public static bool PollColor(IntPtr colorStreamHandle, ref byte[] videoBuffer)
{
IntPtr imageFramePtr = IntPtr.Zero;
bool newColor = false;
int hr = KinectV1Wrapper.NuiImageStreamGetNextFrame(colorStreamHandle, 0, ref imageFramePtr);
if (hr == 0)
{
newColor = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
Marshal.Copy(lockedRectPtr.pBits, videoBuffer, 0, videoBuffer.Length);
frameTexture.UnlockRect(0);
hr = KinectV1Wrapper.NuiImageStreamReleaseFrame(colorStreamHandle, imageFramePtr);
}
else
{
Debug.Log("color frame not ready " + hr.ToString());
}
return(newColor);
}
/// <summary>
///The first time in each frame that it is called, poll the kinect for updated color data and return
///true if there is new data. Subsequent calls do nothing and return the same value.
/// </summary>
/// <returns>
/// A <see cref="System.Boolean"/> : is there new data this frame
/// </returns>
bool KinectInterface.pollColor()
{
if (!updatedColor)
{
updatedColor = true;
IntPtr imageFramePtr = IntPtr.Zero;
int hr = NativeMethods.NuiImageStreamGetNextFrame(colorStreamHandle, 100, ref imageFramePtr);
if (hr == 0)
{
newColor = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
colorImage = extractColorImage(lockedRectPtr);
hr = NativeMethods.NuiImageStreamReleaseFrame(colorStreamHandle, imageFramePtr);
}
}
return(newColor);
}
/// <summary>
///The first time in each frame that it is called, poll the kinect for updated depth (and player) data and return
///true if there is new data. Subsequent calls do nothing and return the same value.
/// </summary>
/// <returns>
/// A <see cref="System.Boolean"/> : is there new data this frame
/// </returns>
bool KinectInterface.pollDepth()
{
if (!updatedDepth)
{
updatedDepth = true;
IntPtr imageFramePtr = IntPtr.Zero;
/* KK Addition*/
/// <summary>
/// Sets near mode - move this into the Awake () function
/// if you do not need to constantly change between near and far mode
/// current organization is this way to allow for rapid changes IF they're required
/// and to allow for experimentation with the 2 modes
/// </summary>
if (enableNearMode)
{
NativeMethods.NuiImageStreamSetImageFrameFlags
(depthStreamHandle, NuiImageStreamFlags.EnableNearMode);
//test = NativeMethods.NuiImageStreamSetImageFrameFlags
// (depthStreamHandle, NuiImageStreamFlags.TooFarIsNonZero);
}
else
{
NativeMethods.NuiImageStreamSetImageFrameFlags
(depthStreamHandle, NuiImageStreamFlags.None);
}
int hr = NativeMethods.NuiImageStreamGetNextFrame(depthStreamHandle, 100, ref imageFramePtr);
if (hr == 0)
{
newDepth = true;
NuiImageFrame imageFrame;
imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
depthPlayerData = extractDepthImage(lockedRectPtr);
frameTexture.UnlockRect(0);
hr = NativeMethods.NuiImageStreamReleaseFrame(depthStreamHandle, imageFramePtr);
}
}
return(newDepth);
}
private Color32[] extractColorImage(NuiLockedRect buf)
{
int totalPixels = 640 * 480;
Color32[] colorBuf = colorImage;
ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(buf.pBits, typeof(ColorBuffer));
for (int pix = 0; pix < totalPixels; pix++)
{
colorBuf[pix].r = cb.pixels[pix].r;
colorBuf[pix].g = cb.pixels[pix].g;
colorBuf[pix].b = cb.pixels[pix].b;
}
return(colorBuf);
}
private static void ExtractColorImage(NuiLockedRect buf, ref Color32[] colorImage)
{
ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(buf.pBits, typeof(ColorBuffer));
int totalPixels = Constants.ImageWidth * Constants.ImageHeight;
for (int pix = 0; pix < totalPixels; pix++)
{
int ind = totalPixels - pix - 1;
colorImage[ind].r = cb.pixels[pix].r;
colorImage[ind].g = cb.pixels[pix].g;
colorImage[ind].b = cb.pixels[pix].b;
colorImage[ind].a = 255;
}
}
//public static bool PollColor(IntPtr colorStreamHandle, ref byte[] videoBuffer, ref Color32[] colorImage)
public static bool PollColor(IntPtr colorStreamHandle, ref Color32[] colorImage)
{
IntPtr imageFramePtr = IntPtr.Zero;
bool newColor = false;
int hr = KinectWrapper.NuiImageStreamGetNextFrame(colorStreamHandle, 0, ref imageFramePtr);
if (hr == 0)
{
newColor = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(lockedRectPtr.pBits, typeof(ColorBuffer));
int totalPixels = Constants.ColorImageWidth * Constants.ColorImageHeight;
for (int pix = 0; pix < totalPixels; pix++)
{
int ind = pix; // totalPixels - pix - 1;
colorImage[ind].r = cb.pixels[pix].r;
colorImage[ind].g = cb.pixels[pix].g;
colorImage[ind].b = cb.pixels[pix].b;
colorImage[ind].a = 255;
// videoBuffer[4 * ind] = cb.pixels[pix].b;
// videoBuffer[4 * ind + 1] = cb.pixels[pix].g;
// videoBuffer[4 * ind + 2] = cb.pixels[pix].r;
// videoBuffer[4 * ind + 3] = 255;
}
frameTexture.UnlockRect(0);
hr = KinectWrapper.NuiImageStreamReleaseFrame(colorStreamHandle, imageFramePtr);
}
return(newColor);
}
private Color32[] extractColorImage(NuiLockedRect buf)
{
int totalPixels = 640 * 480;
Color32[] colorBuf = colorImage;
ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(buf.pBits, typeof(ColorBuffer));
for (int pix = 0; pix < totalPixels; pix++)
{
int ind = totalPixels - pix - 1; // Waterstrong Add
//colorBuf[pix].r = cb.pixels[pix].r;
//colorBuf[pix].g = cb.pixels[pix].g;
//colorBuf[pix].b = cb.pixels[pix].b;
// Waterstrong Alter
colorBuf[ind].r = cb.pixels[pix].r;
colorBuf[ind].g = cb.pixels[pix].g;
colorBuf[ind].b = cb.pixels[pix].b;
colorBuf[ind].a = (byte)255; // Waterstrong Add
}
return(colorBuf);
}
public static bool PollDepth(IntPtr depthStreamHandle, bool isNearMode, ref ushort[] depthPlayerData)
{
IntPtr imageFramePtr = IntPtr.Zero;
bool newDepth = false;
if (isNearMode)
{
KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.EnableNearMode);
}
else
{
KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.None);
}
int hr = KinectWrapper.NuiImageStreamGetNextFrame(depthStreamHandle, 0, ref imageFramePtr);
if (hr == 0)
{
newDepth = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
DepthBuffer db = (DepthBuffer)Marshal.PtrToStructure(lockedRectPtr.pBits, typeof(DepthBuffer));
depthPlayerData = db.pixels;
frameTexture.UnlockRect(0);
hr = KinectWrapper.NuiImageStreamReleaseFrame(depthStreamHandle, imageFramePtr);
}
return(newDepth);
}
public static bool PollDepth(IntPtr depthStreamHandle, bool isNearMode, ref ushort[] depthPlayerData)
{
#if USE_KINECT_INTERACTION_OR_FACETRACKING
uint depthBufLen = (uint)(depthPlayerData.Length << 1);
var pDepthData = GCHandle.Alloc(depthPlayerData, GCHandleType.Pinned);
bool newDepth = GetDepthFrameData(pDepthData.AddrOfPinnedObject(), ref depthBufLen, true);
pDepthData.Free();
#else
IntPtr imageFramePtr = IntPtr.Zero;
bool newDepth = false;
if (isNearMode)
{
KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.EnableNearMode);
}
else
{
KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.None);
}
int hr = KinectWrapper.NuiImageStreamGetNextFrame(depthStreamHandle, 0, ref imageFramePtr);
if (hr == 0)
{
newDepth = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr,r,0);
//depthPlayerData = ExtractDepthImage(lockedRectPtr);
DepthBuffer db = (DepthBuffer)Marshal.PtrToStructure(lockedRectPtr.pBits, typeof(DepthBuffer));
depthPlayerData = db.pixels;
frameTexture.UnlockRect(0);
hr = KinectWrapper.NuiImageStreamReleaseFrame(depthStreamHandle, imageFramePtr);
}
#endif
return newDepth;
}
public static bool PollColor(IntPtr colorStreamHandle, ref byte[] videoBuffer, ref Color32[] colorImage)
{
#if USE_KINECT_INTERACTION_OR_FACETRACKING
uint videoBufLen = (uint)videoBuffer.Length;
var pColorData = GCHandle.Alloc(videoBuffer, GCHandleType.Pinned);
bool newColor = GetColorFrameData(pColorData.AddrOfPinnedObject(), ref videoBufLen, true);
pColorData.Free();
if (newColor)
{
int totalPixels = colorImage.Length;
for (int pix = 0; pix < totalPixels; pix++)
{
int ind = pix; // totalPixels - pix - 1;
int src = pix << 2;
colorImage[ind].r = videoBuffer[src + 2]; // pixels[pix].r;
colorImage[ind].g = videoBuffer[src + 1]; // pixels[pix].g;
colorImage[ind].b = videoBuffer[src]; // pixels[pix].b;
colorImage[ind].a = 255;
}
}
#else
IntPtr imageFramePtr = IntPtr.Zero;
bool newColor = false;
int hr = KinectWrapper.NuiImageStreamGetNextFrame(colorStreamHandle, 0, ref imageFramePtr);
if (hr == 0)
{
newColor = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
//ExtractColorImage(lockedRectPtr, ref colorImage);
ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(lockedRectPtr.pBits, typeof(ColorBuffer));
int totalPixels = Constants.ColorImageWidth * Constants.ColorImageHeight;
for (int pix = 0; pix < totalPixels; pix++)
{
int ind = pix; // totalPixels - pix - 1;
colorImage[ind].r = cb.pixels[pix].r;
colorImage[ind].g = cb.pixels[pix].g;
colorImage[ind].b = cb.pixels[pix].b;
colorImage[ind].a = 255;
}
frameTexture.UnlockRect(0);
hr = KinectWrapper.NuiImageStreamReleaseFrame(colorStreamHandle, imageFramePtr);
}
#endif
return newColor;
}
private static short[] ExtractDepthImage(NuiLockedRect lockedRect)
{
DepthBuffer db = (DepthBuffer)Marshal.PtrToStructure(lockedRect.pBits, typeof(DepthBuffer));
return db.pixels;
}
private static void ExtractColorImage(NuiLockedRect buf, ref Color32[] colorImage)
{
ColorBuffer cb = (ColorBuffer)Marshal.PtrToStructure(buf.pBits, typeof(ColorBuffer));
int totalPixels = Constants.ImageWidth * Constants.ImageHeight;
for (int pix = 0; pix < totalPixels; pix++)
{
int ind = totalPixels - pix - 1;
colorImage[ind].r = cb.pixels[pix].r;
colorImage[ind].g = cb.pixels[pix].g;
colorImage[ind].b = cb.pixels[pix].b;
colorImage[ind].a = 255;
}
}
public static bool PollDepth(IntPtr depthStreamHandle, bool isNearMode, ref short[] depthPlayerData)
{
IntPtr imageFramePtr = IntPtr.Zero;
bool newDepth = false;
if (isNearMode)
{
KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.EnableNearMode);
}
else
{
KinectWrapper.NuiImageStreamSetImageFrameFlags(depthStreamHandle, NuiImageStreamFlags.None);
}
int hr = KinectWrapper.NuiImageStreamGetNextFrame(depthStreamHandle, 0, ref imageFramePtr);
if (hr == 0)
{
newDepth = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0,ref lockedRectPtr,r,0);
depthPlayerData = ExtractDepthImage(lockedRectPtr);
frameTexture.UnlockRect(0);
hr = KinectWrapper.NuiImageStreamReleaseFrame(depthStreamHandle, imageFramePtr);
}
return newDepth;
}
public static bool PollColor(IntPtr colorStreamHandle, ref Color32[] colorImage)
{
IntPtr imageFramePtr = IntPtr.Zero;
bool newColor = false;
int hr = KinectWrapper.NuiImageStreamGetNextFrame(colorStreamHandle, 0, ref imageFramePtr);
if (hr == 0)
{
newColor = true;
NuiImageFrame imageFrame = (NuiImageFrame)Marshal.PtrToStructure(imageFramePtr, typeof(NuiImageFrame));
INuiFrameTexture frameTexture = (INuiFrameTexture)Marshal.GetObjectForIUnknown(imageFrame.pFrameTexture);
NuiLockedRect lockedRectPtr = new NuiLockedRect();
IntPtr r = IntPtr.Zero;
frameTexture.LockRect(0, ref lockedRectPtr, r, 0);
ExtractColorImage(lockedRectPtr, ref colorImage);
frameTexture.UnlockRect(0);
hr = KinectWrapper.NuiImageStreamReleaseFrame(colorStreamHandle, imageFramePtr);
}
return newColor;
}
private short[] extractDepthImage(NuiLockedRect lockedRect)
{
DepthBuffer db = (DepthBuffer)Marshal.PtrToStructure(lockedRect.pBits, typeof(DepthBuffer));
return(db.pixels);
}
