public void Update()
{
if (reader != null)
{
InfraredFrame frame = reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(FrameData);
int index = 0;
foreach (var ir in FrameData)
{
byte intensity = (byte)(ir >> 8);
for (int i = 0; i < 3; i++)
{
RawData[index++] = intensity;
}
RawData[index++] = 255; // Alpha
}
Texture.LoadRawTextureData(RawData);
Texture.Apply();
frame.Dispose();
frame = null;
}
}
}
void updateInfrared(InfraredFrame infraredFrame)
{
if (infraredFrame != null)
{
infraredFrame.CopyFrameDataToArray(infraredRawData);
Parallel.For(0, infraredHeight, y =>
{
for (int x = 0; x < infraredWidth; x++)
{
int index = y * infraredWidth + x;
byte intensity = (byte)(infraredRawData[index] >> 8);
infraredData[(index << 2) | 0] = intensity;
infraredData[(index << 2) | 1] = intensity;
infraredData[(index << 2) | 2] = intensity;
infraredData[(index << 2) | 3] = 255;
}
});
infraredTexture.LoadRawTextureData(infraredData);
infraredTexture.Apply();
infraredFrame.Dispose();
infraredFrame = null;
}
}
/// <summary>
/// Store infrared image
/// </summary>
/// <param name="infraredFrame">infrared frame to be stored</param>
/// <param name="frameNumber">frame number</param>
public static void Handle_InfraredFrame(InfraredFrame infraredFrame, String frameNumber)
{
using (Microsoft.Kinect.KinectBuffer infraredBuffer = infraredFrame.LockImageBuffer())
{
BitmapSource bitmapSource = BitmapSource.Create(infraredWidth, infraredHeight, 96.0, 96.0,
PixelFormats.Gray16, null, infraredBuffer.UnderlyingBuffer, (int)infraredBuffer.Size, infraredWidth << 1);
String infraredPath = FramesAndPaths.GetImageFilePath(FramesAndPaths.FileType.InfraredImage, frameNumber);
bitmapSource.Save(infraredPath + ".jpg", ImageFormat.Jpeg);
}
// Release infraredFrame
infraredFrame.Dispose();
}
private void processInfraredFrame(InfraredFrame infraredFrame)
{
if (infraredFrame != null)
{
Box dimensions = Box.With(infraredFrame.FrameDescription.Width, infraredFrame.FrameDescription.Height);
frameResolutions[SourceType.INFRARED] = dimensions;
framePixelFormats[SourceType.INFRARED] = PixelFormats.Gray16;
if (infraredPixels == null)
{
infraredPixels = new UInt16[dimensions.Area];
}
infraredFrame.CopyFrameDataToArray(infraredPixels);
infraredFrame?.Dispose();
}
}
private void ProcessInfraredFrame(InfraredFrame infraredFrame)
{
if (infraredFrame != null)
{
infraredFrame.CopyFrameDataToArray(_rawInfraredPixels);
infraredFrame?.Dispose();
int outIndex = 0;
for (int index = 0; index < _rawInfraredPixels.Length; ++index)
{
UInt16 pixel = _rawInfraredPixels[index];
byte intensity = (byte)(pixel >> 8);
_displayableBuffers[SourceType.INFRARED][outIndex++] = intensity;
_displayableBuffers[SourceType.INFRARED][outIndex++] = intensity;
_displayableBuffers[SourceType.INFRARED][outIndex++] = intensity;
_displayableBuffers[SourceType.INFRARED][outIndex++] = 0xFF;
}
}
}
// Token: 0x06002A0B RID: 10763 RVA: 0x000D6554 File Offset: 0x000D4954
private void Update()
{
if (this._Reader != null)
{
InfraredFrame infraredFrame = this._Reader.AcquireLatestFrame();
if (infraredFrame != null)
{
infraredFrame.CopyFrameDataToArray(this._Data);
int num = 0;
foreach (ushort num2 in this._Data)
{
byte b = (byte)(num2 >> 8);
this._RawData[num++] = b;
this._RawData[num++] = b;
this._RawData[num++] = b;
this._RawData[num++] = byte.MaxValue;
}
this._Texture.LoadRawTextureData(this._RawData);
this._Texture.Apply();
infraredFrame.Dispose();
}
}
}
private void ReaderOnMultiSourceFrameArrived(object sender,
MultiSourceFrameArrivedEventArgs multiSourceFrameArrivedEventArgs)
{
if (multiSourceFrameArrivedEventArgs == null)
{
return;
}
ColorFrame colorFrame = multiSourceFrameArrivedEventArgs.FrameReference.AcquireFrame().ColorFrameReference
.AcquireFrame();
InfraredFrame infraredFrame = multiSourceFrameArrivedEventArgs.FrameReference.AcquireFrame().InfraredFrameReference
.AcquireFrame();
DepthFrame depthFrame = multiSourceFrameArrivedEventArgs.FrameReference.AcquireFrame().DepthFrameReference
.AcquireFrame();
// Color
if (colorFrame != null)
{
colorPreview.Source = GetBitmapSourceFromFrame(colorFrame);
colorFrame.Dispose();
}
// Infrared
if (infraredFrame != null)
{
infraredPreview.Source = GetBitmapSourceFromFrame(infraredFrame);
infraredFrame.Dispose();
}
// Depth
if (depthFrame != null)
{
depthPreview.Source = GetBitmapSourceFromFrame(depthFrame);
depthFrame.Dispose();
}
}
/// <summary>
/// Handles the multisource frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private unsafe void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
// Create instance of EMGUargs which holds the output of data from the kinect
EMGUargs emguArgs = new EMGUargs();
MultiSourceFrameReference frameReference = e.FrameReference;
// Variables initialized to null for easy check of camera failures
MultiSourceFrame multiSourceFrame = null;
InfraredFrame infraredFrame = null;
ColorFrame colorFrame = null;
DepthFrame depthFrame = null;
// Acquire frame from the Kinect
multiSourceFrame = frameReference.AcquireFrame();
// If the Frame has expired by the time we process this event, return.
if (multiSourceFrame == null)
{
return;
}
try
{
/*
* DepthSpacePoint dp = new DepthSpacePoint
* {
* X = 50,
* Y = 20
* };
* DepthSpacePoint[] dps = new DepthSpacePoint[] { dp };
* ushort[] depths = new ushort[] { 2000 };
* CameraSpacePoint[] ameraSpacePoints = new CameraSpacePoint[1];
*
* mapper.MapDepthPointsToCameraSpace(dps, depths, ameraSpacePoints);
*/
InfraredFrameReference infraredFrameReference = multiSourceFrame.InfraredFrameReference;
infraredFrame = infraredFrameReference.AcquireFrame();
DepthFrameReference depthFrameReference = multiSourceFrame.DepthFrameReference;
depthFrame = depthFrameReference.AcquireFrame();
// Check whether needed frames are avaliable
if (infraredFrame == null || depthFrame == null)
{
return;
}
// the fastest way to process the depth frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
// verify data and write the new depth frame data to the display bitmap
if (((this.depthFrameDescription.Width * this.depthFrameDescription.Height) ==
(depthBuffer.Size / this.depthFrameDescription.BytesPerPixel)))
{
// Conversion to needed EMGU image
Mat depthImage = this.ProcessDepthFrameData(depthFrame);
emguArgs.DepthImage = depthImage;
emguArgs.DepthFrameDimension = new FrameDimension(depthFrameDescription.Width, depthFrameDescription.Height);
}
//BgrToDephtPixel(depthBuffer.UnderlyingBuffer, depthBuffer.Size);
depthFrame.Dispose();
depthFrame = null;
}
// IR image
FrameDescription infraredFrameDescription = infraredFrame.FrameDescription;
// the fastest way to process the infrared frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer infraredBuffer = infraredFrame.LockImageBuffer())
{
// verify data and write the new infrared frame data to the display bitmap
if (((this.infraredFrameDescription.Width * this.infraredFrameDescription.Height) == (infraredBuffer.Size / this.infraredFrameDescription.BytesPerPixel)))
{
// Conversion to needed EMGU image
Mat infraredImage = this.ProcessInfaredFrameData(infraredFrame);
emguArgs.InfraredImage = infraredImage;
emguArgs.InfraredFrameDimension = new FrameDimension(infraredFrameDescription.Width, infraredFrameDescription.Height);
// infraredImage.Dispose();
}
infraredFrame.Dispose();
infraredFrame = null;
// Check as to whether or not the color image is needed for mainwindow view
if (generateColorImage)
{
ColorFrameReference colorFrameReference = multiSourceFrame.ColorFrameReference;
colorFrame = colorFrameReference.AcquireFrame();
if (colorFrame == null)
{
return;
}
// color image
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
// the fastest way to process the color frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
// Conversion to needed EMGU image
Mat colorImage = this.ProcessColorFrameData(colorFrame);
emguArgs.Colorimage = colorImage;
emguArgs.ColorFrameDimension = new FrameDimension(colorFrameDescription.Width, colorFrameDescription.Height);
}
// We're done with the colorFrame
colorFrame.Dispose();
colorFrame = null;
}
}
// Call the processing finished event for the conversion to EMGU images
OnEmguArgsProcessed(emguArgs);
}
catch (Exception ex)
{
// ignore if the frame is no longer available
Console.WriteLine("FRAME CHRASHED: " + ex.ToString());
}
finally
{
// generate event at send writeable bitmaps for each frame, and cleanup.
// only generate event if the mainwindow is shown.
// DepthFrame, ColorFrame are Disposable.
if (colorFrame != null)
{
colorFrame.Dispose();
colorFrame = null;
}
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
// infraredFrame is Disposable
if (infraredFrame != null)
{
infraredFrame.Dispose();
infraredFrame = null;
}
if (multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
}
/// <summary>
/// Procedure invoked by Kinect when new data are available
/// </summary>
private void MultisourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
if (KinectSensor == null || Reader == null)
{
return;
}
// acquire frame data
MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
// if the Frame has expired by the time we process this event, return.
if (multiSourceFrame == null)
{
return;
}
// Continue only if buffer is empty
if (!Buffer.IsEmpty())
{
return;
}
// declare variables for data from sensor
ColorFrame colorFrame = null;
DepthFrame depthFrame = null;
InfraredFrame infraredFrame = null;
byte[] colorFrameData = null;
ushort[] depthData = null;
ushort[] infraredData = null;
DepthSpacePoint[] pointsFromColorToDepth = null;
ColorSpacePoint[] pointsFromDepthToColor = null;
CameraSpacePoint[] cameraSpacePointsFromDepthData = null;
try
{
// get frames from sensor
colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame();
infraredFrame = multiSourceFrame.InfraredFrameReference.AcquireFrame();
// If any frame has expired by the time we process this event, return.
if (colorFrame == null || depthFrame == null || infraredFrame == null)
{
return;
}
// use frame data to fill arrays
colorFrameData = new byte[ColorFrameDescription.LengthInPixels * 4];
depthData = new ushort[DepthFrameDescription.LengthInPixels];
infraredData = new ushort[InfraredFrameDescription.LengthInPixels];
colorFrame.CopyConvertedFrameDataToArray(colorFrameData, ColorImageFormat.Bgra);
depthFrame.CopyFrameDataToArray(depthData);
infraredFrame.CopyFrameDataToArray(infraredData);
pointsFromColorToDepth = new DepthSpacePoint[ColorFrameDescription.LengthInPixels];
pointsFromDepthToColor = new ColorSpacePoint[DepthFrameDescription.LengthInPixels];
cameraSpacePointsFromDepthData = new CameraSpacePoint[DepthFrameDescription.LengthInPixels];
using (KinectBuffer depthFrameData = depthFrame.LockImageBuffer())
{
CoordinateMapper.MapColorFrameToDepthSpaceUsingIntPtr(
depthFrameData.UnderlyingBuffer,
depthFrameData.Size,
pointsFromColorToDepth);
CoordinateMapper.MapDepthFrameToColorSpaceUsingIntPtr(
depthFrameData.UnderlyingBuffer,
depthFrameData.Size,
pointsFromDepthToColor);
CoordinateMapper.MapDepthFrameToCameraSpaceUsingIntPtr(
depthFrameData.UnderlyingBuffer,
depthFrameData.Size,
cameraSpacePointsFromDepthData);
}
}
finally
{
// dispose frames so that Kinect can continue processing
colorFrame?.Dispose();
depthFrame?.Dispose();
infraredFrame?.Dispose();
// send data futher
if (
colorFrameData != null &&
depthData != null &&
infraredData != null &&
cameraSpacePointsFromDepthData != null
)
{
// store data to buffer and notify processing thread
Buffer.Store(
new KinectData(
colorFrameData,
depthData,
infraredData,
cameraSpacePointsFromDepthData,
pointsFromColorToDepth,
pointsFromDepthToColor
)
);
TrackingManager.SendKinectUpdate();
}
}
}
/// <summary>
/// Update to get a new frame.
/// This code is similar to the code in the Kinect SDK samples.
/// </summary>
private static void Update()
{
if (!isConnected)
{
return;
}
dataAvailable.WaitOne();
MultiSourceFrame multiSourceFrame = null;
DepthFrame depthFrame = null;
InfraredFrame irFrame = null;
BodyFrame bodyFrame = null;
lock (updateLock)
{
try
{
if (frameReference != null)
{
multiSourceFrame = frameReference.AcquireFrame();
if (multiSourceFrame != null)
{
DepthFrameReference depthFrameReference = multiSourceFrame.DepthFrameReference;
InfraredFrameReference irFrameReference = multiSourceFrame.InfraredFrameReference;
BodyFrameReference bodyFrameReference = multiSourceFrame.BodyFrameReference;
depthFrame = depthFrameReference.AcquireFrame();
irFrame = irFrameReference.AcquireFrame();
if ((depthFrame != null) && (irFrame != null))
{
FrameDescription depthFrameDescription = depthFrame.FrameDescription;
FrameDescription irFrameDescription = irFrame.FrameDescription;
int depthWidth = depthFrameDescription.Width;
int depthHeight = depthFrameDescription.Height;
int irWidth = irFrameDescription.Width;
int irHeight = irFrameDescription.Height;
// verify data and write the new registered frame data to the display bitmap
if (((depthWidth * depthHeight) == depthFrameData.Length) &&
((irWidth * irHeight) == irFrameData.Length))
{
depthFrame.CopyFrameDataToArray(depthFrameData);
irFrame.CopyFrameDataToArray(irFrameData);
}
if (bodyFrameReference != null)
{
bodyFrame = bodyFrameReference.AcquireFrame();
if (bodyFrame != null)
{
if (bodies == null || bodies.Length < bodyFrame.BodyCount)
{
bodies = new Body[bodyFrame.BodyCount];
}
using (bodyFrame)
{
bodyFrame.GetAndRefreshBodyData(bodies);
}
}
}
}
}
}
}
catch (Exception)
{
// ignore if the frame is no longer available
}
finally
{
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
if (irFrame != null)
{
irFrame.Dispose();
irFrame = null;
}
if (bodyFrame != null)
{
bodyFrame.Dispose();
bodyFrame = null;
}
if (multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
}
}
private async void OnMultipleFramesArrivedHandler(MultiSourceFrame e)
{
BodyFrame bodyFrame = null;
ColorFrame colorFrame = null;
InfraredFrame infraredFrame = null;
if (e == null)
{
return;
}
try
{
bodyFrame = e.BodyFrameReference.AcquireFrame();
colorFrame = e.ColorFrameReference.AcquireFrame();
infraredFrame = e.InfraredFrameReference.AcquireFrame();
if ((bodyFrame == null) || (colorFrame == null) || (infraredFrame == null))
{
return;
}
//ColorFrame
using (colorFrame)
{
//BodyFrame
await ProcessBodyFrame(bodyFrame, colorFrame);
}
// InfraredFrame
//if (infraredFrame != null)
//{
// // the fastest way to process the infrared frame data is to directly access
// // the underlying buffer
// using (Microsoft.Kinect.KinectBuffer infraredBuffer = infraredFrame.LockImageBuffer())
// {
// // verify data and write the new infrared frame data to the display bitmap
// if (((this.infraredFrameDescription.Width * this.infraredFrameDescription.Height) == (infraredBuffer.Size / this.infraredFrameDescription.BytesPerPixel)) &&
// (this.infraredFrameDescription.Width == this.infraredBitmap.PixelWidth) && (this.infraredFrameDescription.Height == this.infraredBitmap.PixelHeight))
// {
// this.ProcessInfraredFrameData(infraredBuffer.UnderlyingBuffer, infraredBuffer.Size);
// }
// }
//}
}
finally
{
if (infraredFrame != null)
{
infraredFrame.Dispose();
}
if (colorFrame != null)
{
colorFrame.Dispose();
}
if (bodyFrame != null)
{
bodyFrame.Dispose();
}
}
}
void UpdateKinect()
{
if (_Reader != null)
{
MultiSourceFrame frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
//color processing with depth
ColorFrame colorFrame = frame.ColorFrameReference.AcquireFrame();
if (colorFrame != null)
{
DepthFrame depthFrame = frame.DepthFrameReference.AcquireFrame();
if (depthFrame != null)
{
colorFrame.CopyConvertedFrameDataToArray(_ColorRawData, ColorImageFormat.Rgba);
_ColorTexture.LoadRawTextureData(_ColorRawData);
_ColorTexture.Apply();
depthFrame.CopyFrameDataToArray(_DepthData);
depthFrame.Dispose();
depthFrame = null;
}
colorFrame.Dispose();
colorFrame = null;
}
//ir processing
InfraredFrame irFrame = frame.InfraredFrameReference.AcquireFrame();
if (irFrame != null)
{
irFrame.CopyFrameDataToArray(_IRData);
int index = 0;
foreach (ushort ir in _IRData)
{
byte intensity = (byte)(ir >> 8);
_IRRawData[index++] = intensity;
_IRRawData[index++] = intensity;
_IRRawData[index++] = intensity;
_IRRawData[index++] = 255; // Alpha
}
//load raw data
_IRTexture.LoadRawTextureData(_IRRawData);
_IRTexture.Apply();
irFrame.Dispose();
irFrame = null;
}
//body processing
BodyFrame bodyFrame = frame.BodyFrameReference.AcquireFrame();
if (bodyFrame != null)
{
if (_BodyData == null)
{
_BodyData = new Body[_Sensor.BodyFrameSource.BodyCount];
}
bodyFrame.GetAndRefreshBodyData(_BodyData);
bodyFrame.Dispose();
bodyFrame = null;
}
frame = null;
}
}
}
public bool GetMultiSourceFrame(KinectInterop.SensorData sensorData)
{
if (multiSourceFrameReader != null)
{
multiSourceFrame = multiSourceFrameReader.AcquireLatestFrame();
if (multiSourceFrame != null)
{
// try to get all frames at once
msBodyFrame = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0 ? multiSourceFrame.BodyFrameReference.AcquireFrame() : null;
msBodyIndexFrame = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0 ? multiSourceFrame.BodyIndexFrameReference.AcquireFrame() : null;
bool bAllSet =
((sensorFlags & KinectInterop.FrameSource.TypeBody) == 0 || msBodyFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) == 0 || msBodyIndexFrame != null);
if (!bAllSet)
{
// release all frames
if (msBodyFrame != null)
{
msBodyFrame.Dispose();
msBodyFrame = null;
}
if (msBodyIndexFrame != null)
{
msBodyIndexFrame.Dispose();
msBodyIndexFrame = null;
}
if (msColorFrame != null)
{
msColorFrame.Dispose();
msColorFrame = null;
}
if (msDepthFrame != null)
{
msDepthFrame.Dispose();
msDepthFrame = null;
}
if (msInfraredFrame != null)
{
msInfraredFrame.Dispose();
msInfraredFrame = null;
}
}
// else
// {
// bool bNeedBody = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0;
// bool bNeedBodyIndex = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0;
// bool bNeedColor = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0;
// bool bNeedDepth = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0;
// bool bNeedInfrared = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0;
//
// bAllSet = true;
// }
}
return(multiSourceFrame != null);
}
return(false);
}
