void xtion_DepthFrameReady( object sender, DepthFrameReadyEventArgs e )
{
this.Dispatcher.BeginInvoke( DispatcherPriority.Background, new Action( () =>
{
imageDepth.Source = e.DepthGenerator.ToBitmapSource();
} ) );
}
void DepthClient_FrameReady(object sender, FrameReadyEventArgs e)
{
DepthFrameReadyEventArgs args = new DepthFrameReadyEventArgs();
DepthFrameData dfd = new DepthFrameData();
MemoryStream ms = new MemoryStream(e.Data);
BinaryReader br = new BinaryReader(ms);
dfd.PlayerIndexBitmask = br.ReadInt32();
dfd.PlayerIndexBitmaskWidth = br.ReadInt32();
DepthImageFrame frame = br.ReadDepthImageFrame();
dfd.ImageFrame = frame;
int dataLength = (int)(ms.Length - ms.Position);
if(_depthShort == null || _depthShort.Length != dataLength / 2)
_depthShort = new short[dataLength / 2];
Buffer.BlockCopy(e.Data, (int)br.BaseStream.Position, _depthShort, 0, dataLength);
dfd.DepthData = _depthShort;
DepthFrame = dfd;
args.DepthFrame = dfd;
if(DepthFrameReady != null)
DepthFrameReady(this, args);
}
private void client_DepthFrameReady(object sender, DepthFrameReadyEventArgs e)
{
if(_outputBitmap == null ||
_outputBitmap.PixelWidth != e.DepthFrame.ImageFrame.Width ||
_outputBitmap.PixelHeight != e.DepthFrame.ImageFrame.Height)
{
this._outputBitmap = new WriteableBitmap(
e.DepthFrame.ImageFrame.Width,
e.DepthFrame.ImageFrame.Height,
96, // DpiX
96, // DpiY
PixelFormats.Bgr32,
null);
this.Depth.Source = this._outputBitmap;
}
byte[] convertedDepthBits = this.ConvertDepthFrame(e.DepthFrame.DepthData, e);
this._outputBitmap.WritePixels(
new Int32Rect(0, 0, e.DepthFrame.ImageFrame.Width, e.DepthFrame.ImageFrame.Height),
convertedDepthBits,
e.DepthFrame.ImageFrame.Width * 4,
0);
}
private void _HandleDepthFrameReady(object sender, DepthFrameReadyEventArgs frame)
{
// Log frame
this.Logger.LogFrame((DepthFrame)frame.Frame);
foreach (Delegate d in this.DepthFrameReady.GetInvocationList())
{
d.DynamicInvoke(new object[] { sender, frame });
}
}
private async void DepthThread()
{
try {
short[] depthShort = null;
var reader = new DataReader( Client.InputStream );
reader.InputStreamOptions = InputStreamOptions.Partial;
while ( IsConnected ) {
await reader.LoadAsync( 4 );
var size = reader.ReadUInt32();
await reader.LoadAsync( size );
byte[] bytes = new byte[size];
reader.ReadBytes( bytes );
MemoryStream ms = new MemoryStream( bytes );
BinaryReader br = new BinaryReader( ms );
DepthFrameData dfd = new DepthFrameData();
dfd.PlayerIndexBitmask = br.ReadInt32();
dfd.PlayerIndexBitmaskWidth = br.ReadInt32();
DepthImageFrame frame = br.ReadDepthImageFrame();
dfd.ImageFrame = frame;
int dataLength = (int)(ms.Length - ms.Position);
if ( depthShort == null || depthShort.Length != dataLength / 2 )
depthShort = new short[dataLength / 2];
Buffer.BlockCopy( bytes, (int)br.BaseStream.Position, depthShort, 0, dataLength );
dfd.DepthData = depthShort;
DepthFrame = dfd;
DepthFrameReadyEventArgs args = new DepthFrameReadyEventArgs();
args.DepthFrame = dfd;
Context.Send( delegate
{
if ( DepthFrameReady != null )
DepthFrameReady( this, args );
}, null );
}
}
catch ( IOException ) {
Disconnect();
}
}
private void DepthThread()
{
try
{
NetworkStream ns = Client.GetStream();
BinaryReader networkReader = new BinaryReader(ns);
short[] depthShort = null;
while(Client.Connected)
{
DepthFrameReadyEventArgs args = new DepthFrameReadyEventArgs();
DepthFrameData dfd = new DepthFrameData();
int size = networkReader.ReadInt32();
byte[] data = networkReader.ReadBytes(size);
MemoryStream ms = new MemoryStream(data);
BinaryReader br = new BinaryReader(ms);
dfd.PlayerIndexBitmask = br.ReadInt32();
dfd.PlayerIndexBitmaskWidth = br.ReadInt32();
DepthImageFrame frame = br.ReadDepthImageFrame();
dfd.ImageFrame = frame;
int dataLength = (int)(ms.Length - ms.Position);
if(depthShort == null || depthShort.Length != dataLength / 2)
depthShort = new short[dataLength / 2];
Buffer.BlockCopy(data, (int)br.BaseStream.Position, depthShort, 0, dataLength);
dfd.DepthData = depthShort;
DepthFrame = dfd;
args.DepthFrame = dfd;
Context.Send(delegate
{
if(DepthFrameReady != null)
DepthFrameReady(this, args);
}, null);
}
}
catch(IOException)
{
Client.Close();
}
}
void client_DepthFrameReady(object sender, DepthFrameReadyEventArgs e)
{
if(_outputBitmap == null)
{
this._outputBitmap = new WriteableBitmap(
e.DepthFrame.ImageFrame.Width,
e.DepthFrame.ImageFrame.Height);
this.Depth.Source = this._outputBitmap;
}
byte[] convertedDepthBits = this.ConvertDepthFrame(e.DepthFrame.DepthData, e);
Buffer.BlockCopy(convertedDepthBits, 0, _outputBitmap.Pixels, 0, convertedDepthBits.Length);
_outputBitmap.Invalidate();
}
private byte[] ConvertDepthFrame(short[] depthFrame, DepthFrameReadyEventArgs args)
{
int[] intensityShiftByPlayerR = { 1, 2, 0, 2, 0, 0, 2, 0 };
int[] intensityShiftByPlayerG = { 1, 2, 2, 0, 2, 0, 0, 1 };
int[] intensityShiftByPlayerB = { 1, 0, 2, 2, 0, 2, 0, 2 };
const int RedIndex = 1;
const int GreenIndex = 2;
const int BlueIndex = 3;
byte[] depthFrame32 = new byte[args.DepthFrame.ImageFrame.Width * args.DepthFrame.ImageFrame.Height * 4];
for (int i16 = 0, i32 = 0; i16 < depthFrame.Length && i32 < depthFrame.Length * 4; i16++, i32 += 4)
{
int player = depthFrame[i16] & args.DepthFrame.PlayerIndexBitmask;
int realDepth = depthFrame[i16] >> args.DepthFrame.PlayerIndexBitmaskWidth;
// transform 13-bit depth information into an 8-bit intensity appropriate
// for display (we disregard information in most significant bit)
byte intensity = (byte)(~(realDepth >> 4));
if (player == 0 && realDepth == 0)
{
// white
depthFrame32[i32 + RedIndex] = 255;
depthFrame32[i32 + GreenIndex] = 255;
depthFrame32[i32 + BlueIndex] = 255;
}
else
{
// tint the intensity by dividing by per-player values
depthFrame32[i32 + RedIndex] = (byte)(intensity >> intensityShiftByPlayerR[player]);
depthFrame32[i32 + GreenIndex] = (byte)(intensity >> intensityShiftByPlayerG[player]);
depthFrame32[i32 + BlueIndex] = (byte)(intensity >> intensityShiftByPlayerB[player]);
}
}
return depthFrame32;
}
private void _DepthFrameReady(object sender, DepthFrameReadyEventArgs frame)
{
//DepthDrawingHelper.Draw((DepthFrame) frame.Frame, this.depthBitmap);
}
