0] = 5;
            lower[1] = 170;
            lower[2] = 170;

            upper[0] = 10;
            upper[1] = 255;
            upper[2] = 255;
        }
コード例 #3
0
        private void onAudioFrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
        {
            // Return if there are no audio clients.
            if (!this.audioConnector.HasClients)
            {
                return;
            }

            // Create an audio container representing Kinect audio buffer data.
            var audioContainer = new AudioContainer();

            audioContainer.samplingFrequency  = 16000;
            audioContainer.frameLifeTime      = 0.016;
            audioContainer.numSamplesPerFrame = (int)(audioContainer.samplingFrequency * audioContainer.frameLifeTime);
            audioContainer.numBytesPerSample  = sizeof(float);
            audioContainer.audioStream        = new float[256];

            // Record the current Unix epoch timestamp.
            audioContainer.timestamp = DateTimeOffset.Now.ToUnixTimeMilliseconds();

            // TODO: add relative timestamp to audio?
            // this.audioContainer.relativeTime = e.FrameReference.RelativeTime.TotalMilliseconds;

            // Retrieve audio beams for current frame.
            AudioBeamFrameList frameList = e.FrameReference.AcquireBeamFrames();

            if (frameList == null)
            {
                return;
            }

            // Serialize all of the subframes and send as a JSON message.
            using (frameList)
            {
                // Only one audio beam is supported. Get the subframe list for the one beam.
                IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;

                // Consolidate the beam subframes into a single JSON message.
                foreach (AudioBeamSubFrame subFrame in subFrameList)
                {
                    using (subFrame)
                    {
                        audioContainer.beamAngle           = subFrame.BeamAngle;
                        audioContainer.beamAngleConfidence = subFrame.BeamAngleConfidence;

                        byte[] array = new byte[subFrame.FrameLengthInBytes];
                        subFrame.CopyFrameDataToArray(array);
                        for (int i = 0; i < array.Length; i += sizeof(float))
                        {
                            audioContainer.audioStream[(int)(i / sizeof(float))] = BitConverter.ToSingle(array, i);
                        }

                        // Send audio data to clients.
                        string json = JsonConvert.SerializeObject(audioContainer,
                                                                  new JsonSerializerSettings {
                            ContractResolver = new AudioContractResolver()
                        }) + "\n";
                        byte[] bytes = System.Text.Encoding.ASCII.GetBytes(json);
                        this.audioConnector.Broadcast(bytes);
                    }
                }
            }
        }