private void ReadingLoop_CaptureReady(object sender, CaptureReadyEventArgs e)
{
using (var colorImage = e.Capture.ColorImage)
{
var was = colorImageVisualizer?.Update(colorImage);
UpdateFpsIfNeeded(was, colorFps, nameof(ColorFps));
}
using (var depthImage = e.Capture.DepthImage)
{
var was = depthImageVisualizer?.Update(depthImage);
UpdateFpsIfNeeded(was, depthFps, nameof(DepthFps));
if (depthImage != null && transformation != null && depthOverColorImage != null && depthOverColorImageVisualizer != null)
{
// Object can be disposed from different thread
// As a result depthOverColorImage may be disposed while we're working with it
// To protect from such scenario, keep reference to it
using (var depthOverColorImageRef = depthOverColorImage.DuplicateReference())
{
transformation.DepthImageToColorCamera(depthImage, depthOverColorImageRef);
depthOverColorImageVisualizer?.Update(depthOverColorImageRef);
}
}
}
using (var irImage = e.Capture.IRImage)
{
var was = irImageVisualizer?.Update(irImage);
UpdateFpsIfNeeded(was, irFps, nameof(IRFps));
}
}
private void ReadingLoop_CaptureReady(object sender, CaptureReadyEventArgs e) => trackingLoop.Enqueue(e.Capture);
