SerializerClass getSkelData(Skeleton skel, KinectSensor ks, string epoch)
{
SerializerClass dataSerializer = new SerializerClass();
dataSerializer.data = new Data("kinect", "entity", "Skeletal", "Kinect", "SK01", epoch, Guid.NewGuid().ToString());
for (int i = 1; i < 4; i++)
{
if (ks.DeviceConnectionId == appConfig["kinect" + i + "_usb"])
{
dataSerializer.data.serial = appConfig["kinect" + i];
}
}
if (skel.TrackingState != SkeletonTrackingState.PositionOnly)
{
List<Joint> jointData = new List<Joint>();
jointData.Add(skel.Joints[JointType.AnkleLeft]);
jointData.Add(skel.Joints[JointType.AnkleRight]);
jointData.Add(skel.Joints[JointType.ElbowLeft]);
jointData.Add(skel.Joints[JointType.ElbowRight]);
jointData.Add(skel.Joints[JointType.FootLeft]);
jointData.Add(skel.Joints[JointType.FootRight]);
jointData.Add(skel.Joints[JointType.HandLeft]);
jointData.Add(skel.Joints[JointType.HandRight]);
jointData.Add(skel.Joints[JointType.Head]);
jointData.Add(skel.Joints[JointType.HipCenter]);
jointData.Add(skel.Joints[JointType.HipLeft]);
jointData.Add(skel.Joints[JointType.HipRight]);
jointData.Add(skel.Joints[JointType.KneeLeft]);
jointData.Add(skel.Joints[JointType.KneeRight]);
jointData.Add(skel.Joints[JointType.ShoulderCenter]);
jointData.Add(skel.Joints[JointType.ShoulderLeft]);
jointData.Add(skel.Joints[JointType.ShoulderRight]);
jointData.Add(skel.Joints[JointType.Spine]);
jointData.Add(skel.Joints[JointType.WristLeft]);
jointData.Add(skel.Joints[JointType.WristRight]);
dataSerializer.data.message = "[";
foreach (Joint joint in jointData)
{
SkeletonPoint sp = joint.Position;
DepthImagePoint depthPoint = ks.CoordinateMapper.MapSkeletonPointToDepthPoint(sp, ks.DepthStream.Format);
Vector4 mt4 = skel.BoneOrientations[joint.JointType].AbsoluteRotation.Quaternion;
string bo = mt4.W.ToString() + "##" + mt4.X.ToString() + "##" + mt4.Y.ToString() + "##" + mt4.Z.ToString();
JointSerializer js = new JointSerializer(joint.JointType.ToString(), skel.TrackingId, joint.Position.X, joint.Position.Y, joint.Position.Z, joint.TrackingState.ToString(), bo, depthPoint.X, depthPoint.Y, depthPoint.Depth);
dataSerializer.data.message += jsserializer.Serialize(js) + ",";
}
dataSerializer.data.message = dataSerializer.data.message.Substring(0, dataSerializer.data.message.Length - 1);
dataSerializer.data.message += "]";
}
else
{
dataSerializer.data.message = "[";
dataSerializer.data.message += skel.TrackingId.ToString()+"##"+ "X:" + skel.Position.X.ToString() + "##Y:" + skel.Position.Y.ToString() + "##Z:" + skel.Position.Z.ToString()+"]";
}
return dataSerializer;
}
void ks_allFramesReady(object sender, AllFramesReadyEventArgs e)
{
TimeSpan t = DateTime.UtcNow - new DateTime(1970, 1, 1);
string epoch = t.TotalSeconds.ToString();
var tempKS = (KinectSensor)sender;
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
byte[] colorData;
//Using standard SDK
colorData = new byte[colorFrame.PixelDataLength];
colorFrame.CopyPixelDataTo(colorData);
Bitmap bmap = new Bitmap(colorFrame.Width, colorFrame.Height, PixelFormat.Format32bppRgb);
BitmapData bmapdata = bmap.LockBits(
new Rectangle(0, 0, colorFrame.Width, colorFrame.Height),
ImageLockMode.WriteOnly,
bmap.PixelFormat);
IntPtr ptr = bmapdata.Scan0;
Marshal.Copy(colorData, 0, ptr, colorFrame.PixelDataLength);
bmap.UnlockBits(bmapdata);
lock (_locker4)
{
if (halfQ[tempKS])
{
// RGBObject obj = new RGBObject(bmap, epoch);
// ThreadPool.QueueUserWorkItem(new WaitCallback(RabbitMQ), (object)obj);
// System.IO.MemoryStream stream = new System.IO.MemoryStream();
// bmap.Save(stream, System.Drawing.Imaging.ImageFormat.Bmp);
// byte[] imageBytes = stream.ToArray();
string base64String = GetString(colorData) ;
SerializerClass cData = new SerializerClass();
cData = getColorData(base64String, tempKS, epoch);
string message = jsserializer.Serialize(cData); //move to separate thread?
rabbitMessage rMsg = new rabbitMessage("color", message);
ThreadPool.QueueUserWorkItem(new WaitCallback(sendtoRabbitMQ), (object)rMsg);
halfQ[tempKS] = false;
}
}
}
}
using (SkeletonFrame skeletonFrame = e.OpenSkeletonFrame())
{
//Create buffer to store skeletons
Skeleton[] skeletons = new Skeleton[skeletonFrame.SkeletonArrayLength];
//Write skeleton data into buffer
skeletonFrame.CopySkeletonDataTo(skeletons);
//Loop into each skeleton
foreach (Skeleton skel in skeletons)
{
switch (skel.TrackingState)
{
case SkeletonTrackingState.NotTracked:
//No skeleton data, no need to do a thing
continue;
default:
//Serialize position data to a JSON string for sending
SerializerClass dataClass = new SerializerClass();
dataClass = getSkelData(skel, tempKS, epoch);
dataClass.action = "rawevents";
dataClass.site = "kyoto";
string message = jsserializer.Serialize(dataClass); //move to separate thread?
rabbitMessage rMsg = new rabbitMessage("skeletal", message);
//SendTCPMessage(message);
ThreadPool.QueueUserWorkItem(new WaitCallback(saveLocal), (object)message);
try
{
lock (_locker4)
{
if (halfC[tempKS])
{
ThreadPool.QueueUserWorkItem(new WaitCallback(sendtoRabbitMQ), (object)rMsg);
halfC[tempKS] = false;
}
}
}
catch (Exception ex) {
saveLocal(ex.Message);
}
//sendtoRabbitMQ(message);
continue;
}
}
}
}
SerializerClass getColorData(string b64, KinectSensor ks, string epoch)
{
SerializerClass dataSerializer = new SerializerClass();
dataSerializer.data = new Data("kinect", "entity", "Color", "Kinect", "RGB02", epoch, Guid.NewGuid().ToString());
for (int i = 1; i < 4; i++)
{
if (ks.UniqueKinectId == appConfig["kinect" + i + "_usb"])
{
dataSerializer.data.serial = appConfig["kinect" + i];
}
}
dataSerializer.data.message = b64;
return dataSerializer;
}