/// <summary>
/// YUV-RAW conversion. YUV Raw has 2 bytes per pixel, not 4 like it is the case with
/// RGB and YUV
/// </summary>
/// <param name="frameInfo">Frame info</param>
/// <param name="rawColorData">Raw frame data</param>
/// <param name="resultingImage">Processed visible image</param>
private unsafe void DoProcessVisualImageForWebCamAlternateYUVRaw(
KinectFrameInfo frameInfo,
byte[] rawColorData,
byte[] resultingImage)
{
int height = frameInfo.Height;
int width = frameInfo.Width;
// The following fixed statement pins the location of
// the src and dst objects in memory so that they will
// not be moved by garbage collection (perf)
fixed(byte *ptrSrc = rawColorData, ptrDest = resultingImage)
{
for (int y = 0; y < height; ++y)
{
// we pre-calc those for perf reasons (profiler-verified to have a significant effect)
int yTImesWidth = y * width;
int yTImesWidthPlusWidth = (y * width) + width;
for (int x = 0; x < width; ++x)
{
int i = (yTImesWidth + x) * 3;
int j = (yTImesWidthPlusWidth - x - 1) * 2;
*(short *)(ptrDest + i) = *(short *)(ptrSrc + j);
}
}
}
}
/// <summary>
/// Non YUV-raw coversion
/// </summary>
/// <param name="frameInfo">Frame info</param>
/// <param name="rawColorData">Raw frame data</param>
/// <param name="visibleImage">Processed visible image</param>
private unsafe void DoProcessVisualImageForWebCamAlternateRgbYuv(KinectFrameInfo frameInfo, byte[] rawColorData, byte[] visibleImage)
{
int height = frameInfo.Height;
int width = frameInfo.Width;
// The following fixed statement pins the location of
// the src and dst objects in memory so that they will
// not be moved by garbage collection (perf)
fixed(byte *ptrSrc = rawColorData, ptrDest = visibleImage)
{
// we need to cut the 4th byte to conform to 24 bit color image format expected by
// cameras we also need to flip image along the vertical axis to make sure depth and
// rgb images have same orientation (raw buffers are oppositely oriented)
for (int y = 0; y < height; ++y)
{
// we pre-calc those for perf reasons (profiler-verified to have a significant effect)
int yTImesWidth = y * width;
int yTImesWidthPlusWidth = (y * width) + width;
for (int x = 0; x < width; ++x)
{
int i = (yTImesWidth + x) * 3;
int j = (yTImesWidthPlusWidth - x - 1) * 4;
*(ThreeByteStruct *)(ptrDest + i) = *(ThreeByteStruct *)(ptrSrc + j);
}
}
}
}
/// <summary>
/// Binary serializaiton of Kinect frame info for cross-DSS node communicaiton
/// </summary>
/// <param name="frameInfo">Kinect frame info</param>
/// <param name="writer">Binary Writer</param>
private void SerializeFrameInfo(KinectFrameInfo frameInfo, BinaryWriter writer)
{
writer.Write(1);
writer.Write((int)frameInfo.FrameNumber);
writer.Write((int)frameInfo.BytesPerPixel);
writer.Write((int)frameInfo.Height);
writer.Write((int)frameInfo.Width);
writer.Write((long)frameInfo.Timestamp);
}
/// <summary>
/// Binary deserializer for Kinect frame info
/// </summary>
/// <param name="reader">Binary reader</param>
/// <returns>New KinectFrame instance</returns>
private KinectFrameInfo DeserializeFrameInfo(BinaryReader reader)
{
KinectFrameInfo frameInfo = new KinectFrameInfo();
frameInfo.FrameNumber = reader.ReadInt32();
frameInfo.BytesPerPixel = reader.ReadInt32();
frameInfo.Height = reader.ReadInt32();
frameInfo.Width = reader.ReadInt32();
frameInfo.Timestamp = reader.ReadInt64();
return(frameInfo);
}
/// <summary>
/// Converts depth + player data returned by Kinect sensor to depth 'image' - a matrix of
/// shorts with distances in mm. The depth frame returned from the Kinect is mirrored.
/// We not only have to do bitshifts, but also flip the image.
/// </summary>
/// <param name="frameInfo">Frame info</param>
/// <param name="rawDepthData">Raw frame data</param>
/// <param name="depthImage">Procesed frame</param>
private void DoProcessDepthAndPlayerIndexDataForDepthCamAlternate(
KinectFrameInfo frameInfo,
short[] rawDepthData,
short[] depthImage)
{
int height = frameInfo.Height;
int width = frameInfo.Width;
for (int y = 0; y < height; ++y)
{
// we pre-calc those for perf reasons (profiler-verified to have a significant effect)
int yTImesWidth = y * width;
int yTImesWidthPlusWidth = (y * width) + width;
for (int x = 0; x < width; ++x)
{
int i = yTImesWidth + x;
int j = yTImesWidthPlusWidth - x - 1;
depthImage[i] = (short)(rawDepthData[j] >> 3);
}
}
}
