public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateIndexBuffer();
CreateTextures();
_light = new DxLight
{
Type = DxLightType.None,
Position = new Vector3(0, 0, 0f),
Direction = new Vector3(0, 0, 1),
Ambient = new Vector4(0.4f, 0.4f, 0.4f, 1.0f),
Diffuse = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Specular = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Attenuation = new Vector3(0.0f, 0.005f, 0.0f),
SpotPower = 0.001f,
Range = 1000f
};
}
public void Update(KinectFrame frame, KinectCameraInfo cameraInfo)
{
if (!_initialized)
{
Init(frame, cameraInfo);
}
var imageRect = _imageTexture.Map(0, MapMode.WriteDiscard, MapFlags.None);
var imageMap = frame.ImageMap;
var imagePtr = 0;
// update texture
// need to convert from RGB24 to RGBA32
for (int v = 0; v < _yRes; v++)
{
for (int u = 0; u < _xRes; u++)
{
byte r = imageMap[imagePtr++];
byte g = imageMap[imagePtr++];
byte b = imageMap[imagePtr++];
byte a = 255;
int argb = (a << 24) + (b << 16) + (g << 8) + r;
imageRect.Data.Write(argb);
}
}
_imageTexture.Unmap(0);
// update depth map
DataStream depthStream = _depthMapBuffer.Map(MapMode.WriteDiscard, MapFlags.None);
depthStream.WriteRange(frame.DepthMap);
_depthMapBuffer.Unmap();
}
private void UpdateFrameData()
{
if (_currentFrame == null)
{
_currentFrame = new KinectFrame();
}
_currentFrame.FrameId = (int)_imageMeta.FrameID;
int imageSize = (int)(_imageMeta.XRes * _imageMeta.YRes * 3);
Debug.Assert(imageSize == _imageMeta.DataSize);
if (_currentFrame.ImageMap == null || _currentFrame.ImageMap.Length != imageSize)
{
_currentFrame.ImageMap = new byte[imageSize];
}
// copy image data
Marshal.Copy(_imageMeta.Data, _currentFrame.ImageMap, 0, imageSize);
int depthSize = (int)(_depthMeta.XRes * _depthMeta.YRes);
Debug.Assert(depthSize * sizeof(ushort) == _depthMeta.DataSize);
if (_currentFrame.DepthMap == null || _currentFrame.DepthMap.Length != depthSize)
{
_currentFrame.DepthMap = new short[depthSize];
}
// copy depth data
Marshal.Copy(_depthMeta.Data, _currentFrame.DepthMap, 0, depthSize);
}
public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateTextures();
}
private void UpdateFrameData()
{
if (_currentFrame == null)
_currentFrame = new KinectFrame();
_currentFrame.FrameId = (int)_imageMeta.FrameID;
int imageSize = (int)(_imageMeta.XRes * _imageMeta.YRes * 3);
Debug.Assert(imageSize == _imageMeta.DataSize);
if (_currentFrame.ImageMap == null || _currentFrame.ImageMap.Length != imageSize)
_currentFrame.ImageMap = new byte[imageSize];
// copy image data
Marshal.Copy(_imageMeta.Data, _currentFrame.ImageMap, 0, imageSize);
int depthSize = (int)(_depthMeta.XRes * _depthMeta.YRes);
Debug.Assert(depthSize * sizeof(ushort) == _depthMeta.DataSize);
if (_currentFrame.DepthMap == null || _currentFrame.DepthMap.Length != depthSize)
_currentFrame.DepthMap = new short[depthSize];
// copy depth data
Marshal.Copy(_depthMeta.Data, _currentFrame.DepthMap, 0, depthSize);
}
public void Update(KinectFrame frame, KinectCameraInfo cameraInfo)
{
if (!_initialized)
Init(frame, cameraInfo);
// update texture
if (_imageTexture != null)
{
var imageRect = _imageTexture.Map(0, MapMode.WriteDiscard, MapFlags.None);
var imageMap = frame.ImageMap;
var imagePtr = 0;
// need to convert from RGB24 to RGBA32
for (int v = 0; v < _yRes; v++)
{
for (int u = 0; u < _xRes; u++)
{
byte r = imageMap[imagePtr++];
byte g = imageMap[imagePtr++];
byte b = imageMap[imagePtr++];
byte a = 255;
int argb = (a << 24) + (b << 16) + (g << 8) + r;
imageRect.Data.Write(argb);
}
}
_imageTexture.Unmap(0);
}
// update depth map
if (_depthMapBuffer != null)
{
DataStream depthStream = _depthMapBuffer.Map(MapMode.WriteDiscard, MapFlags.None);
depthStream.WriteRange(frame.DepthMap);
_depthMapBuffer.Unmap();
}
}
public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateIndexBuffer();
CreateTextures();
_light = new DxLight
{
Type = DxLightType.None,
Position = new Vector3(0, 0, 0f),
Direction = new Vector3(0, 0, 1),
Ambient = new Vector4(0.4f, 0.4f, 0.4f, 1.0f),
Diffuse = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Specular = new Vector4(1.0f, 1.0f, 1.0f, 1.0f),
Attenuation = new Vector3(0.0f, 0.005f, 0.0f),
SpotPower = 0.001f,
Range = 1000f
};
}
public void Init(KinectFrame frame, KinectCameraInfo cameraInfo)
{
_initialized = true;
// store variables
_xRes = cameraInfo.XRes;
_yRes = cameraInfo.YRes;
_focalLengthImage = (float)cameraInfo.FocalLengthImage;
_focalLengthDepth = (float)cameraInfo.FocalLengthDetph;
_depthToRgb = cameraInfo.DepthToRgb;
CreateVertexBuffer();
CreateTextures();
}
