/// <summary>
/// 深度情報を取得
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void getDepthFrameInfo()
{
using (DepthImageFrame dFrame = kinect.DepthStream.OpenNextFrame(1))
{
if (dFrame != null)
{
CoordinateMapper mapper = new CoordinateMapper(kinect);
DepthData = new SkeletonPoint[dFrame.PixelDataLength];
DepthImagePixel[] depthData = new DepthImagePixel[dFrame.PixelDataLength];
dFrame.CopyDepthImagePixelDataTo(depthData);
mapper.MapDepthFrameToSkeletonFrame(DepthImageFormat.Resolution640x480Fps30, depthData, DepthData);
}
}
}
//Event Kinect New Frame
void AllFramesReady(object sender, AllFramesReadyEventArgs e)
{
int index = Array.IndexOf(this.sensors, (KinectSensor)sender);
KinectSensor sensor = (KinectSensor)sender;
//Console.WriteLine("Sensor" + index + " fired.");
// Grab frames from stream
DepthImageFrame imageDepthFrame = e.OpenDepthImageFrame();
ColorImageFrame imageColorFrame = e.OpenColorImageFrame();
SkeletonFrame imageSkeletonFrame = e.OpenSkeletonFrame();
if (imageDepthFrame != null && (!colorOn || imageColorFrame != null) && imageSkeletonFrame != null && Semaphore.glControlLoaded)
{
CoordinateMapper mapper = new CoordinateMapper(sensor);
SkeletonPoint[] skeletonPoints = new SkeletonPoint[imageDepthFrame.PixelDataLength];
DepthImagePixel[] depthPixels = new DepthImagePixel[imageDepthFrame.PixelDataLength];
// Copy the pixel data from the image to a temporary array
imageDepthFrame.CopyDepthImagePixelDataTo(depthPixels);
// Map Depth data to Skeleton points.
// skeletonPoints is being changed as a result of this function call
mapper.MapDepthFrameToSkeletonFrame(DEPTH_IMAGE_FORMAT, depthPixels, skeletonPoints);
short[,] vertexData;
if (colorOn)
{
//Allocate array for color data
pixelColorData = new byte[sensor.ColorStream.FramePixelDataLength];
imageColorFrame.CopyPixelDataTo(pixelColorData);
// Adjust coordinates of skeleton points according to the colour format
// skeletonPoints is being changed as a result of this function call
mapper.MapColorFrameToSkeletonFrame(COLOR_IMAGE_FORMAT, DEPTH_IMAGE_FORMAT, depthPixels, skeletonPoints);
vertexData = new short[(frameHeight * frameWidth), 6];
}
else
{
vertexData = new short[(frameHeight * frameWidth), 3];
}
// Convert SkeletonPoints data into short[][]
// [x, y, z, Blue, Green, Red]
int i = 0;
for (int row = 0; row < frameHeight * frameWidth; row++)
{
vertexData[row, 0] = (short)(skeletonPoints[row].X * 1000); //Store for X
vertexData[row, 1] = (short)(skeletonPoints[row].Y * 1000); //Store for Y
vertexData[row, 2] = (short)(skeletonPoints[row].Z * 1000); //Store for Z
if (colorOn)
{
vertexData[row, 3] = (short)pixelColorData[i + 2];
vertexData[row, 4] = (short)pixelColorData[i + 1];
vertexData[row, 5] = (short)pixelColorData[i];
i += 4;
}
}
// Pass data to write to file
if (Semaphore.readyForPCD)//change to use semaphore
{
Semaphore.passPCD(vertexData, index);
}
// Dispose frames for memory
imageDepthFrame.Dispose();
if (colorOn)
{
imageColorFrame.Dispose();
}
imageSkeletonFrame.Dispose();
}
}
