private async Task RepaintAsync(TimeSpan dueTime, TimeSpan interval, CancellationToken token)
{
// Initial wait time before we begin the periodic loop.
if (dueTime > TimeSpan.Zero)
{
await Task.Delay(dueTime, token);
}
int ColorW = Sensor.ColorW;
int ColorH = Sensor.ColorH;
// Repeat this loop until cancelled.
while (!token.IsCancellationRequested)
{
// Timestamp data
RepaintWatch.Again();
// Do Job
try {
// Draw Profile
DrawProfile();
// Draw Metrics
DrawMetrics();
if (!WSRConfig.GetInstance().SpeechOnly)
{
// Image color
Sensor.CopyColorData = true;
Bitmap bitmap = WSRKinectSensor.ToBitmap(Sensor.ColorData, ColorW, ColorH, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
Image <Bgr, Byte> image = new Image <Bgr, Byte>(bitmap);
DrawFaces(image);
DrawJoints(image);
DrawFace(image);
DrawDepth(image);
this.Image.Source = ToBitmapSource(image);
// Prominent Color
DrawProminentColor();
}
}
catch (Exception ex) {
WSRConfig.GetInstance().logError("CAMERA", ex);
}
RepaintWatch.Stop();
// Wait to repeat again.
if (interval > TimeSpan.Zero)
{
await Task.Delay(interval, token);
}
}
}
public static void Start(String name, WSRKinectSensor sensor) {
Thread thread = new Thread(() => {
SynchronizationContext.SetSynchronizationContext(new DispatcherSynchronizationContext(Dispatcher.CurrentDispatcher));
WSRCamera camera = new WSRCamera(name, sensor);
camera.Closing += (sender2, e2) => { camera.Hide(); e2.Cancel = true; };
System.Windows.Threading.Dispatcher.Run();
});
thread.Name = name;
thread.SetApartmentState(ApartmentState.STA);
thread.IsBackground = true;
thread.Start();
}
public static void Start(String name, WSRKinectSensor sensor)
{
Thread thread = new Thread(() => {
SynchronizationContext.SetSynchronizationContext(new DispatcherSynchronizationContext(Dispatcher.CurrentDispatcher));
WSRCamera camera = new WSRCamera(name, sensor);
camera.Closing += (sender2, e2) => { camera.Hide(); e2.Cancel = true; };
System.Windows.Threading.Dispatcher.Run();
});
thread.Name = name;
thread.SetApartmentState(ApartmentState.STA);
thread.IsBackground = true;
thread.Start();
}
public void Detect(byte[] pixels, int width, int height)
{
// Build Image
Bitmap bitmap = WSRKinectSensor.ToBitmap(pixels, width, height, PixelFormat.Format32bppRgb);
Image <Bgr, Byte> color = new Image <Bgr, Byte>(bitmap);
// Convert it to Grayscale
Gray = color.Convert <Gray, Byte>();
// Detect faces
Faces = Gray.DetectHaarCascade(haarCascade, 1.2, 2, Emgu.CV.CvEnum.HAAR_DETECTION_TYPE.DO_CANNY_PRUNING, new Size(80, 80))[0];
// Train if needed
Train();
}
protected void InitSensors() {
// Cached sensors
Sensors = new List<WSRKinectSensor>();
// Looking for a valid sensor
foreach (var potentialSensor in KinectSensor.KinectSensors) {
if (potentialSensor.Status != KinectStatus.Connected) { continue; }
WSRKinectSensor sensor = new WSRKinectSensor(potentialSensor);
Sensors.Add(sensor);
}
// Little warning
if (Sensors.Count <= 0) {
WSRConfig.GetInstance().logError("KINECT", "No Kinect Sensor");
}
}
private WSRCamera(String name, WSRKinectSensor sensor) {
this.Sensor = sensor;
this.Name = name;
lock(InitLock){
// Setup controls
InitializeComponent();
// Cleanup Thread
Thread thread = Thread.CurrentThread;
this.DataContext = new { ThreadId = thread.ManagedThreadId };
// Store this to Cameras
WSRConfig.GetInstance().logInfo("CAMERA", "Storing camera: " + name);
Cameras.Add(name, this);
}
// Init BitMaps
InitColorBitmap();
}
private WSRCamera(String name, WSRKinectSensor sensor)
{
this.Sensor = sensor;
this.Name = name;
lock (InitLock){
// Setup controls
InitializeComponent();
// Cleanup Thread
Thread thread = Thread.CurrentThread;
this.DataContext = new { ThreadId = thread.ManagedThreadId };
// Store this to Cameras
WSRConfig.GetInstance().logInfo("CAMERA", "Storing camera: " + name);
Cameras.Add(name, this);
}
// Init BitMaps
InitColorBitmap();
}
protected void InitSensors()
{
// Cached sensors
Sensors = new List <WSRKinectSensor>();
// Looking for a valid sensor
foreach (var potentialSensor in KinectSensor.KinectSensors)
{
if (potentialSensor.Status != KinectStatus.Connected)
{
continue;
}
WSRKinectSensor sensor = new WSRKinectSensor(potentialSensor);
Sensors.Add(sensor);
}
// Little warning
if (Sensors.Count <= 0)
{
WSRConfig.GetInstance().logError("KINECT", "No Kinect Sensor");
}
}
public GestureManager(WSRKinectSensor sensor)
{
this.Sensor = sensor;
}
public Bitmap GreenScreen(String message)
{
// 1. Retrieve Sensor
WSRKinectSensor Sensor = ((WSRKinect)WSRConfig.GetInstance().WSR).ActiveSensor();
Sensor.CopyDepthPixels = true;
Sensor.CopyColorData = true;
// 2. Allocate data once
if (null == mask)
{
depthW = Sensor.DepthW;
depthH = Sensor.DepthH;
colorW = Sensor.ColorW;
colorH = Sensor.ColorH;
depthL = Sensor.DepthPixels.Length;
// Compute divisor
colorToDepthDivisor = colorW / depthW;
// Allocate space to put color pixel data
colorCoordinates = new ColorImagePoint[depthL];
// Allocate space to put the green pixels
mask = new Image <Gray, Byte>(depthW, depthH);
}
// 3. Smooth DepthPixels
this.depthPixels = Sensor.DepthPixels;
if (null != filter1)
{
this.depthPixels = this.filter1.CreateFilteredDepthArray(this.depthPixels, depthW, depthH);
}
if (null != filter2)
{
this.depthPixels = this.filter2.CreateAverageDepthArray(this.depthPixels, depthW, depthH);
}
// 4. Map Depth to Sensor
Sensor.Sensor.CoordinateMapper.MapDepthFrameToColorFrame(
Sensor.DepthFormat, depthPixels,
Sensor.ColorFormat, colorCoordinates);
// 5. CleanUp
mask.SetZero();
// 6. Loop over each row and column of the depth
for (int y = 0; y < depthH; ++y)
{
for (int x = 0; x < depthW; ++x)
{
// calculate index into depth array
int depthIndex = x + (y * depthW);
// if we're tracking a player for the current pixel, do green screen
DepthImagePixel depthPixel = depthPixels[depthIndex];
int player = depthPixel.PlayerIndex;
if (player <= 0)
{
continue;
}
// retrieve the depth to color mapping for the current depth pixel
ColorImagePoint colorImagePoint = colorCoordinates[depthIndex];
// scale color coordinates to depth resolution
int colorInDepthX = colorImagePoint.X / colorToDepthDivisor;
int colorInDepthY = colorImagePoint.Y / colorToDepthDivisor;
// make sure the depth pixel maps to a valid point in color space
// check y > 0 and y < depthHeight to make sure we don't write outside of the array
// check x > 0 instead of >= 0 since to fill gaps we set opaque current pixel plus the one to the left
// because of how the sensor works it is more correct to do it this way than to set to the right
if (colorInDepthX > 0 && colorInDepthX < depthW && colorInDepthY >= 0 && colorInDepthY < depthH)
{
// calculate index into the green screen pixel array
// int greenScreenIndex = colorInDepthX + (colorInDepthY * depthW);
// set opaque
mask.Data[colorInDepthY, colorInDepthX, 0] = 1;
// compensate for depth/color not corresponding exactly by setting the pixel
// to the left to opaque as well
mask.Data[colorInDepthY, colorInDepthX - 1, 0] = 1;
}
}
}
Bitmap bitmap = WSRKinectSensor.ToBitmap(Sensor.ColorData, colorW, colorH, System.Drawing.Imaging.PixelFormat.Format32bppRgb);
Image <Bgra, Byte> color = new Image <Bgra, Byte>(bitmap);
color = color.Resize(depthW, depthH, Emgu.CV.CvEnum.INTER.CV_INTER_CUBIC);
color = color.Copy(mask);
return(color.Bitmap);
}
public GestureManager(WSRKinectSensor sensor) {
this.Sensor = sensor;
}
