/// <summary>
/// Builds the raw depth frame.
/// </summary>
/// <param name="depthFormat">Depth image format.</param>
/// <param name="rawFrames">The raw frames.</param>
/// <returns>
/// Standard ccr iterator
/// </returns>
private IEnumerator <ITask> BuildRawDepthFrame(DepthImageFormat depthFormat, RawKinectFrames rawFrames)
{
var depthCamResponse = this.depthCamPartner.Get();
yield return(depthCamResponse.Choice());
var depthCamSensorState = (DepthCamSensorState)depthCamResponse;
if (depthCamSensorState == null)
{
yield break;
}
var frameInfo = new KinectFrameInfo
{
Timestamp = depthCamSensorState.TimeStamp.Ticks,
Width = depthCamSensorState.DepthImageSize.Width,
Height = depthCamSensorState.DepthImageSize.Height,
BytesPerPixel = 2
};
var target = new short[depthCamSensorState.DepthImage.Length];
// Raw depth data includes 3 bits for player information
for (int i = 0; i < target.Length; i++)
{
target[i] = (short)(depthCamSensorState.DepthImage[i] << 3);
}
rawFrames.RawDepthFrameData = target;
rawFrames.RawDepthFrameInfo = frameInfo;
}
/// <summary>
/// Builds the video based data.
/// </summary>
/// <param name="imageFormat">Image format.</param>
/// <param name="rawFrames">The raw frames.</param>
/// <returns>
/// Standard ccr iterator
/// </returns>
private IEnumerator <ITask> BuildRawVideoFrame(ColorImageFormat imageFormat, RawKinectFrames rawFrames)
{
var webCamResponse = this.webCamPartner.Get();
yield return(webCamResponse.Choice());
var webCamSensorState = (WebCamSensorState)webCamResponse;
if (webCamSensorState == null)
{
yield break;
}
var frameInfo = new KinectFrameInfo
{
Timestamp = webCamSensorState.TimeStamp.Ticks,
Width = webCamSensorState.Width,
Height = webCamSensorState.Height,
BytesPerPixel = 4
};
var source = webCamSensorState.Data;
// Move from 24rgb to 32rgb
var target = new byte[(source.Length * 4) / 3];
for (int i = 0, j = 0; i < source.Length && j < target.Length; i += 3, j += 4)
{
target[j] = source[i];
target[j + 1] = source[i + 1];
target[j + 2] = source[i + 2];
}
rawFrames.RawColorFrameData = target;
rawFrames.RawColorFrameInfo = frameInfo;
}
