public unsafe Image ToColor(Image depthMap, Image bodyIndexMap)
{
if (bodyIndexMap == null || depthMap == null)
{
return(null);
}
// Object can be disposed from different thread,
// thus it is worth to keep references to images while we're working with their buffers
using (var bodyIndexMapCustom8Ref = bodyIndexMapCustom8.DuplicateReference())
{
// Custom format -> Custom8 format
// See issue https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/704
Buffer.MemoryCopy(
bodyIndexMap.Buffer.ToPointer(), bodyIndexMapCustom8Ref.Buffer.ToPointer(),
bodyIndexMapCustom8Ref.SizeBytes, bodyIndexMap.SizeBytes);
using (var transformedDepthMapRef = transformedDepthMap.DuplicateReference())
using (var transformedBodyIndexMapRef = transformedBodyIndexMap.DuplicateReference())
{
transformation.DepthImageToColorCameraCustom(
depthMap, bodyIndexMapCustom8Ref,
transformedDepthMapRef, transformedBodyIndexMapRef,
TransformationInterpolation.Nearest, BodyTracking.BodyFrame.NotABodyIndexMapPixelValue);
return(transformedBodyIndexMapRef.DuplicateReference());
}
}
}
public unsafe Image ToColor(Image depthMap, Image bodyIndexMap)
{
if (bodyIndexMap == null || depthMap == null)
{
return(null);
}
// Object can be disposed from different thread,
// thus it is worth to keep references to images while we're working with their buffers
using (var transformedDepthMapRef = transformedDepthMap.DuplicateReference())
using (var transformedBodyIndexMapRef = transformedBodyIndexMap.DuplicateReference())
{
transformation.DepthImageToColorCameraCustom(
depthMap, bodyIndexMap,
transformedDepthMapRef, transformedBodyIndexMapRef,
TransformationInterpolation.Nearest, BodyTracking.BodyFrame.NotABodyIndexMapPixelValue);
return(transformedBodyIndexMapRef.DuplicateReference());
}
}
