private void Audio_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
using (var frameList = frameReference.AcquireBeamFrames()) {
if (frameList == null)
{
return;
}
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
List <float> beamAngles = new List <float> {
};
foreach (var frame in subFrameList)
{
if (frame.BeamAngleConfidence > 0.3)
{
beamAngles.Add(frame.BeamAngle);
}
}
byte[] bytes = new byte[beamAngles.Count * 4 + 1];
Buffer.BlockCopy(BitConverter.GetBytes(beamAngles.Count), 0, bytes, 0, 1); // first 1 byte number of beams
for (int i = 0; i < beamAngles.Count; ++i)
{
Buffer.BlockCopy(BitConverter.GetBytes(beamAngles[i]), 0, bytes, i * 4 + 1, 4);
}
this.client.Publish("/kinect/detected/audio", bytes);
}
++this.kinectFrameCount;
}
private void Reader_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
AudioBeamFrameList frameList = frameReference.AcquireBeamFrames();
if (frameList != null)
{
using (frameList)
{
byte[] audioBuffer = new byte[_kinect.AudioSource.SubFrameLengthInBytes];
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
foreach (AudioBeamSubFrame subFrame in subFrameList)
{
int bytesRecorded = (int)subFrame.FrameLengthInBytes;
subFrame.CopyFrameDataToArray(audioBuffer);
if (_waveBufferPos + bytesRecorded < _waveBuffer.Length)
{
Array.Copy(audioBuffer, 0, _waveBuffer, _waveBufferPos, bytesRecorded);
_waveBufferPos += bytesRecorded;
}
else
{
PublishBuffer();
Array.Copy(audioBuffer, _waveBuffer, bytesRecorded);
_waveBufferPos = bytesRecorded;
}
}
}
}
}
private void Audio_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
using (var frameList = frameReference.AcquireBeamFrames()) {
if (frameList == null)
{
return;
}
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
foreach (var frame in subFrameList)
{
if (frame.BeamAngleConfidence > 0.3)
{
byte[] bytes = new byte[4];
Buffer.BlockCopy(BitConverter.GetBytes(frame.BeamAngle), 0, bytes, 0, 4);
this.client.Publish("/kinect/detected/audio", bytes);
}
#if PUBLISH_RAW_AUDIO
byte[] audioBuffer = new byte[this.kinectSensor.AudioSource.SubFrameLengthInBytes];
frame.CopyFrameDataToArray(audioBuffer);
byte[] convertedBuffer = new byte[audioBuffer.Length >> 1];
ConvertKinectAudioStream(audioBuffer, convertedBuffer);
this.client.Publish("/kinect/stream/rawaudio", convertedBuffer);
#endif
++this.kinectFrameCount;
}
}
this.client.Publish("/kinect/audio/alive", new byte[1]);
}
private void Reader_AudioBeamFrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
AudioBeamFrameList frameList = frameReference.AcquireBeamFrames();
if (frameList != null)
{
using (frameList)
{
// Only one audio beam is supported. Get the sub frame list for this beam
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
this.fullAudio = new Byte[audioBuffer.Length * subFrameList.Count];
int start = 0;
foreach (AudioBeamSubFrame subFrame in subFrameList)
{
subFrame.CopyFrameDataToArray(this.audioBuffer);
this.audioBuffer.CopyTo(this.fullAudio, start);
start += this.audioBuffer.Length;
}
this.publisher.SendByteArray(this.fullAudio);
this.fullAudio = null;
}
}
}
private void onAudioFrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference audioFrameRefrence = e.FrameReference;
try
{
AudioBeamFrameList frameList = audioFrameRefrence.AcquireBeamFrames();
if (frameList != null)
{
using (frameList)
{
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
foreach (AudioBeamSubFrame subFrame in subFrameList)
{
this.audioContainer.utcTime = (DateTime.UtcNow - new DateTime(1970, 1, 1)).TotalSeconds;
this.audioContainer.beamAngle = subFrame.BeamAngle;
this.audioContainer.beamAngleConfidence = subFrame.BeamAngleConfidence;
byte[] array = new byte[this.audioSource.SubFrameLengthInBytes];
subFrame.CopyFrameDataToArray(array);
for (int i = 0; i < array.Length; i += sizeof(float))
{
audioContainer.audioStream[(int)(i / sizeof(float))] = BitConverter.ToSingle(array, i);
}
string jsonString = JsonConvert.SerializeObject(this.audioContainer);
int diff = 4100 - jsonString.Length;
for (int i = 0; i < diff; i++)
{
jsonString += " ";
}
byte[] transmittedData = new byte[jsonString.Length * sizeof(char)];
System.Buffer.BlockCopy(jsonString.ToCharArray(), 0, transmittedData, 0, transmittedData.Length);
this.audioConnector.Broadcast(transmittedData);
subFrame.Dispose();
}
}
frameList.Dispose();
}
}
catch
{
}
}
private void beamFrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
AudioBeamFrameList frameList = frameReference.AcquireBeamFrames();
if (frameList != null)
{
// AudioBeamFrameList is IDisposable
using (frameList)
{
float readAngle = frameList[0].AudioBeam.BeamAngle;
if (readAngle != this.beamAngle)
{
//Console.WriteLine(subFrame.BeamAngle);
this.beamAngle = readAngle;
foreach (BeamAngleListener listener in beamAngleListeners)
{
listener.onBeamAngleChanged(beamAngle);
}
}
/*
* // Only one audio beam is supported. Get the sub frame list for this beam
* IReadOnlyList<AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
*
* // Loop over all sub frames, extract audio buffer and beam information
* foreach (AudioBeamSubFrame subFrame in subFrameList)
* {
* if (subFrame.BeamAngle != this.beamAngle)
* {
* //Console.WriteLine(subFrame.BeamAngle);
* this.beamAngle = subFrame.BeamAngle;
* foreach (BeamAngleListener listener in beamAngleListeners)
* {
* listener.onBeamAngleChanged(subFrame.BeamAngle);
* }
* }
* }
* */
}
}
}
private void Reader_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
AudioBeamFrameList frameList = frameReference.AcquireBeamFrames();
if (frameList != null)
{
using (frameList)
{
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
// Loop over all sub frames, extract audio buffer and beam information
foreach (AudioBeamSubFrame subFrame in subFrameList)
{
subFrame.CopyFrameDataToArray(this.audioBuffer);
if (fileStream.CanWrite == true)
{
fileStream.Write(audioBuffer, 0, audioBuffer.Length);
size += audioBuffer.Length;
}
}
}
}
}
/**
* void _selectedController_StateChanged(object sender, XboxControllerStateChangedEventArgs e)
* {
* OnPropertyChanged("SelectedController");
*
* // Where the action happens with the controller.
* if (SelectedController.IsAPressed)
* {
* Console.WriteLine("A is pressed");
* }
* else if (SelectedController.IsBPressed)
* {
* Console.WriteLine("B is pressed");
* }
* }
*
* public XboxController SelectedController
* {
* get { return _selectedController; }
* }
*
* volatile bool _keepRunning;
* XboxController _selectedController;
*
* public void OnPropertyChanged(string name)
* {
* if (PropertyChanged != null)
* {
* Action a = () => { PropertyChanged(this, new PropertyChangedEventArgs(name)); };
* Dispatcher.BeginInvoke(a, null);
* }
* }
*
*
*
* private void SelectedControllerChanged(object sender, RoutedEventArgs e)
* {
* _selectedController = XboxController.RetrieveController(((ComboBox)sender).SelectedIndex);
* OnPropertyChanged("SelectedController");
* }
**/
void audioReader_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
//Only interperet Audio if in Audible Tracking state
if (this.trackingMode == TrackingMode.AUDIBLE)
{
AudioBeamFrameReference frameReference = e.FrameReference;
try
{
AudioBeamFrameList frameList = frameReference.AcquireBeamFrames();
if (frameList != null)
{
// AudioBeamFrameList is IDisposable
using (frameList)
{
// Only one audio beam is supported. Get the sub frame list for this beam
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
// Loop over all sub frames, extract audio buffer and beam information
foreach (AudioBeamSubFrame subFrame in subFrameList)
{
// Check if beam angle and/or confidence have changed
bool updateBeam = false;
if (subFrame.BeamAngle != this.beamAngle)
{
this.beamAngle = subFrame.BeamAngle;
updateBeam = true;
}
if (subFrame.BeamAngleConfidence != this.beamAngleConfidence)
{
this.beamAngleConfidence = subFrame.BeamAngleConfidence;
updateBeam = true;
}
if (updateBeam)
{
// Refresh display of audio beam
this.AudioBeamChanged();
}
else
{
// If there are has been no update in the audio beam then return the X servo velocity to 0
if (panTilt.IsReady)
{
this.cannonXVelocity = 5;
panTilt.PanX(this.CannonXVelocity);
}
}
}
}
}
}
catch (Exception)
{
// Ignore if the frame is no longer available
}
}
}
/// <summary>
/// Handles the audio frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
AudioBeamFrameList frameList = frameReference.AcquireBeamFrames();
if (frameList != null)
{
// AudioBeamFrameList is IDisposable
using (frameList)
{
// Only one audio beam is supported. Get the sub frame list for this beam
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
// Loop over all sub frames, extract audio buffer and beam information
foreach (AudioBeamSubFrame subFrame in subFrameList)
{
// Check if beam angle and/or confidence have changed
bool updateBeam = false;
if (subFrame.BeamAngle != this.beamAngle)
{
this.beamAngle = subFrame.BeamAngle;
updateBeam = true;
}
if (subFrame.BeamAngleConfidence != this.beamAngleConfidence)
{
this.beamAngleConfidence = subFrame.BeamAngleConfidence;
updateBeam = true;
}
if (updateBeam)
{
// Refresh display of audio beam
this.AudioBeamChanged();
}
// Process audio buffer
subFrame.CopyFrameDataToArray(this.audioBuffer);
for (int i = 0; i < this.audioBuffer.Length; i += BytesPerSample)
{
// Extract the 32-bit IEEE float sample from the byte array
float audioSample = BitConverter.ToSingle(this.audioBuffer, i);
this.accumulatedSquareSum += audioSample * audioSample;
++this.accumulatedSampleCount;
if (this.accumulatedSampleCount < SamplesPerColumn)
{
continue;
}
float meanSquare = this.accumulatedSquareSum / SamplesPerColumn;
if (meanSquare > 1.0f)
{
// A loud audio source right next to the sensor may result in mean square values
// greater than 1.0. Cap it at 1.0f for display purposes.
meanSquare = 1.0f;
}
// Calculate energy in dB, in the range [MinEnergy, 0], where MinEnergy < 0
float energy = MinEnergy;
if (meanSquare > 0)
{
energy = (float)(10.0 * Math.Log10(meanSquare));
}
lock (this.energyLock)
{
// Normalize values to the range [0, 1] for display
this.energy[this.energyIndex] = (MinEnergy - energy) / MinEnergy;
this.energyIndex = (this.energyIndex + 1) % this.energy.Length;
++this.newEnergyAvailable;
}
this.accumulatedSquareSum = 0;
this.accumulatedSampleCount = 0;
}
}
}
}
}
/// <summary>
/// Handles the audio frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
public void Reader_FrameArrived(object sender, AudioBeamFrameArrivedEventArgs e)
{
AudioBeamFrameReference frameReference = e.FrameReference;
try
{
AudioBeamFrameList frameList = frameReference.AcquireBeamFrames();
if (frameList != null)
{
// AudioBeamFrameList is IDisposable
using (frameList)
{
// Only one audio beam is supported. Get the sub frame list for this beam
IReadOnlyList <AudioBeamSubFrame> subFrameList = frameList[0].SubFrames;
// Loop over all sub frames, extract audio buffer and beam information
foreach (AudioBeamSubFrame subFrame in subFrameList)
{
subFrame.CopyFrameDataToArray(this.audioBuffer);
for (int i = 0; i < this.audioBuffer.Length; i += BytesPerSample)
{
// Extract the 32-bit IEEE float sample from the byte array
float audioSample = BitConverter.ToSingle(this.audioBuffer, i);
this.accumulatedSquareSum += audioSample * audioSample;
++this.accumulatedSampleCount;
if (this.accumulatedSampleCount < SamplesPerColumn)
{
continue;
}
float meanSquare = this.accumulatedSquareSum / SamplesPerColumn;
if (meanSquare > 1.0f)
{
// // A loud audio source right next to the sensor may result in mean square values
// // greater than 1.0. Cap it at 1.0f for display purposes.
meanSquare = 1.0f;
}
// Calculate energy in dB, in the range [MinEnergy, 0], where MinEnergy < 0
float energy = MinEnergy;
if (meanSquare > 0)
{
energy = (float)(10.0 * Math.Log10(meanSquare));
}
lock (this.energyLock)
{
// Normalize values to the range [0, 1] for display
this.energy[this.energyIndex] = (MinEnergy - energy) / MinEnergy;
// this.energy[this.energyIndex] = energy;
this.energyIndex = (this.energyIndex + 1) % this.energy.Length;
++this.newEnergyAvailable;
}
this.accumulatedSquareSum = 0;
this.accumulatedSampleCount = 0;
}
audioPreAnalysis.analyzeAudio(this.audioBuffer, this.energy);
}
}
}
}
catch (Exception)
{
// Ignore if the frame is no longer available
}
}