/// <summary>
/// Handles the depth frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_FrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
var stopwatchTotalTime = new Stopwatch();
stopwatchTotalTime.Restart();
ushort[] frameData = new ushort[_depthFrameDescription.Width * _depthFrameDescription.Height];
using (DepthFrame depthFrame = e.FrameReference.AcquireFrame())
{
if (depthFrame != null)
{
_depthFrameReader.IsPaused = true;
depthFrame.CopyFrameDataToArray(frameData);
GlobVar.CoordinateMapper.MapDepthFrameToCameraSpace(frameData, _cameraSpacePoints);
var preProcessedFrame = PreProcessFrame(_cameraSpacePoints);
//preProcessedFrame = ImageUtils.DepthFilter(preProcessedFrame);
if (_temporalMedianImage.ImageSet)
{
var subtractedFrame = _temporalMedianImage.Subtract(preProcessedFrame);
_stopwatch.Restart();
var noiseFilteredFrame = ImageUtils.MedianFilter3X3(subtractedFrame, 2);
if (Logger.LogTimeMedian)
{
_stopwatch.Stop();
Console.WriteLine("Median: {0}", _stopwatch.ElapsedMilliseconds);
}
_stopwatch.Restart();
GlobVar.SubtractedFilteredPointCloud = noiseFilteredFrame;
TrackBodies(depthFrame.RelativeTime, noiseFilteredFrame);
GraphicsUtils.RenderDepthPixels(this, noiseFilteredFrame);
//_temporalMedianImage.Draw(this);
}
_depthFrameReader.IsPaused = false;
}
}
if (Logger.LogTimeTotal)
{
stopwatchTotalTime.Stop();
Console.WriteLine("TotalTime: {0}", stopwatchTotalTime.ElapsedMilliseconds);
}
}
