//called within reader_DepthFrameArrived Event iff depth frame is valid
//modifies depth frame display and then calls the GMV calculation function
private unsafe void ProcessDepthFrameData(IntPtr depthFrameData, uint depthFrameDataSize, ushort minDepth, ushort maxDepth)
{
ushort *frameData = (ushort *)depthFrameData;
byte[] enhPixelData = new byte[depthFrameDescription.Width * depthFrameDescription.Height * 4];
int[] depth = new int[depthFrameDescription.Width * depthFrameDescription.Height * bytesPerPixel];
// convert depth to a visual representation
for (int i = 0, j = 0; i < (int)(depthFrameDataSize / this.depthFrameDescription.BytesPerPixel); ++i, j += 4)
{
// Get the depth for this pixel
depth[i] = (int)frameData[i];
// To convert to a byte, we're discarding the most-significant
// rather than least-significant bits.
// We're preserving detail, although the intensity will "wrap."
// Values outside the reliable depth range are mapped to 0 (black).
this.depthPixels[i] = (byte)(depth[i] >= minDepth && depth[i] <= maxDepth ? depth[i] : 0);
int gray; //used to set grayScale image if in !rgbDepthMode
//if depth is outside slider set thresholds => set to zero, else => set the color for the enhpixel data structure for creating the UI display
if (depth[i] < loDepthThreshold || depth[i] > hiDepthThreshold)
{
gray = 0xFF;
depth[i] = 0;
}
else
{
//rgbDepthMode scales the pixel data's color value based on the depth thresholds
if (rgbDepthMode)
{
int dist = hiDepthThreshold - loDepthThreshold;
int adjDepth = depth[i] - loDepthThreshold;
double remappedDepth = adjDepth / (double)dist * (255 * 3);
if (remappedDepth > 255 * 2)
{
enhPixelData[j] = 0;
enhPixelData[j + 1] = 0;
enhPixelData[j + 2] = (byte)(remappedDepth - (255 * 2));
}
else if (remappedDepth > 255)
{
enhPixelData[j] = 0;
enhPixelData[j + 1] = (byte)(remappedDepth - (255));
enhPixelData[j + 2] = 0;
}
else
{
enhPixelData[j] = (byte)remappedDepth;
enhPixelData[j + 1] = 0;
enhPixelData[j + 2] = 0;
}
}
gray = (255 * depth[i] / 0xFFF);
}
if (!rgbDepthMode)
{
enhPixelData[j] = (byte)gray;
enhPixelData[j + 1] = (byte)gray;
enhPixelData[j + 2] = (byte)gray;
}
}
// draw margins over the depth frame so that the sliders are easier to use
for (int iiy = 0; iiy < depthFrameDescription.Height; iiy++)
{
for (int iix = 0; iix < depthFrameDescription.Width; iix++)
{
if (iix == quadMarginXR || iiy == quadMarginYB)
{
enhPixelData[(iix + iiy * depthFrameDescription.Width) * 4] = 0;
enhPixelData[(iix + iiy * depthFrameDescription.Width) * 4 + 1] = 0;
enhPixelData[(iix + iiy * depthFrameDescription.Width) * 4 + 2] = 255;
}
if (iix == quadMarginXL || iiy == quadMarginYT)
{
enhPixelData[(iix + iiy * depthFrameDescription.Width) * 4] = 255;
enhPixelData[(iix + iiy * depthFrameDescription.Width) * 4 + 1] = 0;
enhPixelData[(iix + iiy * depthFrameDescription.Width) * 4 + 2] = 255;
}
}
}
//create the bitmap and send it to the UI
DepthImageModified.Source = BitmapSource.Create(depthFrameDescription.Width, depthFrameDescription.Height, 96.0, 96.0, PixelFormats.Bgr32, null, enhPixelData, depthFrameDescription.Width * 4);
//Determine if we should calculate the depth value based on how many frames have passed
TimeSpan elapsed = DateTime.Now.Subtract(timeStart);
if (currentFrame % frameAcceptance == 0)
{
calculateMovement(depth, depthFrameDescription.Width, depthFrameDescription.Height);
currentFrame = 0;
}
//Determine if we should save the depth image based on how many frames have passed
if (currentFrameDepthSave % frameAccDepthSave == 0 && saveDepthPicture)
{
calculateMovement(depth, depthFrameDescription.Width, depthFrameDescription.Height);
string depthfilename = fileHandler.getDepthImgFolderName() + "depthImg_" + ((int)elapsed.TotalSeconds).ToString() + ".jpg";
using (FileStream savedBitmap = new FileStream(depthfilename, FileMode.CreateNew))
{
BitmapSource img = (BitmapSource)(DepthImageModified.Source);
JpegBitmapEncoder jpgEncoder = new JpegBitmapEncoder();
jpgEncoder.QualityLevel = 70;
jpgEncoder.Frames.Add(BitmapFrame.Create(img));
jpgEncoder.Save(savedBitmap);
savedBitmap.Flush();
savedBitmap.Close();
savedBitmap.Dispose();
}
currentFrameDepthSave = 0;
}
//increment counters for next frame
currentFrameDepthSave++;
currentFrame++;
//if saving video was triggered from the kinect we need to check if it has been T/2 since the event. if so then we save the video,
//if not, then we still the counter for next frame
if (savingVideo)
{
timeOutFrameCount++;
if (timeOutFrameCount >= videoRecordLength / 2)
{
timeOutFrameCount = 0;
savingVideo = false;
SaveVideo(false);
}
}
}
