/// <summary>
/// Depending on color format, the frame is passed on or buffered for conversion.
/// </summary>
private void OnFrameArrived(object sender, FrameArrivedEventArgs e)
{
if (Format == ColorFormat.Grayscale)
{
_frame = e.Frame;
FPSUtils.VideoTick();
FrameArrived?.Invoke(this, e);
}
else
{
if (IsProcessingFrame)
{
return;
}
IsProcessingFrame = true;
CurrentCameraFrame = e.Frame;
}
}
/// <summary>
/// Invoked if the NV12 to RGB conversion is complete and the data is ready to be read to the CPU.
/// </summary>
private void OnCompleteReadback(AsyncGPUReadbackRequest request)
{
if (request.hasError)
{
Debug.LogError("GPU readback error");
return;
}
MatUtils.copyToMat(request.GetData <uint>(), _rgb);
Core.flip(_rgb, _rgb, 0); // image is flipped on x-axis
CameraFrame newFrame = new CameraFrame(_rgb, CurrentCameraFrame.Intrinsic, CurrentCameraFrame.Extrinsic, CurrentCameraFrame.Width, CurrentCameraFrame.Height, CurrentCameraFrame.FrameCount, Format);
FrameArrivedEventArgs args = new FrameArrivedEventArgs(newFrame);
_frame = newFrame;
FrameArrived?.Invoke(this, args);
FPSUtils.VideoTick();
NewFrameAvailable = true;
IsProcessingFrame = false;
}