public void SendColorFrame(MessageComposer.Payload p)
{
if (!ColorLock.Wait(0)) // if no lock, bail immediately
{
return;
}
try
{
// avoid duplicate frame
if (Interlocked.Exchange(ref LatestColorTicks, p.FrameId) != p.FrameId)
{
var latest_depth = Interlocked.Read(ref LatestDepthTicks); // may be stale!
var is_first = ClosestColorFrame == null;
var is_closer = is_first || Math.Abs(latest_depth - p.FrameId) < Math.Abs(latest_depth - ClosestColorFrame.Value.FrameId);
// update only if no previous Color frame, or if new frame is closer in time to latest depth
if (is_closer)
{
ClosestColorFrame = p;
}
}
}
finally
{
ColorLock.Release();
}
}
public void SendDepthFrame(MessageComposer.Payload p)
{
if (!DepthLock.Wait(0)) // if no lock, bail immediately
{
return;
}
try
{
// avoid duplicate frame
if (Interlocked.Exchange(ref LatestDepthTicks, p.FrameId) != p.FrameId)
{
// update depth frame as frequently as possible
LatestDepthFrame = p;
}
}
finally
{
DepthLock.Release();
}
}
