public ColorFrame(Windows.Kinect.ColorFrame cf)
{
Type = FrameType.Color;
underlyingColorFrame = cf;
FrameDescription cfd = underlyingColorFrame.CreateFrameDescription(ColorImageFormat.Bgra);
Width = cfd.Width;
Height = cfd.Height;
// Stride is the number of bytes allocated for one scanline of the bitmap
// Fact: Scanlines must be aligned on 32-bit boundaries
// So, each scanline may have padded bytes at the end to ensure this
// so stride is: ((w * bitsPerPixel + (padBits-1)) / padBits) * padToNBytes
// where padBits = 8 * padToNBytes
// See https://msdn.microsoft.com/en-us/library/windows/desktop/aa473780(v=vs.85).aspx
stride = (Width * 32 + 7) / 8;
if (colorData == null)
{
colorData = new byte[stride * Height];
using (KinectBuffer colorBuffer = cf.LockRawImageBuffer())
{
// TODO: crop and convert to jpeg.
underlyingColorFrame.CopyConvertedFrameDataToArray(colorData, ColorImageFormat.Bgra);
}
colorDataBitmap = new Bitmap(Width, Height, stride,
System.Drawing.Imaging.PixelFormat.Format32bppArgb,
Marshal.UnsafeAddrOfPinnedArrayElement(colorData, 0));
}
}
public SegmentedColorFrame(Windows.Kinect.ColorFrame cf, ClosestBodyFrame cbf) : base(cf)
{
underlyingClosestBodyFrame = cbf;
SetCenter();
// If unable to segment, then the reader should return a null frame
segmented = Segment();
// No need to threshold because there is no depth data
}
private Bitmap ColorImageFrameToBitmap(Windows.Kinect.ColorFrame colorFrame)
{
colorFrame.CreateFrameDescription(ColorImageFormat.Yuy2);
byte[] pixelBuffer = new byte[
colorFrame.FrameDescription.Width *
colorFrame.FrameDescription.Height *
colorFrame.FrameDescription.BytesPerPixel];
colorFrame.CopyConvertedFrameDataToArray(
pixelBuffer, ColorImageFormat.Yuy2);
Bitmap bitmapFrame = ArrayToBitmap(pixelBuffer, colorFrame.FrameDescription.Width, colorFrame.FrameDescription.Height, PixelFormat.Format32bppRgb);
return(bitmapFrame);
}
public bool GetMultiSourceFrame(KinectInterop.SensorData sensorData)
{
if(multiSourceFrameReader != null)
{
multiSourceFrame = multiSourceFrameReader.AcquireLatestFrame();
if(multiSourceFrame != null)
{
// try to get all frames at once
msBodyFrame = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0 ? multiSourceFrame.BodyFrameReference.AcquireFrame() : null;
msBodyIndexFrame = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0 ? multiSourceFrame.BodyIndexFrameReference.AcquireFrame() : null;
msColorFrame = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0 ? multiSourceFrame.ColorFrameReference.AcquireFrame() : null;
msDepthFrame = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0 ? multiSourceFrame.DepthFrameReference.AcquireFrame() : null;
msInfraredFrame = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0 ? multiSourceFrame.InfraredFrameReference.AcquireFrame() : null;
bool bAllSet =
((sensorFlags & KinectInterop.FrameSource.TypeBody) == 0 || msBodyFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) == 0 || msBodyIndexFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeColor) == 0 || msColorFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeDepth) == 0 || msDepthFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeInfrared) == 0 || msInfraredFrame != null);
if(!bAllSet)
{
// release all frames
if(msBodyFrame != null)
{
msBodyFrame.Dispose();
msBodyFrame = null;
}
if(msBodyIndexFrame != null)
{
msBodyIndexFrame.Dispose();
msBodyIndexFrame = null;
}
if(msColorFrame != null)
{
msColorFrame.Dispose();
msColorFrame = null;
}
if(msDepthFrame != null)
{
msDepthFrame.Dispose();
msDepthFrame = null;
}
if(msInfraredFrame != null)
{
msInfraredFrame.Dispose();
msInfraredFrame = null;
}
}
// else
// {
// bool bNeedBody = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0;
// bool bNeedBodyIndex = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0;
// bool bNeedColor = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0;
// bool bNeedDepth = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0;
// bool bNeedInfrared = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0;
//
// bAllSet = true;
// }
}
return (multiSourceFrame != null);
}
return false;
}
public void FreeMultiSourceFrame(KinectInterop.SensorData sensorData)
{
// release all frames
if(msBodyFrame != null)
{
msBodyFrame.Dispose();
msBodyFrame = null;
}
if(msBodyIndexFrame != null)
{
msBodyIndexFrame.Dispose();
msBodyIndexFrame = null;
}
if(msColorFrame != null)
{
msColorFrame.Dispose();
msColorFrame = null;
}
if(msDepthFrame != null)
{
msDepthFrame.Dispose();
msDepthFrame = null;
}
if(msInfraredFrame != null)
{
msInfraredFrame.Dispose();
msInfraredFrame = null;
}
if(multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
public HeadColorFrame(Windows.Kinect.ColorFrame cf, ClosestBodyFrame cbf) : base(cf, cbf)
{
Type = FrameType.HeadColor;
}
// Token: 0x060028EE RID: 10478 RVA: 0x000D2BDA File Offset: 0x000D0FDA
internal ColorFrame(IntPtr pNative)
{
this._pNative = pNative;
ColorFrame.Windows_Kinect_ColorFrame_AddRefObject(ref this._pNative);
}