// Update is called once per frame
void Update () {
if (_sensor == null)
{
var sensor = new V2Sensor();
_depthStream = new V2DepthStream(sensor.Sensor);
_sensor = sensor;
}
using (var frame = _depthStream.GetFrame())
{
if (frame == null)
{
return;
}
if (DepthTexture == null)
{
DepthTexture = new Texture2D(
_depthStream.Width, _depthStream.Height, TextureFormat.ARGB32, false);
DepthTexture.filterMode = FilterMode.Point;
_depth = new Int16[_depthStream.Width * _depthStream.Height];
}
Marshal.Copy(frame.Buffer, _depth, 0, _depth.Length);
var pixel32s = _depth.Select((Int16 d) =>
{
var b = (Byte)(UInt16)d;
return new Color32(
b, b, b, 255
);
}).ToArray();
//Debug.Log(pixel32s.Length);
DepthTexture.SetPixels32(pixel32s);
DepthTexture.Apply();
}
}
void StartUpdating(WaitHandle waitHandle, KinectBaseImageStream stream)
{
var task = waitHandle.WaitTask(Timeout.Infinite);
task.ToObservable()
.ObserveOnDispatcher()
.SelectMany(_ => Observable.Using(
() => stream.GetFrame(waitHandle.Handle)
, frame => Observable.Return(frame))
)
.Where(frame => frame != null)
.Subscribe(
frame => _depthSource.WritePixels(
new Int32Rect(0, 0, frame.Width, frame.Height),
frame.Ptr,
frame.BufferSize,
frame.Pitch)
, ex => {
Console.WriteLine(ex);
StartUpdating(waitHandle, stream);
}
, () => StartUpdating(waitHandle, stream)
)
;
}
