/// <summary>
/// Builds the raw depth frame.
/// </summary>
/// <param name="depthFormat">Depth image format.</param>
/// <param name="rawFrames">The raw frames.</param>
/// <returns>
/// Standard ccr iterator
/// </returns>
private IEnumerator <ITask> BuildRawDepthFrame(DepthImageFormat depthFormat, RawKinectFrames rawFrames)
{
var depthCamResponse = this.depthCamPartner.Get();
yield return(depthCamResponse.Choice());
var depthCamSensorState = (DepthCamSensorState)depthCamResponse;
if (depthCamSensorState == null)
{
yield break;
}
var frameInfo = new KinectFrameInfo
{
Timestamp = depthCamSensorState.TimeStamp.Ticks,
Width = depthCamSensorState.DepthImageSize.Width,
Height = depthCamSensorState.DepthImageSize.Height,
BytesPerPixel = 2
};
var target = new short[depthCamSensorState.DepthImage.Length];
// Raw depth data includes 3 bits for player information
for (int i = 0; i < target.Length; i++)
{
target[i] = (short)(depthCamSensorState.DepthImage[i] << 3);
}
rawFrames.RawDepthFrameData = target;
rawFrames.RawDepthFrameInfo = frameInfo;
}
/// <summary>
/// Builds the video based data.
/// </summary>
/// <param name="imageFormat">Image format.</param>
/// <param name="rawFrames">The raw frames.</param>
/// <returns>
/// Standard ccr iterator
/// </returns>
private IEnumerator <ITask> BuildRawVideoFrame(ColorImageFormat imageFormat, RawKinectFrames rawFrames)
{
var webCamResponse = this.webCamPartner.Get();
yield return(webCamResponse.Choice());
var webCamSensorState = (WebCamSensorState)webCamResponse;
if (webCamSensorState == null)
{
yield break;
}
var frameInfo = new KinectFrameInfo
{
Timestamp = webCamSensorState.TimeStamp.Ticks,
Width = webCamSensorState.Width,
Height = webCamSensorState.Height,
BytesPerPixel = 4
};
var source = webCamSensorState.Data;
// Move from 24rgb to 32rgb
var target = new byte[(source.Length * 4) / 3];
for (int i = 0, j = 0; i < source.Length && j < target.Length; i += 3, j += 4)
{
target[j] = source[i];
target[j + 1] = source[i + 1];
target[j + 2] = source[i + 2];
}
rawFrames.RawColorFrameData = target;
rawFrames.RawColorFrameInfo = frameInfo;
}
/// <summary>
/// Drains the pending requests.
/// </summary>
/// <param name="timestamp">The timestamp.</param>
/// <returns>Standard ccr iterator</returns>
private IEnumerator <ITask> DrainPendingRequests(DateTime timestamp)
{
var stopwatch = Stopwatch.StartNew();
try
{
// No pending request - exit early
if (this.pendingFrameRequests.Count == 0)
{
yield break;
}
// Fetch the depth and video in parallel as required. Do once each for any pending requests.
var taskCount = 0;
var donePort = new Port <EmptyValue>();
var rawFrames = new RawKinectFrames();
if (this.pendingFrameRequests.Any(p => p.Body.IncludeDepth))
{
Arbiter.ExecuteToCompletion(
TaskQueue,
new IterativeTask <DepthImageFormat, RawKinectFrames>(
this.state.DepthImageFormat,
rawFrames,
this.BuildRawDepthFrame),
donePort);
++taskCount;
}
if (this.pendingFrameRequests.Any(p => p.Body.IncludeVideo))
{
Arbiter.ExecuteToCompletion(
TaskQueue,
new IterativeTask <ColorImageFormat, RawKinectFrames>(
this.state.ColorImageFormat,
rawFrames,
this.BuildRawVideoFrame),
donePort);
++taskCount;
}
if (taskCount > 0)
{
// Wait for the operations to complete
yield return(Arbiter.MultipleItemReceive(false, donePort, taskCount, EmptyHandler));
}
// Stamp the returned frames
var currentFrame = ++this.frameNumber;
if (rawFrames.RawDepthFrameData != null)
{
rawFrames.RawDepthFrameInfo.FrameNumber = currentFrame;
rawFrames.RawDepthFrameInfo.Timestamp = timestamp.Ticks;
}
if (rawFrames.RawColorFrameData != null)
{
rawFrames.RawColorFrameInfo.FrameNumber = currentFrame;
rawFrames.RawColorFrameInfo.Timestamp = timestamp.Ticks;
}
// Return the requested frames to each pending request.
foreach (var request in this.pendingFrameRequests)
{
var response = new RawKinectFrames
{
RawDepthFrameInfo = request.Body.IncludeDepth ? rawFrames.RawDepthFrameInfo : null,
RawDepthFrameData = request.Body.IncludeDepth ? rawFrames.RawDepthFrameData : null,
RawColorFrameInfo = request.Body.IncludeVideo ? rawFrames.RawColorFrameInfo : null,
RawColorFrameData = request.Body.IncludeVideo ? rawFrames.RawColorFrameData : null,
};
request.ResponsePort.Post(new kinect.GetRawFrameResponse {
RawFrames = response
});
}
}
finally
{
this.pendingFrameRequests.Clear();
var timeToNextFrame = this.pollInterval - stopwatch.Elapsed;
if (timeToNextFrame <= TimeSpan.Zero)
{
this.pollPort.Post(DateTime.Now);
}
else
{
TaskQueue.EnqueueTimer(timeToNextFrame, this.pollPort);
}
}
}
