private void sensor_AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
depthFrame = e.OpenDepthImageFrame();
colorFrame = e.OpenColorImageFrame();
if (depthFrame != null && colorFrame != null)
{
depthFrame.CopyPixelDataTo(depthPixels);
colorFrame.CopyPixelDataTo(colorPixels);
Image <Bgr, Byte> convertImage = colorFrame.ToOpenCVImage <Bgr, Byte>();
depthBitmap.WritePixels(new Int32Rect(0, 0, sensor.DepthStream.FrameWidth, sensor.DepthStream.FrameHeight), depthPixels, depthBitmapStride, 0);
if (depthPixels != null && isCombineDepthToColor)
{
RangeFilter();
}
colorBitmap.WritePixels(new Int32Rect(0, 0, sensor.ColorStream.FrameWidth, sensor.ColorStream.FrameHeight), colorPixels, colorBitmapStride, 0);
colorImageViewer.Source = colorBitmap;
depthImageViewer.Source = depthBitmap;
//depthFrame.Dispose();
//colorFrame.Dispose();
}
}
void Record(ColorImageFrame image)
{
if (!_isRecording)
{
_fileName = string.Format("{0}{1}{2}", _baseDirectory, DateTime.Now.ToString("MMddyyyyHmmss"), ".avi");
_isRecording = true;
}
_videoArray.Add(image.ToOpenCVImage <Rgb, Byte>());
}
private void PollColorImageStream()
{
if (this._Kinect == null)
{
// no kinect
}
else
{
try
{
using (ColorImageFrame frame = this._Kinect.ColorStream.OpenNextFrame(valDelayOpenNextFrame))
{
if (frame != null)
{
frame.CopyPixelDataTo(this._ColorImagePixelData);
if (!lowResource)
{
this.ColorImageElement.Dispatcher.BeginInvoke(new Action(() =>
{
this._ColorImageBitmap.WritePixels(this._ColorImageBitmapRect, this._ColorImagePixelData, this._ColorImageStride, 0);
}));
}
//add video images to array such that SaveVideo() can record video through opencv
if (currentFrame % frameAcceptance == 0) //set to only add every frameAcceptanceth'd frame
{
_videoArray.Add(frame.ToOpenCVImage <Rgb, Byte>());
}
if (_videoArray.Count() > recordLength / frameAcceptance) // Frame limiter (ideally 4x where x is length of event)
{
vidCounter++;
SaveVideo();
_videoArray.Clear();
}
}
}
}
catch (Exception ex)
{
//report error?
}
}
}
/// <summary>
/// Event handler for Kinect sensor's ColorFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
// Copy the pixel data from the image to a temporary array
colorFrame.CopyPixelDataTo(this.colorPixels);
Image <Bgr, Byte> image2 = colorFrame.ToOpenCVImage <Bgr, Byte>();//將kinect彩色影像轉換emgu處理格式
Image <Gray, Byte> grayFrame = image2.Convert <Gray, Byte>();
Image <Gray, Byte> cannyFrame = grayFrame.Canny(new Gray(100), new Gray(60));
//image1.Source = cannyFrame.ToBitmapSource(); //將emgu格式轉換bitmap顯示
if (ck == true)
{
ck = false;
if (goodsRecogSys != null)
{
goodsRecogSys.SetupInputImage(image2);
}
else
{
goodsRecogSys = new GoodsRecognition(image2);
}
string goodData = goodsRecogSys.RunRecognition(true);
if (synthesizer.State != SynthesizerState.Speaking)
{
synthesizer.SpeakAsync(goodData);
}
}
// Write the pixel data into our bitmap
this.colorBitmap.WritePixels(
new Int32Rect(0, 0, this.colorBitmap.PixelWidth, this.colorBitmap.PixelHeight),
this.colorPixels,
this.colorBitmap.PixelWidth * sizeof(int),
0);
}
}
}
private void Pulse()
{
using (ColorImageFrame imageFrame = _kinectSensor.ColorStream.OpenNextFrame(200))
{
if (imageFrame == null)
{
return;
}
using (Image <Bgr, byte> image = imageFrame.ToOpenCVImage <Bgr, byte>())
using (MemStorage storage = new MemStorage()) //create storage for motion components
{
if (_forgroundDetector == null)
{
_forgroundDetector = new BGStatModel <Bgr>(image
, Emgu.CV.CvEnum.BG_STAT_TYPE.GAUSSIAN_BG_MODEL);
}
_forgroundDetector.Update(image);
//update the motion history
_motionHistory.Update(_forgroundDetector.ForgroundMask);
//get a copy of the motion mask and enhance its color
double[] minValues, maxValues;
System.Drawing.Point[] minLoc, maxLoc;
_motionHistory.Mask.MinMax(out minValues, out maxValues
, out minLoc, out maxLoc);
Image <Gray, Byte> motionMask = _motionHistory.Mask
.Mul(255.0 / maxValues[0]);
//create the motion image
Image <Bgr, Byte> motionImage = new Image <Bgr, byte>(motionMask.Size);
motionImage[0] = motionMask;
//Threshold to define a motion area
//reduce the value to detect smaller motion
double minArea = 100;
storage.Clear(); //clear the storage
Seq <MCvConnectedComp> motionComponents = _motionHistory.GetMotionComponents(storage);
bool isMotionDetected = false;
//iterate through each of the motion component
for (int c = 0; c < motionComponents.Count(); c++)
{
MCvConnectedComp comp = motionComponents[c];
//reject the components that have small area;
if (comp.area < minArea)
{
continue;
}
OnDetection();
isMotionDetected = true;
break;
}
if (isMotionDetected == false)
{
OnDetectionStopped();
this.Dispatcher.Invoke(new Action(() => rgbImage.Source = null));
StopRecording();
return;
}
this.Dispatcher.Invoke(
new Action(() => rgbImage.Source = imageFrame.ToBitmapSource())
);
Record(imageFrame);
}
}
}