private void RunLoopWithDSAPI()
{
_dsAPI.setDepthExposureAndGain(33f, 1.0f);
_dsAPI.enableDepth(Frame.DEPTH_WIDTH, Frame.DEPTH_WIDTH, (int)Frame.DEPTH_RATE);
_dsAPI.enableColor(Frame.COLOR_WIDTH, Frame.COLOR_HEIGHT, (int)Frame.COLOR_RATE);
_dsAPI.startCapture();
while (!_stop)
{
_dsAPI.grabFrame();
MemoryFrame frame = _pool.ObjectFromPool();
byte[] depthBytes = _dsAPI.getDepthImage();
byte[] colorBytes = _dsAPI.getColorImage();
byte[] depthPreviewBytes = _dsAPI.getDepthImageAsRGB();
Buffer.BlockCopy(depthBytes, 0, frame.BufferDepth, 0, depthBytes.Length);
Buffer.BlockCopy(depthPreviewBytes, 0, frame.BufferDepthPreview, 0, depthPreviewBytes.Length);
Buffer.BlockCopy(colorBytes, 0, frame.BufferColor, 0, colorBytes.Length);
using (Handle <MemoryFrame> frameHandle = new Handle <MemoryFrame>(frame, _pool))
{
FrameArrivedEventArgs eventArgs = new FrameArrivedEventArgs()
{
FrameHandle = frameHandle
};
if (this.FrameArrived != null)
{
this.FrameArrived(this, eventArgs);
}
}
}
}
