1 | // -----------------------------------------------------------------------
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2 | // <copyright file="BackgroundRemovalStreamHandler.cs" company="Microsoft">
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3 | // Copyright (c) Microsoft Corporation. All rights reserved.
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4 | // </copyright>
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5 | // -----------------------------------------------------------------------
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6 |
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7 | namespace Microsoft.Samples.Kinect.Webserver.Sensor
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8 | {
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9 | using System;
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10 | using System.Collections.Generic;
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11 | using System.Diagnostics.CodeAnalysis;
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12 | using System.Globalization;
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13 | using System.Linq;
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14 | using System.Text.RegularExpressions;
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15 | using System.Windows;
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16 |
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17 | using Microsoft.Kinect;
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18 | using Microsoft.Kinect.Toolkit.BackgroundRemoval;
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19 | using Microsoft.Samples.Kinect.Webserver.Properties;
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20 | using Microsoft.Samples.Kinect.Webserver.Sensor.Serialization;
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21 |
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22 | /// <summary>
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23 | /// Implementation of ISensorStreamHandler that exposes background removal streams.
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24 | /// </summary>
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25 | [SuppressMessage("Microsoft.Design", "CA1001:TypesThatOwnDisposableFieldsShouldBeDisposable", Justification = "Disposable background removal stream is disposed when sensor is set to null")]
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26 | public class BackgroundRemovalStreamHandler : SensorStreamHandlerBase
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27 | {
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28 | /// <summary>
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29 | /// JSON name of background removal stream.
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30 | /// </summary>
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31 | internal const string BackgroundRemovalStreamName = "backgroundRemoval";
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32 |
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33 | /// <summary>
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34 | /// JSON name for property representing the tracking user id.
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35 | /// </summary>
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36 | internal const string TrackingIdPropertyName = "trackingId";
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37 |
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38 | /// <summary>
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39 | /// JSON name for property representing the background removed color image resolution.
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40 | /// </summary>
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41 | internal const string ResolutionPropertyName = "resolution";
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42 |
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43 | /// <summary>
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44 | /// Regular expression that matches the background removed frame resolution property.
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45 | /// </summary>
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46 | private static readonly Regex BackgroundRemovalResolutionRegex = new Regex(@"^(?i)(\d+)x(\d+)$");
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47 |
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48 | private static readonly KeyValuePair<ColorImageFormat, Size>[] BackgroundRemovalResolutions =
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49 | {
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50 | new KeyValuePair<ColorImageFormat, Size>(ColorImageFormat.RgbResolution640x480Fps30, new Size(640, 480)),
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51 | new KeyValuePair<ColorImageFormat, Size>(ColorImageFormat.RgbResolution1280x960Fps12, new Size(1280, 960))
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52 | };
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53 |
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54 | /// <summary>
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55 | /// Context that allows this stream handler to communicate with its owner.
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56 | /// </summary>
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57 | private readonly SensorStreamHandlerContext ownerContext;
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58 |
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59 | /// <summary>
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60 | /// Serializable background removal stream message, reused as background removed color frames arrive.
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61 | /// </summary>
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62 | private readonly BackgroundRemovalStreamMessage backgroundRemovalStreamMessage = new BackgroundRemovalStreamMessage { stream = BackgroundRemovalStreamName };
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63 |
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64 | /// <summary>
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65 | /// Sensor providing data to background removal stream.
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66 | /// </summary>
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67 | private KinectSensor sensor;
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68 |
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69 | /// <summary>
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70 | /// Entry point for background removal stream functionality.
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71 | /// </summary>
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72 | private BackgroundRemovedColorStream backgroundRemovalStream;
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73 |
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74 | /// <summary>
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75 | /// Id of the user we choose to track.
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76 | /// </summary>
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77 | private int trackingId;
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78 |
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79 | /// <summary>
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80 | /// True if background removal stream is enabled. Background removal stream is disabled by default.
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81 | /// </summary>
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82 | private bool backgroundRemovalStreamIsEnabled;
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83 |
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84 | /// <summary>
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85 | /// The background removed color image format.
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86 | /// </summary>
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87 | private ColorImageFormat colorImageFormat = ColorImageFormat.RgbResolution640x480Fps30;
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88 |
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89 | /// <summary>
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90 | /// Keep track if we're in the middle of processing a background removed color frame.
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91 | /// </summary>
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92 | private bool isProcessingBackgroundRemovedFrame;
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93 |
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94 | /// <summary>
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95 | /// Initializes a new instance of the <see cref="BackgroundRemovalStreamHandler"/> class
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96 | /// and associates it with a context that allows it to communicate with its owner.
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97 | /// </summary>
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98 | /// <param name="ownerContext">
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99 | /// An instance of <see cref="SensorStreamHandlerContext"/> class.
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100 | /// </param>
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101 | internal BackgroundRemovalStreamHandler(SensorStreamHandlerContext ownerContext)
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102 | {
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103 | this.ownerContext = ownerContext;
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104 |
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105 | this.AddStreamConfiguration(BackgroundRemovalStreamName, new StreamConfiguration(this.GetProperties, this.SetProperty));
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106 | }
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107 |
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108 | /// <summary>
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109 | /// Lets ISensorStreamHandler know that Kinect Sensor associated with this stream
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110 | /// handler has changed.
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111 | /// </summary>
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112 | /// <param name="newSensor">
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113 | /// New KinectSensor.
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114 | /// </param>
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115 | public override void OnSensorChanged(KinectSensor newSensor)
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116 | {
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117 | if (this.sensor != null)
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118 | {
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119 | try
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120 | {
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121 | this.backgroundRemovalStream.BackgroundRemovedFrameReady -= this.BackgroundRemovedFrameReadyAsync;
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122 | this.backgroundRemovalStream.Dispose();
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123 | this.backgroundRemovalStream = null;
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124 |
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125 | this.sensor.ColorStream.Disable();
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126 | }
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127 | catch (InvalidOperationException)
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128 | {
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129 | // KinectSensor might enter an invalid state while enabling/disabling streams or stream features.
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130 | // E.g.: sensor might be abruptly unplugged.
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131 | }
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132 | }
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133 |
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134 | this.sensor = newSensor;
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135 |
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136 | if (newSensor != null)
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137 | {
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138 | this.backgroundRemovalStream = new BackgroundRemovedColorStream(newSensor);
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139 | this.backgroundRemovalStream.BackgroundRemovedFrameReady += this.BackgroundRemovedFrameReadyAsync;
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140 |
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141 | // Force enabling the background removal stream because it hasn't been enabled before.
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142 | this.UpdateBackgroundRemovalFrameFormat(this.colorImageFormat, true);
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143 | }
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144 | }
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145 |
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146 | /// <summary>
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147 | /// Process data from one Kinect color frame.
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148 | /// </summary>
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149 | /// <param name="colorData">
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150 | /// Kinect color data.
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151 | /// </param>
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152 | /// <param name="colorFrame">
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153 | /// <see cref="ColorImageFrame"/> from which we obtained color data.
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154 | /// </param>
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155 | public override void ProcessColor(byte[] colorData, ColorImageFrame colorFrame)
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156 | {
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157 | if (colorData == null)
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158 | {
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159 | throw new ArgumentNullException("colorData");
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160 | }
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161 |
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162 | if (colorFrame == null)
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163 | {
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164 | throw new ArgumentNullException("colorFrame");
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165 | }
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166 |
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167 | if (this.backgroundRemovalStreamIsEnabled)
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168 | {
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169 | this.backgroundRemovalStream.ProcessColor(colorData, colorFrame.Timestamp);
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170 | }
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171 | }
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172 |
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173 | /// <summary>
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174 | /// Process data from one Kinect depth frame.
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175 | /// </summary>
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176 | /// <param name="depthData">
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177 | /// Kinect depth data.
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178 | /// </param>
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179 | /// <param name="depthFrame">
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180 | /// <see cref="DepthImageFrame"/> from which we obtained depth data.
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181 | /// </param>
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182 | public override void ProcessDepth(DepthImagePixel[] depthData, DepthImageFrame depthFrame)
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183 | {
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184 | if (depthData == null)
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185 | {
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186 | throw new ArgumentNullException("depthData");
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187 | }
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188 |
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189 | if (depthFrame == null)
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190 | {
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191 | throw new ArgumentNullException("depthFrame");
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192 | }
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193 |
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194 | if (this.backgroundRemovalStreamIsEnabled)
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195 | {
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196 | this.backgroundRemovalStream.ProcessDepth(depthData, depthFrame.Timestamp);
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197 | }
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198 | }
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199 |
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200 | /// <summary>
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201 | /// Process data from one Kinect skeleton frame.
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202 | /// </summary>
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203 | /// <param name="skeletons">
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204 | /// Kinect skeleton data.
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205 | /// </param>
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206 | /// <param name="skeletonFrame">
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207 | /// <see cref="SkeletonFrame"/> from which we obtained skeleton data.
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208 | /// </param>
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209 | public override void ProcessSkeleton(Skeleton[] skeletons, SkeletonFrame skeletonFrame)
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210 | {
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211 | if (skeletons == null)
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212 | {
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213 | throw new ArgumentNullException("skeletons");
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214 | }
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215 |
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216 | if (skeletonFrame == null)
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217 | {
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218 | throw new ArgumentNullException("skeletonFrame");
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219 | }
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220 |
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221 | if (this.backgroundRemovalStreamIsEnabled)
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222 | {
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223 | this.backgroundRemovalStream.ProcessSkeleton(skeletons, skeletonFrame.Timestamp);
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224 | }
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225 | }
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226 |
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227 | /// <summary>
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228 | /// Event handler for BackgroundRemovedColorStream's BackgroundRemovedFrameReady event
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229 | /// </summary>
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230 | /// <param name="sender">object sending the event</param>
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231 | /// <param name="e">event arguments</param>
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232 | internal async void BackgroundRemovedFrameReadyAsync(object sender, BackgroundRemovedColorFrameReadyEventArgs e)
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233 | {
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234 | if (!this.backgroundRemovalStreamIsEnabled)
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235 | {
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236 | // Directly return if the stream is not enabled.
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237 | return;
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238 | }
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239 |
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240 | if (this.isProcessingBackgroundRemovedFrame)
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241 | {
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242 | // Re-entered BackgroundRemovedFrameReadyAsync while a previous frame is already being processed.
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243 | // Just ignore new frames until the current one finishes processing.
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244 | return;
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245 | }
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246 |
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247 | this.isProcessingBackgroundRemovedFrame = true;
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248 |
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249 | try
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250 | {
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251 | bool haveFrameData = false;
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252 |
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253 | using (var backgroundRemovedFrame = e.OpenBackgroundRemovedColorFrame())
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254 | {
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255 | if (backgroundRemovedFrame != null)
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256 | {
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257 | this.backgroundRemovalStreamMessage.UpdateBackgroundRemovedColorFrame(backgroundRemovedFrame);
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258 |
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259 | haveFrameData = true;
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260 | }
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261 | }
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262 |
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263 | if (haveFrameData)
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264 | {
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265 | await this.ownerContext.SendTwoPartStreamMessageAsync(this.backgroundRemovalStreamMessage, this.backgroundRemovalStreamMessage.Buffer);
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266 | }
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267 | }
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268 | finally
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269 | {
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270 | this.isProcessingBackgroundRemovedFrame = false;
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271 | }
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272 | }
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273 |
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274 | /// <summary>
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275 | /// Get the size for the given color image format.
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276 | /// </summary>
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277 | /// <param name="format">The color image format.</param>
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278 | /// <returns>The width and height of the given image.</returns>
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279 | private static Size GetColorImageSize(ColorImageFormat format)
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280 | {
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281 | try
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282 | {
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283 | var q = from item in BackgroundRemovalResolutions
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284 | where item.Key == format
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285 | select item.Value;
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286 |
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287 | return q.Single();
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288 | }
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289 | catch (InvalidOperationException)
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290 | {
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291 | throw new ArgumentException(Resources.UnsupportedColorFormat, "format");
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292 | }
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293 | }
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294 |
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295 | /// <summary>
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296 | /// Get the color image format for the specified width and height.
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297 | /// </summary>
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298 | /// <param name="width">
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299 | /// Image width.
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300 | /// </param>
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301 | /// <param name="height">
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302 | /// Image height.
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303 | /// </param>
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304 | /// <returns>
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305 | /// The color image format enumeration value.
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306 | /// </returns>
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307 | private static ColorImageFormat GetColorImageFormat(int width, int height)
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308 | {
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309 | try
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310 | {
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311 | var q = from item in BackgroundRemovalResolutions
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312 | where (int)item.Value.Width == width && (int)item.Value.Height == height
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313 | select item.Key;
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314 |
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315 | return q.Single();
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316 | }
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317 | catch (InvalidOperationException)
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318 | {
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319 | throw new ArgumentException(Resources.UnsupportedColorFormat);
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320 | }
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321 | }
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322 |
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323 | /// <summary>
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324 | /// Set the background removed color frame format.
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325 | /// </summary>
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326 | /// <param name="format">
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327 | /// The given color image format.
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328 | /// </param>
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329 | /// <param name="forceEnable">
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330 | /// Streams should be enabled even if new color image format is the same as the old one.
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331 | /// This is useful for the initial enabling of the stream.
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332 | /// </param>
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333 | private void UpdateBackgroundRemovalFrameFormat(ColorImageFormat format, bool forceEnable)
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334 | {
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335 | if (!forceEnable && (format == this.colorImageFormat))
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336 | {
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337 | // No work to do
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338 | return;
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339 | }
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340 |
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341 | if (this.sensor != null)
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342 | {
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343 | try
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344 | {
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345 | this.sensor.ColorStream.Enable(format);
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346 | this.backgroundRemovalStream.Enable(format, DepthImageFormat.Resolution640x480Fps30);
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347 | }
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348 | catch (InvalidOperationException)
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349 | {
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350 | // KinectSensor might enter an invalid state while enabling/disabling streams or stream features.
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351 | // E.g.: sensor might be abruptly unplugged.
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352 | }
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353 | }
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354 |
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355 | // Update the image format property if the action succeeded.
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356 | this.colorImageFormat = format;
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357 | }
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358 |
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359 | /// <summary>
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360 | /// Gets a background removal stream property value.
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361 | /// </summary>
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362 | /// <param name="propertyMap">
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363 | /// Property name->value map where property values should be set.
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364 | /// </param>
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365 | private void GetProperties(Dictionary<string, object> propertyMap)
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366 | {
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367 | propertyMap.Add(KinectRequestHandler.EnabledPropertyName, this.backgroundRemovalStreamIsEnabled);
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368 | propertyMap.Add(TrackingIdPropertyName, this.trackingId);
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369 |
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370 | var size = GetColorImageSize(this.colorImageFormat);
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371 | propertyMap.Add(ResolutionPropertyName, string.Format(CultureInfo.InvariantCulture, @"{0}x{1}", (int)size.Width, (int)size.Height));
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372 | }
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373 |
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374 | /// <summary>
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375 | /// Set a background removal stream property value.
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376 | /// </summary>
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377 | /// <param name="propertyName">
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378 | /// Name of property to set.
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379 | /// </param>
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380 | /// <param name="propertyValue">
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381 | /// Property value to set.
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382 | /// </param>
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383 | /// <returns>
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384 | /// null if property setting was successful, error message otherwise.
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385 | /// </returns>
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386 | private string SetProperty(string propertyName, object propertyValue)
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387 | {
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388 | bool recognized = true;
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389 |
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390 | if (propertyValue == null)
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391 | {
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392 | return Resources.PropertyValueInvalidFormat;
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393 | }
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394 |
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395 | try
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396 | {
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397 | switch (propertyName)
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398 | {
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399 | case KinectRequestHandler.EnabledPropertyName:
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400 | this.backgroundRemovalStreamIsEnabled = (bool)propertyValue;
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401 | break;
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402 |
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403 | case TrackingIdPropertyName:
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404 | {
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405 | var oldTrackingId = this.trackingId;
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406 | this.trackingId = (int)propertyValue;
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407 |
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408 | if (this.trackingId != oldTrackingId)
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409 | {
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410 | this.backgroundRemovalStream.SetTrackedPlayer(this.trackingId);
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411 | }
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412 | }
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413 |
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414 | break;
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415 |
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416 | case ResolutionPropertyName:
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417 | var match = BackgroundRemovalResolutionRegex.Match((string)propertyValue);
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418 | if (!match.Success || (match.Groups.Count != 3))
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419 | {
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420 | return Resources.PropertyValueInvalidFormat;
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421 | }
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422 |
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423 | int width = int.Parse(match.Groups[1].Value, CultureInfo.InvariantCulture);
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424 | int height = int.Parse(match.Groups[2].Value, CultureInfo.InvariantCulture);
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425 |
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426 | try
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427 | {
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428 | var format = GetColorImageFormat(width, height);
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429 | this.UpdateBackgroundRemovalFrameFormat(format, false);
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430 | }
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431 | catch (ArgumentException)
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432 | {
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433 | return Resources.PropertyValueUnsupportedResolution;
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434 | }
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435 |
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436 | break;
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437 |
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438 | default:
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439 | recognized = false;
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440 | break;
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441 | }
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442 |
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443 | if (!recognized)
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444 | {
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445 | return Resources.PropertyNameUnrecognized;
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446 | }
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447 | }
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448 | catch (InvalidCastException)
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449 | {
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450 | return Resources.PropertyValueInvalidFormat;
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451 | }
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452 |
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453 | return null;
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454 | }
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455 | }
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456 | }
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