private void CheckColorizedBodyReader()
{
// Assumes AstraUnityContext.Instance.IsUpdateAsyncComplete is already true
ReaderFrame frame;
if (_readerColorizedBody.TryOpenFrame(0, out frame))
{
using (frame)
{
ColorizedBodyFrame colorizedBodyFrame = frame.GetFrame <ColorizedBodyFrame>();
if (colorizedBodyFrame != null)
{
if (_lastColorizedBodyFrameIndex != colorizedBodyFrame.FrameIndex)
{
_lastColorizedBodyFrameIndex = colorizedBodyFrame.FrameIndex;
UpdateColorizedBodyTexture(colorizedBodyFrame);
OnNewColorizedBodyFrame.Invoke(colorizedBodyFrame);
}
}
}
}
}
public void UpdateColorizedBodyTexture(ColorizedBodyFrame colorizedBodyFrame)
{
if (colorizedBodyFrame == null)
{
return;
}
// 拷贝label图流数据
if (_colorizedBodyFrameData == null || _colorizedBodyFrameData.Length != colorizedBodyFrame.ByteLength)
{
_colorizedBodyFrameData = new byte[colorizedBodyFrame.ByteLength];
}
colorizedBodyFrame.CopyData(ref _colorizedBodyFrameData);
// label图纹理
if (_colorizedBodyTexture == null)
{
_colorizedBodyTexture = new Texture2D(colorizedBodyFrame.Width, colorizedBodyFrame.Height, TextureFormat.RGBA32, false);
}
else if (_colorizedBodyTexture.width != colorizedBodyFrame.Width || _colorizedBodyTexture.height != colorizedBodyFrame.Height)
{
_colorizedBodyTexture.Resize(colorizedBodyFrame.Width, colorizedBodyFrame.Height, TextureFormat.RGBA32, false);
}
if (_colorizedBodyFrameData != null && _colorizedBodyFrameData.Length > 0)
{
_colorizedBodyTexture.LoadRawTextureData(_colorizedBodyFrameData);
_colorizedBodyTexture.Apply(false);
}
}
private void FrameReady(object sender, FrameReadyEventArgs e)
{
frameReadyTime.Start();
//Debug.Log("FrameReady " + _frameCount);
DepthFrame depthFrame = e.Frame.GetFrame <DepthFrame>();
if (depthFrame != null)
{
if (_lastDepthFrameIndex != depthFrame.FrameIndex)
{
_lastDepthFrameIndex = depthFrame.FrameIndex;
NewDepthFrameEvent.Invoke(depthFrame);
}
}
ColorFrame colorFrame = e.Frame.GetFrame <ColorFrame>();
if (colorFrame != null)
{
if (_lastColorFrameIndex != colorFrame.FrameIndex)
{
_lastColorFrameIndex = colorFrame.FrameIndex;
NewColorFrameEvent.Invoke(colorFrame);
}
}
BodyFrame bodyFrame = e.Frame.GetFrame <BodyFrame>();
if (bodyFrame != null)
{
if (_lastBodyFrameIndex != bodyFrame.FrameIndex)
{
_lastBodyFrameIndex = bodyFrame.FrameIndex;
NewBodyFrameEvent.Invoke(_bodyStream, bodyFrame);
NewBodyMaskEvent.Invoke(bodyFrame.BodyMask);
}
}
MaskedColorFrame maskedColorFrame = e.Frame.GetFrame <MaskedColorFrame>();
if (maskedColorFrame != null)
{
if (_lastMaskedColorFrameIndex != maskedColorFrame.FrameIndex)
{
_lastMaskedColorFrameIndex = maskedColorFrame.FrameIndex;
NewMaskedColorFrameEvent.Invoke(maskedColorFrame);
}
}
ColorizedBodyFrame colorizedBodyFrame = e.Frame.GetFrame <ColorizedBodyFrame>();
if (colorizedBodyFrame != null)
{
if (_lastColorizedBodyFrameIndex != colorizedBodyFrame.FrameIndex)
{
_lastColorizedBodyFrameIndex = colorizedBodyFrame.FrameIndex;
NewColorizedBodyFrameEvent.Invoke(colorizedBodyFrame);
}
}
_frameCount++;
_frameReadyDirty = true;
frameReadyTime.Stop();
}
