//Prepare to draw point cloud.
private void InitValues()
{
depthWidth = kinectSensor.GetCalibration().DepthCameraCalibration.ResolutionWidth;
depthHeight = kinectSensor.GetCalibration().DepthCameraCalibration.ResolutionHeight;
vertices = new byte[depthWidth * depthHeight * 3 * 2]; // short3 = 3 * 2byte
colors = new byte[depthWidth * depthHeight * 4];
xyzImage = new Image(ImageFormat.Custom, depthWidth, depthHeight, 6 * depthWidth);
done = false;
}
/// <summary>
/// Function handling the events raised by the KinectSensor when a new capture is available
/// </summary>
/// <param name="sender"></param>
/// <param name="captureArg"> Object containing the new capture</param>
private void HandleCapture(object sender, CaptureEventArgs captureArg)
{
if (kinectCapture == null)
{
kinectCapture = new Kinect4AFrameCapture(kinectSensor.GetCalibration(), kinectSensor.ImageFormat);
}
kinectCapture.SetCapture(captureArg.Capture);
}
/// <summary>
/// Function handling the events raised by the KinectSensor when a new capture is available
/// </summary>
/// <param name="sender"></param>
/// <param name="captureArg"> Object containing the new capture</param>
private void KinectSensor_CaptureReady(object sender, CaptureEventArgs e)
{
if (!IsInitializationComplete)
{
var calibration = kinectSensor.GetCalibration();
TrackerConfiguration conf = TrackerConfiguration.Default;
conf.ProcessingMode = processingMode;
conf.ModelPath = modelPath;
tracker = new Tracker(in calibration, conf);
IsInitializationComplete = true;
}
if (IsInitializationComplete && IsAvailable)
{
tracker.TryEnqueueCapture(e.Capture);
}
}