// Glorious FrameArrived Handler
private void FrameArrived(MediaFrameReader sender, MediaFrameArrivedEventArgs args)
{
var mfRef = sender.TryAcquireLatestFrame();
var softwareBitmap = mfRef?.VideoMediaFrame?.SoftwareBitmap;
if (mfRef == null || softwareBitmap == null)
{
mfRef?.Dispose();
return;
}
// Get Transform matrices
var tup = FrameProcessor.GetTransforms(mfRef, unityWorldCoordinateSystem);
if (tup == null)
{
return;
}
var frameToOrigin = tup.Item1;
var intrinsics = tup.Item2;
var extrinsics = tup.Item3;
// Get System Ticks as a time value
var systemTicks = mfRef.SystemRelativeTime.Value.Duration().Ticks;
var w = softwareBitmap.PixelWidth;
var h = softwareBitmap.PixelHeight;
byte[] data;
switch (softwareBitmap.BitmapPixelFormat)
{
case BitmapPixelFormat.Bgra8: // Color
if (frameWriter != null) // debug
{
frameWriter.writeColorPNG(softwareBitmap, systemTicks);
}
// Bgra8 has 4 bytes per pixel, apparently
data = new byte[4 * w * h];
softwareBitmap.CopyToBuffer(data.AsBuffer());
var buf = new byte[3 * w * h];
var c = 0;
// get rid of useless byte
for (var i = 0; i < w * h; i++)
{
for (var j = 0; j < 3; j++)
{
buf[c] = data[i * 4 + 2 - j];
c++;
}
}
conn.SendColorFrame(new MessageComposer.Payload
{
FrameId = systemTicks,
Width = softwareBitmap.PixelWidth,
Height = softwareBitmap.PixelHeight,
BytesPerPoint = 1,
PointsPerPixel = 3,
FrameToOrigin = frameToOrigin,
Intrinsics = intrinsics,
Extrinsics = extrinsics,
Data = buf
});
break;
case BitmapPixelFormat.Gray16: // Depth
if (frameWriter != null) // debug
{
frameWriter.writeDepthPGM(softwareBitmap, systemTicks);
}
data = new byte[2 * w * h];
softwareBitmap.CopyToBuffer(data.AsBuffer());
conn.SendDepthFrame(new MessageComposer.Payload
{
FrameId = systemTicks,
Width = softwareBitmap.PixelWidth,
Height = softwareBitmap.PixelHeight,
BytesPerPoint = 2,
PointsPerPixel = 1,
FrameToOrigin = frameToOrigin,
Intrinsics = intrinsics,
Extrinsics = extrinsics,
Data = data
});
break;
default:
Debug.LogError("Invalid Frame");
break;
}
mfRef.Dispose();
}
