public RoverRobot(ExpansionPlate expansionPlate, IFrameSource <Image <Rgb24> > camera, RoverRobotConfiguration configuration)
{
using var operation = Log.OnEnterAndExit();
operation.Info("configuring platform ", configuration.LeftMotorPort, configuration.RightMotorPort, configuration.PanMotorPort, configuration.TiltMotorPort);
ExpansionPlate = expansionPlate ?? throw new ArgumentNullException(nameof(expansionPlate));
Camera = camera;
DashBoard = new RoverDashboard(expansionPlate.PiTop4Board.Display);
TiltController = new PanTiltController(
ExpansionPlate.GetOrCreateServoMotor(configuration.PanMotorPort),
ExpansionPlate.GetOrCreateServoMotor(configuration.TiltMotorPort)
);
MotionComponent = new SteeringMotorController(
ExpansionPlate.GetOrCreateEncoderMotor(configuration.LeftMotorPort),
ExpansionPlate.GetOrCreateEncoderMotor(configuration.RightMotorPort)
);
FrontRightLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D3, Color.Green);
FrontLeftLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D4, Color.Green);
BackRightLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D0, Color.Red);
BackLeftLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D5, Color.Red);
UltrasoundFront = ExpansionPlate.GetOrCreateUltrasonicSensor(DigitalPort.D7);
UltrasoundBack = ExpansionPlate.GetOrCreateUltrasonicSensor(DigitalPort.D6);
Sound = ExpansionPlate.GetOrCreateSoundSensor(AnaloguePort.A3);
FrontRightLed.Off();
FrontLeftLed.Off();
BackRightLed.Off();
BackLeftLed.Off();
}
/// <summary>Begins the decoding process.</summary>
/// <param name="source">The source.</param>
/// <exception cref="NotSupportedException">Only Layer 3 Audio is supported!.</exception>
/// <exception cref="Exception">Decoding already started!.</exception>
public override void BeginDecode(IFrameSource source)
{
if (m_FrameDecoder != null)
{
Close();
}
SourceName = source.Name;
m_Source = source;
// get first audio frame
MP3AudioFrame l_MP3Frame = ReadNextAudioFrame();
if (l_MP3Frame.Header.Layer != MP3AudioFrameLayer.Layer3)
{
throw new NotSupportedException("Source " + SourceName + ": Only Layer 3 Audio is supported!");
}
// prepare decoder
m_OutputChannels = l_MP3Frame.Header.ChannelCount;
float[] isEqualizerFactors = m_Equalizer.GetFactors();
m_Filter1 = new MP3AudioSynthesisFilter(0, 32000.0f, isEqualizerFactors);
if (m_OutputChannels == 2)
{
m_Filter2 = new MP3AudioSynthesisFilter(1, 32000.0f, isEqualizerFactors);
}
m_SamplingRate = l_MP3Frame.Header.SamplingRate;
m_OutputBuffer = new MP3AudioStereoBuffer(m_SamplingRate);
m_FrameDecoder = new MP3AudioLayerIIIDecoder(l_MP3Frame.Header, m_Filter1, m_Filter2, m_OutputBuffer, (int)MP3AudioOutputMode.Both);
DecodeFrame(l_MP3Frame);
}
public FrameSourceSampleForm(IFrameSource source, IFrameData data)
{
InitializeComponent();
toolStripLabelUsage.Text = "";
frameSource = source;
frameData = data;
frameSource.OnNewFrame += OnNewFrame;
frameSource.OnWorkerException += FrameSource_OnWorkerException;
}
public FrameToSampleConverter([NotNull] IFrameSource source)
{
if (source == null)
{
throw new ArgumentNullException("source");
}
_source = source;
_temp = new float[source.FrameSize * source.WaveFormat.Channels];
}
public static IProducer <T> CreateComponent <T>(this IFrameSource <T> frameSource, Pipeline pipeline, TimeSpan samplingInterval)
{
var initialFrame = frameSource.GetFrame();
return(Generators.Sequence(pipeline, initialFrame, _ =>
{
var frame = frameSource.GetFrame();
return frame;
}, samplingInterval));
}
public void OnImageCaptured(IFrameSource frameSource, Frame frame, double fps)
{
_latestFrame = frame.Image;
histograms = BitmapConverting.getHistoGrams(_latestFrame, 8, 8);
BitmapConverting.markRedSectors(_latestFrame, histograms, 8, 8);
pictureBoxDisplay.Invalidate();
frameIndex++;
}
/// <summary>
/// Encodes a specified range of frames obtained from the specified frame source.
/// </summary>
/// <param name="frameSource"></param>
/// <param name="start"></param>
/// <param name="count"></param>
public void Encode(IFrameSource frameSource, long start, long count)
{
Contract.Requires(frameSource != null);
var end = start + count;
for (long i = start; i < end; ++i)
{
this.EncodeFrame(frameSource.GetFrame(i));
}
}
/// <summary>
/// Initializes a new instance of the KinectFacialRecognitionEngine class
/// </summary>
public KinectFacialRecognitionEngine(KinectSensor kinect, IFrameSource frameSource)
{
this.Kinect = kinect;
this.ProcessingMutex = new object();
this.ProcessingEnabled = true;
this.Processor = new FacialRecognitionProcessor();
this.frameSource = frameSource;
this.frameSource.FrameDataUpdated += this.FrameSource_FrameDataUpdated;
this.recognizerWorker = new BackgroundWorker();
this.recognizerWorker.DoWork += this.RecognizerWorker_DoWork;
this.recognizerWorker.RunWorkerCompleted += this.RecognizerWorker_RunWorkerCompleted;
}
/// <summary>
/// Initializes a new instance of the KinectFacialRecognitionEngine class
/// </summary>
public KinectFacialRecognitionEngine(KinectSensor kinect, IFrameSource frameSource)
{
this.Kinect = kinect;
this.ProcessingMutex = new object();
this.ProcessingEnabled = true;
this.Processor = new FacialRecognitionProcessor();
this.frameSource = frameSource;
this.frameSource.FrameDataUpdated += this.FrameSource_FrameDataUpdated;
this.recognizerWorker = new BackgroundWorker();
this.recognizerWorker.DoWork += this.RecognizerWorker_DoWork;
this.recognizerWorker.RunWorkerCompleted += this.RecognizerWorker_RunWorkerCompleted;
}
/// <summary>
/// Configure an IFrameSource from a StorageFile or MediaCapture instance to produce optionally a specified format of frame
/// </summary>
/// <param name="source"></param>
/// <param name="inputImageDescriptor"></param>
/// <returns></returns>
private async Task ConfigureFrameSourceAsync(object source, ISkillFeatureImageDescriptor inputImageDescriptor = null)
{
await m_lock.WaitAsync();
{
// Reset bitmap rendering component
UIProcessedPreview.Source = null;
m_renderTargetFrame = null;
m_processedBitmapSource = new SoftwareBitmapSource();
UIProcessedPreview.Source = m_processedBitmapSource;
// Clean up previous frame source
if (m_frameSource != null)
{
m_frameSource.FrameArrived -= FrameSource_FrameAvailable;
var disposableFrameSource = m_frameSource as IDisposable;
if (disposableFrameSource != null)
{
// Lock disposal based on frame source consumers
disposableFrameSource.Dispose();
}
}
// Create new frame source and register a callback if the source fails along the way
m_frameSource = await FrameSourceFactory.CreateFrameSourceAsync(
source,
(sender, message) =>
{
NotifyUser(message);
},
inputImageDescriptor);
// TODO: Workaround for a bug in ObjectDetectorBinding when binding consecutively VideoFrames with Direct3DSurface and SoftwareBitmap
await m_skillWrappers[0].InitializeSkillAsync(m_skillWrappers[0].Skill.Device);
// Set additional input features as exposed in the UI
await m_skillWrappers[0].Binding["InputObjectKindFilterList"].SetFeatureValueAsync(m_objectKindFilterList);
await m_skillWrappers[0].Binding["InputConfidenceThreshold"].SetFeatureValueAsync((float)UIConfidenceThresholdControl.Value);
}
m_lock.Release();
// If we obtained a valid frame source, start it
if (m_frameSource != null)
{
m_frameSource.FrameArrived += FrameSource_FrameAvailable;
await m_frameSource.StartAsync();
}
}
/// <summary>
/// Configure an IFrameSource from a StorageFile or MediaCapture instance to produce optionally a specified format of frame
/// </summary>
/// <param name="source"></param>
/// <param name="inputImageDescriptor"></param>
/// <returns></returns>
private async Task ConfigureFrameSourceAsync(object source, ISkillFeatureImageDescriptor inputImageDescriptor = null)
{
await m_lock.WaitAsync();
{
// Reset bitmap rendering component
UIProcessedPreview.Source = null;
m_renderTargetFrame = null;
m_processedBitmapSource = new SoftwareBitmapSource();
UIProcessedPreview.Source = m_processedBitmapSource;
// Clean up previous frame source
if (m_frameSource != null)
{
m_frameSource.FrameArrived -= FrameSource_FrameAvailable;
var disposableFrameSource = m_frameSource as IDisposable;
if (disposableFrameSource != null)
{
// Lock disposal based on frame source consumers
disposableFrameSource.Dispose();
}
}
// Create new frame source and register a callback if the source fails along the way
m_frameSource = await FrameSourceFactory.CreateFrameSourceAsync(
source,
(sender, message) =>
{
NotifyUser(message);
},
inputImageDescriptor);
// Clear existing trackers
m_frameCounter = 0;
m_trackerBindings.Clear();
m_trackerHistories.Clear();
}
m_lock.Release();
// If we obtained a valid frame source, start it
if (m_frameSource != null)
{
m_frameSource.FrameArrived += FrameSource_FrameAvailable;
await m_frameSource.StartAsync();
}
}
/// <summary>
/// Conditionally dispose old frame source and create new frame source
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
private async Task ConfigureFrameSourceAsync(object source)
{
await m_lock.WaitAsync();
{
// Dispose old frame source
if (m_frameSource != null)
{
m_frameSource.FrameArrived -= FrameSource_FrameArrived;
var disposableFrameSource = m_frameSource as IDisposable;
if (disposableFrameSource != null)
{
disposableFrameSource.Dispose();
}
}
// Create new frame source
m_frameSource = await FrameSourceFactory.CreateFrameSourceAsync(source, (sender, message) =>
{
NotifyUser(message, NotifyType.ErrorMessage);
});
// If we obtained a valid frame source, hook a frame callback
if (m_frameSource != null)
{
m_frameSource.FrameArrived += FrameSource_FrameArrived;
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
UIPlayButton.IsEnabled = true;
});
}
else
{
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
{
UIPlayButton.IsEnabled = false;
});
}
}
m_lock.Release();
// Update playback button state. Warning that this method acquires m_lock, so must be called from outside the lock
await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () => TogglePlaybackState(false));
NotifyUser("Frame source configured, ready to begin");
}
// Start is called before the first frame update
void Awake()
{
if (_useCamera)
{
WebCamDevice[] cams = WebCamTexture.devices;
if (cams.Length > 0)
{
WebCamTexture tmpWebCamTexture = new WebCamTexture(cams[0].name);
_frameSource = new CameraFrame(tmpWebCamTexture);
tmpWebCamTexture.Play();
_cameraIsAvailable = true;
}
}
else
{
_frameSource = new StaticImage(string.Concat(Application.dataPath, "/Resources/Images/frame.png"), 640, 512);
}
}
/// <summary>
/// Configure an IFrameSource from a StorageFile or MediaCapture instance to produce optionally a specified format of frame
/// </summary>
/// <param name="source"></param>
/// <param name="inputImageDescriptor"></param>
/// <returns></returns>
private async Task ConfigureFrameSourceAsync(object source, ISkillFeatureImageDescriptor inputImageDescriptor = null)
{
await m_lock.WaitAsync();
{
// Reset bitmap rendering component
UIProcessedPreview.Source = null;
m_renderTargetFrame = null;
m_processedBitmapSource = new SoftwareBitmapSource();
UIProcessedPreview.Source = m_processedBitmapSource;
// Clean up previous frame source
if (m_frameSource != null)
{
m_frameSource.FrameArrived -= FrameSource_FrameAvailable;
var disposableFrameSource = m_frameSource as IDisposable;
if (disposableFrameSource != null)
{
// Lock disposal based on frame source consumers
disposableFrameSource.Dispose();
}
}
// Create new frame source and register a callback if the source fails along the way
m_frameSource = await FrameSourceFactory.CreateFrameSourceAsync(
source,
(sender, message) =>
{
NotifyUser(message);
},
inputImageDescriptor);
// TODO: Workaround for a bug in ObjectDetectorBinding when binding consecutively VideoFrames with Direct3DSurface and SoftwareBitmap
m_binding = await m_skill.CreateSkillBindingAsync() as ObjectDetectorBinding;
}
m_lock.Release();
// If we obtained a valid frame source, start it
if (m_frameSource != null)
{
m_frameSource.FrameArrived += FrameSource_FrameAvailable;
await m_frameSource.StartAsync();
}
}
/// <summary>Closes the underlying stream and calls Dispose.</summary>
public void Close()
{
if (m_Disposed)
{
throw new ObjectDisposedException(LogSourceName);
}
if (m_Initialized)
{
M123.Deinitialize();
m_Initialized = false;
}
if (m_Source != null)
{
m_Source.Close();
m_Source = null;
m_DecodeFifoBuffer = null;
}
}
/// <summary>Starts the decoding process.</summary>
/// <param name="source">The source.</param>
/// <exception cref="InvalidOperationException">Source: Decoding already started!.</exception>
public void BeginDecode(IFrameSource source)
{
if (disposed)
{
throw new ObjectDisposedException(LogSourceName);
}
if (initialized)
{
throw new InvalidOperationException(string.Format("Source {0}: Decoding already started!", SourceName));
}
if (SourceName != null)
{
SourceName = source.Name;
}
initialized = true;
M123.Initialize();
m_Source = source;
// open new decoder handle
M123.RESULT result;
m_DecoderHandle = M123.SafeNativeMethods.mpg123_new(null, out result);
M123.CheckResult(result);
// reset formats
M123.CheckResult(M123.SafeNativeMethods.mpg123_format_none(m_DecoderHandle));
// allow all mp3 native samplerates
var mode = useFloatingPoint ? M123.ENC.FLOAT_32 : M123.ENC.SIGNED_16;
foreach (var sampleRate in M123.SafeNativeMethods.mpg123_rates())
{
M123.CheckResult(M123.SafeNativeMethods.mpg123_format(m_DecoderHandle, new IntPtr(sampleRate), M123.CHANNELCOUNT.STEREO, mode));
}
// open feed
result = M123.SafeNativeMethods.mpg123_open_feed(m_DecoderHandle);
M123.CheckResult(result);
m_DecodeFifoBuffer = new FifoBuffer();
}
/// <summary>
/// Configure an IFrameSource from a StorageFile or MediaCapture instance
/// </summary>
/// <param name="source"></param>
/// <returns></returns>
private async Task ConfigureFrameSourceAsync(object source)
{
await m_lock.WaitAsync();
{
// Reset bitmap rendering component
UIImageViewer.Source = null;
m_processedBitmapSource = new SoftwareBitmapSource();
UIImageViewer.Source = m_processedBitmapSource;
m_bodyRenderer.IsVisible = false;
// Clean up previous frame source
if (m_frameSource != null)
{
m_frameSource.FrameArrived -= FrameSource_FrameAvailable;
var disposableFrameSource = m_frameSource as IDisposable;
if (disposableFrameSource != null)
{
// Lock disposal based on frame source consumers
disposableFrameSource.Dispose();
}
}
// Create new frame source and register a callback if the source fails along the way
m_frameSource = await FrameSourceFactory.CreateFrameSourceAsync(source, (sender, message) =>
{
NotifyUser(message);
});
}
m_lock.Release();
// If we obtained a valid frame source, start it
if (m_frameSource != null)
{
m_frameSource.FrameArrived += FrameSource_FrameAvailable;
await m_frameSource.StartAsync();
}
}
private void _frameSource_NewFrame(IFrameSource frameSource, Frame frame, double fps)
{
BitMaps.Add(frame.Image);
}
/// <summary>
/// Asynchronously encodes a specified range of frames obtained from the specified frame source.
/// </summary>
/// <param name="frameSource"></param>
/// <param name="start"></param>
/// <param name="count"></param>
/// <param name="userState"></param>
public void EncodeAsync(IFrameSource frameSource, long start, long count, object userState)
{
}
/// <summary>
/// Encodes a specified range of frames obtained from the specified frame source.
/// </summary>
/// <param name="frameSource"></param>
/// <param name="start"></param>
/// <param name="count"></param>
public void Encode(IFrameSource frameSource, long start, long count)
{
Contract.Requires(frameSource != null);
var end = start + count;
for (long i = start; i < end; ++i)
this.EncodeFrame(frameSource.GetFrame(i));
}
/// <summary>Starts the decoding process.</summary> /// <param name="source">The source.</param> /// <exception cref="InvalidOperationException">Source: Decoding already started!.</exception> public abstract void BeginDecode(IFrameSource source);
public void OnImageCaptured(IFrameSource frameSource,
Frame frame, double fps)
{
ImgVideo.Dispatcher.BeginInvoke(
(Action) (() => ImgVideo.Source = ImageDataConverter.BitmapToBitmapSource(frame.Image)));
}
private void _frameSource_NewFrame(IFrameSource frameSource, Frame frame, double fps)
{
BitMaps.Add(frame.Image);
}
public void OnImageCaptured(IFrameSource frameSource,
Frame frame, double fps)
{
ImgVideo.Dispatcher.BeginInvoke(
(Action)(() => ImgVideo.Source = ImageDataConverter.BitmapToBitmapSource(frame.Image)));
}
public VolumeRampedFrameSource(IFrameSource source, IVolumeProvider volumeProvider)
{
_source = source;
_volumeProvider = volumeProvider;
}
public FrameToSampleConverter(IFrameSource source)
{
_source = source;
_temp = new float[source.FrameSize * source.WaveFormat.Channels];
}
public FrameManipulator(IFrameSource frameSource, string filename)
{
_frameSource = frameSource;
_filename = filename;
}
public void OnImageCaptured(IFrameSource frameSource, Frame frame, double fps)
{
_latestFrame = frame.Image;
histograms = BitmapConverting.getHistoGrams(_latestFrame, 8, 8);
BitmapConverting.markRedSectors(_latestFrame, histograms, 8, 8);
pictureBoxDisplay.Invalidate();
frameIndex++;
}
/// <summary>
/// Asynchronously encodes a specified range of frames obtained from the specified frame source.
/// </summary>
/// <param name="frameSource"></param>
/// <param name="start"></param>
/// <param name="count"></param>
/// <param name="userState"></param>
public void EncodeAsync(IFrameSource frameSource, long start, long count, object userState)
{
}
public void CaptureFromCamera(IFrameSource <Image> camera)
{
CaptureImage = camera.GetFrame;
Threshold = 0.9;
}