/// <summary>
/// Constructor that allocates a pinned buffer
/// </summary>
/// <param name="dataFormat">
/// A <see cref="VideoCamera.DataFormatOption"/>
/// </param>
/// <param name="allocateBuffer">
///
/// </param>
internal ImageMap(VideoCamera.DataFormatOption dataFormat)
{
this.Width = VideoCamera.DataFormatDimensions[dataFormat].X;
this.Height = VideoCamera.DataFormatDimensions[dataFormat].Y;
this.DataFormat = dataFormat;
this.Data = new byte[VideoCamera.DataFormatSizes[dataFormat]];
this.dataHandle = GCHandle.Alloc(this.Data, GCHandleType.Pinned);
this.DataPointer = this.dataHandle.AddrOfPinnedObject();
}
/// <summary>
/// Constructor where a buffer allocation isn't needed
/// </summary>
/// <param name="dataFormat">
/// A <see cref="VideoCamera.DataFormatOption"/>
/// </param>
/// <param name="bufferPointer">
/// A <see cref="IntPtr"/>
/// </param>
internal ImageMap(VideoCamera.DataFormatOption dataFormat, IntPtr bufferPointer)
{
this.Width = VideoCamera.DataFormatDimensions[dataFormat].X;
this.Height = VideoCamera.DataFormatDimensions[dataFormat].Y;
this.DataFormat = dataFormat;
this.Data = null;
this.dataHandle = default(GCHandle);
this.DataPointer = bufferPointer;
}
public static extern int freenect_set_video_format(IntPtr device, VideoCamera.DataFormatOption rgbFormat);
/// <summary>
///
/// </summary>
/// <param name="sender">
/// A <see cref="System.Object"/>
/// </param>
/// <param name="e">
/// A <see cref="VideoCamera.DataReceivedEventArgs"/>
/// </param>
private void HandleKinectVideoCameraDataReceived (object sender, VideoCamera.DataReceivedEventArgs e)
{
this.previewControl.HandleVideoBackBufferUpdate();
this.kinect.VideoCamera.DataBuffer = this.previewControl.VideoBackBuffer;
}
/// <summary>
/// Sets the VideoCamera's data format. Support function for VideoCamera.DataFormat property.
/// </summary>
/// <param name="format">
/// Format to change the video camera to
/// </param>
protected void SetDataFormat(VideoCamera.DataFormatOption format)
{
// change imagemap that's waiting cause format has changed
this.UpdateNextFrameImageMap();
// change format
int result = KinectNative.freenect_set_video_format(this.parentDevice.devicePointer, format);
if(result != 0)
{
throw new Exception("Could not switch to video format " + format + ". Error Code: " + result);
}
this.dataFormat = format;
}
void VideoCamera_DataReceived(object sender, VideoCamera.DataReceivedEventArgs e)
{
if (lockedRGB)
return;
//video camera runs at double the fps of the depth so we always have image data available.
if (videoFrameCount % (30 / (frameRate * 2)) != 1)
{
videoFrameCount++;
return;
}
lockedRGB = true;
lastImageData = e.Image.Data;
this.Dispatcher.Invoke(
new Action(
delegate()
{
_colorImage.Source = BitmapSource.Create(
e.Image.Width,
e.Image.Height,
96,
96,
PixelFormats.Rgb24,
null,
e.Image.Data,
e.Image.Width * 3);
}));
videoFrameCount++;
lockedRGB = false;
}
/// <summary>
///
/// </summary>
/// <param name="sender">
/// A <see cref="System.Object"/>
/// </param>
/// <param name="e">
/// A <see cref="VideoCamera.DataReceivedEventArgs"/>
/// </param>
private void HandleVideoDataReceived(object sender, VideoCamera.DataReceivedEventArgs e)
{
if(this.kinect == null || this.kinect.IsOpen == false)
{
return;
}
if((DateTime.Now - this.videoLastFrame).TotalMilliseconds >= 1000)
{
this.videoFPS = this.videoFrameCount;
this.videoFrameCount = 0;
this.videoLastFrame = DateTime.Now;
}
else
{
this.videoFrameCount++;
}
// Swap mid and back
GCHandle tmp = rgbHandleBack;
rgbHandleMid = rgbHandleBack;
rgbHandleBack = tmp;
// Set kinect video camera's buffer to new back buffer
this.kinect.VideoCamera.DataBuffer = rgbHandleBack.AddrOfPinnedObject();
}
