/// <summary>
/// Event handler for Kinect sensor's DepthFrameReady event
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void SensorDepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
// Copy the pixel data from the image to a temporary array
depthFrame.CopyDepthImagePixelDataTo(this.depthPixels);
// Get the min and max reliable depth for the current frame
short[] depth = this.depthPixels.Select(pixel => pixel.Depth).ToArray();
short[] depthFixed = DepthFixer.Fix(depth);
KinectData kd = new KinectData(DepthWidth, DepthHeight);
kd.SetDepthData(depth, depthFixed, MinDepthRange, MaxDepthRange);
//sender matrix
if (Frame != null)
{
fpsController = 0; //reset counter
Frame(kd, e);
}
fpsController++;
}
}
}
private void SensorColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
// Copy the pixel data from the image to a temporary array
colorFrame.CopyPixelDataTo(this.colorPixels);
KinectData kd = new KinectData(ColorWidth, ColorHeight);
kd.SetColorData(ImageToBitmap(colorFrame));
if (ObjectDetection)
{
List <DetectedObject> objs = ObjectDetector.FindObjects(kd.ColorImage, kd.Width, kd.Height);
kd.SetDetectedObjects(objs);
}
//sender matrix
if (Frame != null)
{
Frame(kd, e);
}
}
}
}
