public void Update(BodyFrame bodyFrame)
{
// Is compatible?
if (bodyFrame == null || bodyFrame.IsDisposed)
{
return;
}
// 1st step: get information about bodies
lock (skeletonsSync)
{
var bodyCount = bodyFrame.BodyCount;
if (skeletons.Length != bodyCount)
{
skeletons = new Skeleton[bodyCount];
}
for (var i = 0; i < bodyCount; i++)
{
bodyFrame.GetBodySkeleton(i, out skeletons[i]);
}
}
// 2nd step: we can update ImageSource only from its owner thread (as a rule, UI thread)
dispatcher.BeginInvoke(DispatcherPriority.Render, new Action(DrawBodies));
}
private async void Window_Loaded(object sender, RoutedEventArgs e)
{
using (Device device = Device.Open(0))
{
device.StartCameras(new DeviceConfiguration
{
ColorFormat = ImageFormat.ColorBGRA32,
ColorResolution = ColorResolution.R720p,
DepthMode = DepthMode.WFOV_2x2Binned,
SynchronizedImagesOnly = true,
CameraFPS = FPS.FPS30,
});
int colorWidth = device.GetCalibration().ColorCameraCalibration.ResolutionWidth;
int colorHeight = device.GetCalibration().ColorCameraCalibration.ResolutionHeight;
Stopwatch sw = new Stopwatch();
int frameCount = 0;
sw.Start();
// Allocate image buffers for us to manipulate
using (Image transformedDepth = new Image(ImageFormat.Depth16, colorWidth, colorHeight))
using (Image outputColorImage = new Image(ImageFormat.ColorBGRA32, colorWidth, colorHeight))
using (Transformation transform = device.GetCalibration().CreateTransformation())
using (BodyTracker tracker = new BodyTracker(device.GetCalibration()))
{
tracker.SetTemporalSmoothing(0);
while (this.running)
{
//if (!Environment.Is64BitProcess)
{
// In 32-bit the BitmapSource memory runs out quickly and we can hit OutOfMemoryException.
// Force garbage collection in each loop iteration to keep memory in check.
GC.Collect();
}
// Wait for a capture on a thread pool thread
using (Capture capture = await Task.Run(() => { return(device.GetCapture()); }).ConfigureAwait(true))
{
// Create a BitmapSource for the unmodified color image.
// Creating the BitmapSource is slow, so do it asynchronously on another thread
Task <BitmapSource> createInputColorBitmapTask = Task.Run(() =>
{
BitmapSource source = capture.Color.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Compute the colorized output bitmap on a thread pool thread
Task <BitmapSource> createOutputColorBitmapTask = Task.Run(() =>
{
// Transform the depth image to the perspective of the color camera
transform.DepthImageToColorCamera(capture, transformedDepth);
// Get Span<T> references to the pixel buffers for fast pixel access.
Span <ushort> depthBuffer = transformedDepth.GetPixels <ushort>().Span;
Span <BGRA> colorBuffer = capture.Color.GetPixels <BGRA>().Span;
Span <BGRA> outputColorBuffer = outputColorImage.GetPixels <BGRA>().Span;
// Create an output color image with data from the depth image
for (int i = 0; i < colorBuffer.Length; i++)
{
// The output image will be the same as the input color image,
// but colorized with Red where there is no depth data, and Green
// where there is depth data at more than 1.5 meters
outputColorBuffer[i] = colorBuffer[i];
if (depthBuffer[i] == 0)
{
outputColorBuffer[i].R = 255;
}
else if (depthBuffer[i] > 1500)
{
outputColorBuffer[i].G = 255;
}
}
BitmapSource source = outputColorImage.CreateBitmapSource();
// Allow the bitmap to move threads
source.Freeze();
return(source);
});
// Wait for both bitmaps to be ready and assign them.
BitmapSource inputColorBitmap = await createInputColorBitmapTask.ConfigureAwait(true);
BitmapSource outputColorBitmap = await createOutputColorBitmapTask.ConfigureAwait(true);
this.inputColorImageViewPane.Source = inputColorBitmap;
this.outputColorImageViewPane.Source = outputColorBitmap;
++frameCount;
if (sw.Elapsed > TimeSpan.FromSeconds(2))
{
double framesPerSecond = (double)frameCount / sw.Elapsed.TotalSeconds;
this.fps.Content = $"{framesPerSecond:F2} FPS";
frameCount = 0;
sw.Restart();
}
tracker.EnqueueCapture(capture);
using (BodyFrame frame = tracker.PopFrame())
{
for (uint i = 0; i < frame.GetNumBodies(); ++i)
{
Body body = new Body()
{
id = frame.GetBodyID(i), skeleton = frame.GetBodySkeleton(i)
};
Joint chest = body.skeleton.joints[(int)Joints.SPINE_CHEST];
Console.WriteLine($"User {body.id}: ({chest.position.X}, {chest.position.Y}, {chest.position.Z})");
Vector2?convertedPos = device.GetCalibration().TransformTo2D(chest.position, CalibrationDeviceType.Depth, CalibrationDeviceType.Color);
if (convertedPos.HasValue)
{
Console.WriteLine($"Converted: ({convertedPos.Value.X}, {convertedPos.Value.Y})");
}
}
frame.GetCapture().Dispose();
}
}
}
}
}
}
