public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
sensorFlags = dwFlags;
kinectSensor = KinectSensor.GetDefault();
if(kinectSensor == null)
return null;
coordMapper = kinectSensor.CoordinateMapper;
this.bodyCount = kinectSensor.BodyFrameSource.BodyCount;
sensorData.bodyCount = this.bodyCount;
sensorData.jointCount = 25;
sensorData.depthCameraFOV = 60f;
sensorData.colorCameraFOV = 53.8f;
sensorData.depthCameraOffset = -0.05f;
sensorData.faceOverlayOffset = -0.04f;
if((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
if(!bUseMultiSource)
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyData = new Body[sensorData.bodyCount];
}
var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
sensorData.colorImageWidth = frameDesc.Width;
sensorData.colorImageHeight = frameDesc.Height;
if((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
if(!bUseMultiSource)
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
sensorData.colorImage = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels];
}
sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width;
sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height;
if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
if(!bUseMultiSource)
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
if(!bUseMultiSource)
bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader();
sensorData.bodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
if(!bUseMultiSource)
infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader();
sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels];
}
//if(!kinectSensor.IsOpen)
{
//Debug.Log("Opening sensor, available: " + kinectSensor.IsAvailable);
kinectSensor.Open();
}
float fWaitTime = Time.realtimeSinceStartup + 3f;
while(!kinectSensor.IsAvailable && Time.realtimeSinceStartup < fWaitTime)
{
// wait for sensor to open
}
Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
", available: " + kinectSensor.IsAvailable);
if(bUseMultiSource && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen)
{
multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)((int)dwFlags & 0x3F));
}
return sensorData;
}
private static void Windows_Data_PropertyChangedEventArgs_Delegate_Handler(IntPtr result, IntPtr pNative)
{
List <EventHandler <PropertyChangedEventArgs> > list = null;
InfraredFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_callbacks.TryGetValue(pNative, out list);
object obj = list;
lock (obj)
{
InfraredFrameReader objThis = NativeObjectCache.GetObject <InfraredFrameReader>(pNative);
PropertyChangedEventArgs args = new PropertyChangedEventArgs(result);
using (List <EventHandler <PropertyChangedEventArgs> > .Enumerator enumerator = list.GetEnumerator())
{
while (enumerator.MoveNext())
{
EventHandler <PropertyChangedEventArgs> func = enumerator.Current;
EventPump.Instance.Enqueue(delegate
{
try
{
func(objThis, args);
}
catch
{
}
});
}
}
}
}
public void CloseSensor(KinectInterop.SensorData sensorData)
{
if(coordMapper != null)
{
coordMapper = null;
}
if(bodyFrameReader != null)
{
bodyFrameReader.Dispose();
bodyFrameReader = null;
}
if(bodyIndexFrameReader != null)
{
bodyIndexFrameReader.Dispose();
bodyIndexFrameReader = null;
}
if(colorFrameReader != null)
{
colorFrameReader.Dispose();
colorFrameReader = null;
}
if(depthFrameReader != null)
{
depthFrameReader.Dispose();
depthFrameReader = null;
}
if(infraredFrameReader != null)
{
infraredFrameReader.Dispose();
infraredFrameReader = null;
}
if(multiSourceFrameReader != null)
{
multiSourceFrameReader.Dispose();
multiSourceFrameReader = null;
}
if(kinectSensor != null)
{
if (kinectSensor.IsOpen)
{
kinectSensor.Close();
}
kinectSensor = null;
}
}
void OnApplicationQuit()
{
if (irFrameReader != null)
{
irFrameReader.Dispose();
irFrameReader = null;
}
if (mySensor != null)
{
if (mySensor.IsOpen)
mySensor.Close();
mySensor = null;
}
}
// Token: 0x06002CB6 RID: 11446 RVA: 0x000DDFE4 File Offset: 0x000DC3E4
private void Dispose(bool disposing)
{
if (this._pNative == IntPtr.Zero)
{
return;
}
this.__EventCleanup();
NativeObjectCache.RemoveObject <InfraredFrameReader>(this._pNative);
if (disposing)
{
InfraredFrameReader.Windows_Kinect_InfraredFrameReader_Dispose(this._pNative);
}
InfraredFrameReader.Windows_Kinect_InfraredFrameReader_ReleaseObject(ref this._pNative);
this._pNative = IntPtr.Zero;
}
// Token: 0x06002CC6 RID: 11462 RVA: 0x000DE52C File Offset: 0x000DC92C
public InfraredFrame AcquireLatestFrame()
{
if (this._pNative == IntPtr.Zero)
{
throw new ObjectDisposedException("InfraredFrameReader");
}
IntPtr intPtr = InfraredFrameReader.Windows_Kinect_InfraredFrameReader_AcquireLatestFrame(this._pNative);
ExceptionHelper.CheckLastError();
if (intPtr == IntPtr.Zero)
{
return(null);
}
return(NativeObjectCache.CreateOrGetObject <InfraredFrame>(intPtr, (IntPtr n) => new InfraredFrame(n)));
}
void Start()
{
_Sensor = KinectSensor.GetDefault();
if (_Sensor != null)
{
_Reader = _Sensor.InfraredFrameSource.OpenReader();
var frameDesc = _Sensor.InfraredFrameSource.FrameDescription;
_Data = new ushort[frameDesc.LengthInPixels];
_RawData = new byte[frameDesc.LengthInPixels * 4];
_Texture = new Texture2D(frameDesc.Width, frameDesc.Height, TextureFormat.BGRA32, false);
if (!_Sensor.IsOpen)
{
_Sensor.Open();
}
}
}
// Token: 0x06002CC9 RID: 11465 RVA: 0x000DE5C4 File Offset: 0x000DC9C4
private void __EventCleanup()
{
InfraredFrameReader.Windows_Kinect_InfraredFrameArrivedEventArgs_Delegate_callbacks.TryAddDefault(this._pNative);
List <EventHandler <InfraredFrameArrivedEventArgs> > list = InfraredFrameReader.Windows_Kinect_InfraredFrameArrivedEventArgs_Delegate_callbacks[this._pNative];
object obj = list;
lock (obj)
{
if (list.Count > 0)
{
list.Clear();
if (this._pNative != IntPtr.Zero)
{
IntPtr pNative = this._pNative;
if (InfraredFrameReader.f__mg2 == null)
{
InfraredFrameReader.f__mg2 = new InfraredFrameReader._Windows_Kinect_InfraredFrameArrivedEventArgs_Delegate(InfraredFrameReader.Windows_Kinect_InfraredFrameArrivedEventArgs_Delegate_Handler);
}
InfraredFrameReader.Windows_Kinect_InfraredFrameReader_add_FrameArrived(pNative, InfraredFrameReader.f__mg2, true);
}
InfraredFrameReader._Windows_Kinect_InfraredFrameArrivedEventArgs_Delegate_Handle.Free();
}
}
InfraredFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_callbacks.TryAddDefault(this._pNative);
List <EventHandler <PropertyChangedEventArgs> > list2 = InfraredFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_callbacks[this._pNative];
object obj2 = list2;
lock (obj2)
{
if (list2.Count > 0)
{
list2.Clear();
if (this._pNative != IntPtr.Zero)
{
IntPtr pNative2 = this._pNative;
if (InfraredFrameReader.f__mg3 == null)
{
InfraredFrameReader.f__mg3 = new InfraredFrameReader._Windows_Data_PropertyChangedEventArgs_Delegate(InfraredFrameReader.Windows_Data_PropertyChangedEventArgs_Delegate_Handler);
}
InfraredFrameReader.Windows_Kinect_InfraredFrameReader_add_PropertyChanged(pNative2, InfraredFrameReader.f__mg3, true);
}
InfraredFrameReader._Windows_Data_PropertyChangedEventArgs_Delegate_Handle.Free();
}
}
}
void OnApplicationQuit()
{
if (_Reader != null)
{
_Reader.Dispose();
_Reader = null;
}
if (_Sensor != null)
{
if (_Sensor.IsOpen)
{
_Sensor.Close();
}
_Sensor = null;
}
}
// Use this for initialization
void Start()
{
mySensor = KinectSensor.GetDefault();
if (mySensor != null)
{
irFrameReader = mySensor.InfraredFrameSource.OpenReader();
var irFrameDescrip = mySensor.InfraredFrameSource.FrameDescription;
irFrameData = new ushort[irFrameDescrip.LengthInPixels * irFrameDescrip.Width * irFrameDescrip.Height];
// Raw data contains B, G, R, A values
irRawData = new byte[irFrameDescrip.LengthInPixels * irFrameDescrip.Width * irFrameDescrip.Height * 4];
irTexture = new Texture2D(irFrameDescrip.Width, irFrameDescrip.Height, TextureFormat.BGRA32, false);
if (!mySensor.IsOpen)
{
mySensor.Open();
}
}
}
public void CloseSensor(KinectInterop.SensorData sensorData)
{
if(coordMapper != null)
{
coordMapper = null;
}
if(bodyFrameReader != null)
{
bodyFrameReader.Dispose();
bodyFrameReader = null;
}
if(bodyIndexFrameReader != null)
{
bodyIndexFrameReader.Dispose();
bodyIndexFrameReader = null;
}
if(colorFrameReader != null)
{
colorFrameReader.Dispose();
colorFrameReader = null;
}
if(depthFrameReader != null)
{
depthFrameReader.Dispose();
depthFrameReader = null;
}
if(infraredFrameReader != null)
{
infraredFrameReader.Dispose();
infraredFrameReader = null;
}
if(multiSourceFrameReader != null)
{
multiSourceFrameReader.Dispose();
multiSourceFrameReader = null;
}
if(kinectSensor != null)
{
//if (kinectSensor.IsOpen)
{
//Debug.Log("Closing sensor, available: " + kinectSensor.IsAvailable);
kinectSensor.Close();
}
float fWaitTime = Time.realtimeSinceStartup + 3f;
while(kinectSensor.IsOpen && Time.realtimeSinceStartup < fWaitTime)
{
// wait for sensor to close
}
Debug.Log("K2-sensor " + (kinectSensor.IsOpen ? "opened" : "closed") +
", available: " + kinectSensor.IsAvailable);
kinectSensor = null;
}
}
public KinectInterop.SensorData OpenDefaultSensor(KinectInterop.FrameSource dwFlags, float sensorAngle, bool bUseMultiSource)
{
KinectInterop.SensorData sensorData = new KinectInterop.SensorData();
//sensorFlags = dwFlags;
kinectSensor = KinectSensor.GetDefault();
if(kinectSensor == null)
return null;
coordMapper = kinectSensor.CoordinateMapper;
this.bodyCount = kinectSensor.BodyFrameSource.BodyCount;
sensorData.bodyCount = this.bodyCount;
sensorData.jointCount = 25;
sensorData.depthCameraFOV = 60f;
sensorData.colorCameraFOV = 53.8f;
sensorData.depthCameraOffset = -0.03f;
if((dwFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
if(!bUseMultiSource)
bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
bodyData = new Body[sensorData.bodyCount];
}
var frameDesc = kinectSensor.ColorFrameSource.CreateFrameDescription(ColorImageFormat.Rgba);
sensorData.colorImageWidth = frameDesc.Width;
sensorData.colorImageHeight = frameDesc.Height;
if((dwFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
if(!bUseMultiSource)
colorFrameReader = kinectSensor.ColorFrameSource.OpenReader();
sensorData.colorImage = new byte[frameDesc.BytesPerPixel * frameDesc.LengthInPixels];
}
sensorData.depthImageWidth = kinectSensor.DepthFrameSource.FrameDescription.Width;
sensorData.depthImageHeight = kinectSensor.DepthFrameSource.FrameDescription.Height;
if((dwFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
if(!bUseMultiSource)
depthFrameReader = kinectSensor.DepthFrameSource.OpenReader();
sensorData.depthImage = new ushort[kinectSensor.DepthFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
if(!bUseMultiSource)
bodyIndexFrameReader = kinectSensor.BodyIndexFrameSource.OpenReader();
sensorData.bodyIndexImage = new byte[kinectSensor.BodyIndexFrameSource.FrameDescription.LengthInPixels];
}
if((dwFlags & KinectInterop.FrameSource.TypeInfrared) != 0)
{
if(!bUseMultiSource)
infraredFrameReader = kinectSensor.InfraredFrameSource.OpenReader();
sensorData.infraredImage = new ushort[kinectSensor.InfraredFrameSource.FrameDescription.LengthInPixels];
}
if(!kinectSensor.IsOpen)
{
kinectSensor.Open();
}
if(bUseMultiSource && dwFlags != KinectInterop.FrameSource.TypeNone && kinectSensor.IsOpen)
{
multiSourceFrameReader = kinectSensor.OpenMultiSourceFrameReader((FrameSourceTypes)dwFlags);
}
return sensorData;
}
// Token: 0x06002CB1 RID: 11441 RVA: 0x000DDF91 File Offset: 0x000DC391
internal InfraredFrameReader(IntPtr pNative)
{
this._pNative = pNative;
InfraredFrameReader.Windows_Kinect_InfraredFrameReader_AddRefObject(ref this._pNative);
}
