public KinectManager(string modelData)
{
poseFinder.LoadCameraPoseFinderDatabase("poseFinder.txt");
FileStream stream = System.IO.File.OpenRead(modelData);
// Open bracket
char ch = (char) stream.ReadByte();
short[] modelVolumeData = new short[X_VOXELS * Y_VOXELS * Z_VOXELS];
StringBuilder b = new StringBuilder();
for (int i = 0; i < modelVolumeData.Length; i++) {
ch = (char)stream.ReadByte();
while (ch != ']' && ch != ',') {
b.Append(ch);
ch = (char)stream.ReadByte();
}
modelVolumeData[i] = short.Parse(b.ToString());
b.Clear();
if (i % 100000 == 0) {
Console.WriteLine(i);
}
}
/*
string str = System.IO.File.ReadAllText(modelData).Trim();
str = str.Substring(1, str.Length - 2);
string[] parts = str.Split(',');
short[] modelVolumeData = new short[parts.Length];
for (int i = 0; i < parts.Length; i++) {
modelVolumeData[i] = short.Parse(parts[i]);
}*/
ReconstructionParameters rParams = new ReconstructionParameters(VOXEL_RESOLUTION, X_VOXELS, Y_VOXELS, Z_VOXELS);
volume = ColorReconstruction.FusionCreateReconstruction(rParams, ReconstructionProcessor.Amp, -1, Matrix4.Identity);
volume.ImportVolumeBlock(modelVolumeData);
foreach (KinectSensor potentialSensor in KinectSensor.KinectSensors) {
if (potentialSensor.Status == KinectStatus.Connected) {
sensor = potentialSensor;
break;
}
}
if (sensor == null) {
Console.WriteLine("Can't find Kinect Sensor");
return;
}
sensor.DepthStream.Enable(DEPTH_FORMAT);
sensor.ColorStream.Enable(COLOR_FORMAT);
sensor.AllFramesReady += onFrameReady;
sensor.Start();
}
private void loadAndStartDepth()
{
// Read in the model reconstruction (prescanned model)
FileStream stream = System.IO.File.OpenRead(modelData);
// Open bracket
char ch = (char)stream.ReadByte();
// Copy all the model data into a short array of the same size
short[] modelVolumeData = new short[X_VOXELS * Y_VOXELS * Z_VOXELS];
max = modelVolumeData.Length;
// Parse what is essentially a really big json array
StringBuilder b = new StringBuilder();
for (int i = 0; i < modelVolumeData.Length; i++) {
ch = (char)stream.ReadByte();
while (ch != ']' && ch != ',') {
b.Append(ch);
ch = (char)stream.ReadByte();
}
modelVolumeData[i] = short.Parse(b.ToString());
b.Clear();
progress = i;
}
// Build the reconstruction volume from the prescanned model
// Now we have access to our prescanned model
ReconstructionParameters rParams = new ReconstructionParameters(VOXEL_RESOLUTION, X_VOXELS, Y_VOXELS, Z_VOXELS);
volume = ColorReconstruction.FusionCreateReconstruction(rParams, ReconstructionProcessor.Amp, -1, Matrix4.Identity);
volume.ImportVolumeBlock(modelVolumeData);
if (continuousTrack) {
continueVolume = ColorReconstruction.FusionCreateReconstruction(rParams, ReconstructionProcessor.Amp, -1, Matrix4.Identity);
}
sensor.DepthStream.Enable(DEPTH_FORMAT);
sensor.DepthFrameReady += depthFrameReady;
isLoading = false;
new Thread(new ThreadStart(runDepth)).Start();
}