public void SetData(IplImage image)
{
var bufferHandle = GCHandle.Alloc(textureBuffer, GCHandleType.Pinned);
var bufferHeader = new IplImage(image.Size, 8, 4, bufferHandle.AddrOfPinnedObject());
ImgProc.cvCvtColor(image, bufferHeader, ColorConversion.BGR2RGBA);
bufferHandle.Free();
update = true;
}
void CaptureNewFrame()
{
while (running)
{
using (var depthFrame = kinect.DepthStream.OpenNextFrame(50))
using (var colorFrame = kinect.ColorStream.OpenNextFrame(50))
using (var skeletonFrame = kinect.SkeletonStream.OpenNextFrame(50))
{
if (depthFrame != null && colorFrame != null && skeletonFrame != null)
{
// Keep depth as managed array
var depthImageBuffer = new short[depthFrame.PixelDataLength];
//if (depthImageBuffer == null || depthImageBuffer.Length != depthFrame.PixelDataLength)
//{
// depthImageBuffer = new short[depthFrame.PixelDataLength];
//}
if (colorImageBuffer == null || colorImageBuffer.Length != colorFrame.PixelDataLength)
{
colorImageBuffer = new byte[colorFrame.PixelDataLength];
}
var skeletonData = new Skeleton[skeletonFrame.SkeletonArrayLength];
skeletonFrame.CopySkeletonDataTo(skeletonData);
colorFrame.CopyPixelDataTo(colorImageBuffer);
depthFrame.CopyPixelDataTo(depthImageBuffer);
// Flip color image to get proper measurements
var bufferHandle = GCHandle.Alloc(colorImageBuffer, GCHandleType.Pinned);
var colorImage = new IplImage(new CvSize(colorFrame.Width, colorFrame.Height), colorFrame.BytesPerPixel * 8 / 4, 4, bufferHandle.AddrOfPinnedObject());
var colorOutput = new IplImage(colorImage.Size, colorImage.Depth, 3);
ImgProc.cvCvtColor(colorImage, colorOutput, ColorConversion.BGRA2BGR);
Core.cvFlip(colorOutput, colorOutput, FlipMode.Horizontal);
bufferHandle.Free();
//bufferHandle = GCHandle.Alloc(depthImageBuffer, GCHandleType.Pinned);
//var depthImage = new IplImage(new CvSize(depthFrame.Width, depthFrame.Height), depthFrame.BytesPerPixel * 8, 1, bufferHandle.AddrOfPinnedObject());
//var depthOutput = new IplImage(depthImage.Size, depthImage.Depth, 1);
//Core.cvCopy(depthImage, depthOutput);
//Core.cvFlip(depthOutput, depthOutput, FlipMode.Horizontal);
//bufferHandle.Free();
//**** Flip depth horizontally ****
//bufferHandle = GCHandle.Alloc(depthImageBuffer, GCHandleType.Pinned);
//var depthImage = new IplImage(new CvSize(depthFrame.Width, depthFrame.Height), depthFrame.BytesPerPixel * 8, 1, bufferHandle.AddrOfPinnedObject());
//Core.cvFlip(depthImage, depthImage, FlipMode.Horizontal);
//bufferHandle.Free();
Subject.OnNext(new KinectFrame(kinect, depthImageBuffer, colorOutput, skeletonData));
}
}
}
stop.Set();
}
