private void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
if (!(KinectStreamerConfig.StreamBodyData ||
KinectStreamerConfig.StreamColorData ||
KinectStreamerConfig.StreamDepthData ||
KinectStreamerConfig.StreamPointCloudData ||
KinectStreamerConfig.ProvideCalibrationData ||
KinectStreamerConfig.StreamColoredPointCloudData
))
{
return;
}
depthFrame = null;
colorFrame = null;
bodyFrame = null;
bodyStreamMessage = null;
colorStreamMessage = null;
pointCloudStreamMessage = null;
depthStreamMessage = null;
calibrationDataMessage = null;
coloredPointCloudStreamMessage = null;
multiSourceFrame = e.FrameReference.AcquireFrame();
// If the Frame has expired by the time we process this event, return.
if (multiSourceFrame == null)
{
return;
}
// We use a try/finally to ensure that we clean up before we exit the function.
// This includes calling Dispose on any Frame objects that we may have and unlocking the bitmap back buffer.
try
{
depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame();
colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
//Debug.Write(colorFrame.RelativeTime.ToString());
bodyFrame = multiSourceFrame.BodyFrameReference.AcquireFrame();
// If any frame has expired by the time we process this event, return.
// The "finally" statement will Dispose any that are not null.
if ((depthFrame == null) || (colorFrame == null) || (bodyFrame == null))
{
return;
}
// Process color stream if needed
if (KinectStreamerConfig.StreamColorData || KinectStreamerConfig.StreamColoredPointCloudData)
{
ProcessColorData();
}
// Process depth frame if needed
if (KinectStreamerConfig.StreamDepthData || KinectStreamerConfig.StreamPointCloudData || KinectStreamerConfig.StreamColoredPointCloudData)
{
ProcessDepthData();
if (KinectStreamerConfig.StreamPointCloudData || KinectStreamerConfig.StreamColoredPointCloudData)
{
GenerateFullPointCloud();
}
}
if (KinectStreamerConfig.StreamColoredPointCloudData)
{
ProcessPointCloudColors();
}
// Process body data if needed
if (KinectStreamerConfig.StreamBodyData || KinectStreamerConfig.ProvideCalibrationData)
{
ProcessBodyData();
}
SendData();
}
finally
{
if (depthFrame != null)
{
depthFrame.Dispose();
}
if (colorFrame != null)
{
colorFrame.Dispose();
}
if (bodyFrame != null)
{
bodyFrame.Dispose();
}
}
}
private void ProcessDepthData()
{
using (depthFrame)
{
if (depthFrame != null)
{
// the fastest way to process the body index data is to directly access
// the underlying buffer
using (KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
// verify data and write the color data to the display bitmap
if (((DepthFrameDescription.Width * DepthFrameDescription.Height) ==
(depthBuffer.Size / DepthFrameDescription.BytesPerPixel)) &&
(DepthFrameDescription.Width == depthBitmap.PixelWidth) &&
(DepthFrameDescription.Height == depthBitmap.PixelHeight))
{
// Note: In order to see the full range of depth (including the less reliable far field depth)
// we are setting maxDepth to the extreme potential depth threshold
ushort maxDepth = ushort.MaxValue;
// If you wish to filter by reliable depth distance, uncomment the following line:
//// maxDepth = depthFrame.DepthMaxReliableDistance
ProcessDepthFrameData(depthBuffer.UnderlyingBuffer, depthBuffer.Size,
depthFrame.DepthMinReliableDistance, maxDepth);
}
}
}
}
depthStreamMessage = new DepthStreamMessage(DepthPixels, new FrameSize(DepthFrameDescription.Width, DepthFrameDescription.Height));
}
