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mtKinectColorPoseFrameHelper.cs
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mtKinectColorPoseFrameHelper.cs
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namespace KinectTestApp
{
using System;
using System.Collections.Generic;
using System.Linq;
using System.Numerics;
using System.Threading.Tasks;
using Windows.Media.Capture;
using Windows.Media.Capture.Frames;
using Windows.Media.Devices.Core;
using Windows.Perception.Spatial;
using WindowsPreview.Media.Capture.Frames;
class mtKinectColorPoseFrameHelper
{
public event EventHandler<mtSoftwareBitmapEventArgs> ColorFrameArrived;
public event EventHandler<mtPoseTrackingFrameEventArgs> PoseFrameArrived;
public mtKinectColorPoseFrameHelper()
{
this.softwareBitmapEventArgs = new mtSoftwareBitmapEventArgs();
}
internal async Task<bool> InitialiseAsync()
{
bool necessarySourcesAvailable = false;
// Find all possible source groups.
var sourceGroups = await MediaFrameSourceGroup.FindAllAsync();
// We try to find the Kinect by asking for a group that can deliver
// color, depth, custom and infrared.
var allGroups = await GetGroupsSupportingSourceKindsAsync(
MediaFrameSourceKind.Color,
MediaFrameSourceKind.Depth,
MediaFrameSourceKind.Custom,
MediaFrameSourceKind.Infrared);
// We assume the first group here is what we want which is not
// necessarily going to be right on all systems so would need
// more care.
var firstSourceGroup = allGroups.FirstOrDefault();
// Got one that supports all those types?
if (firstSourceGroup != null)
{
this.mediaCapture = new MediaCapture();
var captureSettings = new MediaCaptureInitializationSettings()
{
SourceGroup = firstSourceGroup,
SharingMode = MediaCaptureSharingMode.SharedReadOnly,
StreamingCaptureMode = StreamingCaptureMode.Video,
MemoryPreference = MediaCaptureMemoryPreference.Cpu
};
await this.mediaCapture.InitializeAsync(captureSettings);
this.mediaSourceReaders = new mtMediaSourceReader[]
{
new mtMediaSourceReader(this.mediaCapture, MediaFrameSourceKind.Color, this.OnFrameArrived),
new mtMediaSourceReader(this.mediaCapture, MediaFrameSourceKind.Depth, this.OnFrameArrived),
new mtMediaSourceReader(this.mediaCapture, MediaFrameSourceKind.Custom, this.OnFrameArrived,
DoesCustomSourceSupportPerceptionFormat)
};
necessarySourcesAvailable =
this.mediaSourceReaders.All(reader => reader.Initialise());
if (necessarySourcesAvailable)
{
foreach (var reader in this.mediaSourceReaders)
{
await reader.OpenReaderAsync();
}
}
else
{
this.mediaCapture.Dispose();
}
}
return (necessarySourcesAvailable);
}
void OnFrameArrived(MediaFrameReader sender)
{
var frame = sender.TryAcquireLatestFrame();
if (frame != null)
{
switch (frame.SourceKind)
{
case MediaFrameSourceKind.Custom:
this.ProcessCustomFrame(frame);
break;
case MediaFrameSourceKind.Color:
this.ProcessColorFrame(frame);
break;
case MediaFrameSourceKind.Infrared:
break;
case MediaFrameSourceKind.Depth:
this.ProcessDepthFrame(frame);
break;
default:
break;
}
frame.Dispose();
}
}
void ProcessDepthFrame(MediaFrameReference frame)
{
if (this.colorCoordinateSystem != null)
{
this.depthColorTransform = frame.CoordinateSystem.TryGetTransformTo(
this.colorCoordinateSystem);
}
}
void ProcessColorFrame(MediaFrameReference frame)
{
if (this.colorCoordinateSystem == null)
{
this.colorCoordinateSystem = frame.CoordinateSystem;
this.colorIntrinsics = frame.VideoMediaFrame.CameraIntrinsics;
}
this.softwareBitmapEventArgs.Bitmap = frame.VideoMediaFrame.SoftwareBitmap;
this.ColorFrameArrived?.Invoke(this, this.softwareBitmapEventArgs);
}
void ProcessCustomFrame(MediaFrameReference frame)
{
if ((this.PoseFrameArrived != null) &&
(this.colorCoordinateSystem != null))
{
var trackingFrame = PoseTrackingFrame.Create(frame);
var eventArgs = new mtPoseTrackingFrameEventArgs();
if (trackingFrame.Status == PoseTrackingFrameCreationStatus.Success)
{
// Which of the entities here are actually tracked?
var trackedEntities =
trackingFrame.Frame.Entities.Where(e => e.IsTracked).ToArray();
var trackedCount = trackedEntities.Count();
if (trackedCount > 0)
{
eventArgs.PoseEntries =
trackedEntities
.Select(entity =>
mtPoseTrackingDetails.FromPoseTrackingEntity(entity, this.colorIntrinsics, this.depthColorTransform.Value))
.ToArray();
}
this.PoseFrameArrived(this, eventArgs);
}
}
}
async static Task<IEnumerable<MediaFrameSourceGroup>> GetGroupsSupportingSourceKindsAsync(
params MediaFrameSourceKind[] kinds)
{
var sourceGroups = await MediaFrameSourceGroup.FindAllAsync();
var groups =
sourceGroups.Where(
group => kinds.All(
kind => group.SourceInfos.Any(sourceInfo => sourceInfo.SourceKind == kind)));
return (groups);
}
static bool DoesCustomSourceSupportPerceptionFormat(MediaFrameSource source)
{
return (
(source.Info.SourceKind == MediaFrameSourceKind.Custom) &&
(source.CurrentFormat.MajorType == PerceptionFormat) &&
(Guid.Parse(source.CurrentFormat.Subtype) == PoseTrackingFrame.PoseTrackingSubtype));
}
SpatialCoordinateSystem colorCoordinateSystem;
mtSoftwareBitmapEventArgs softwareBitmapEventArgs;
mtMediaSourceReader[] mediaSourceReaders;
MediaCapture mediaCapture;
CameraIntrinsics colorIntrinsics;
const string PerceptionFormat = "Perception";
private Matrix4x4? depthColorTransform;
}
}