/// <summary>
/// Gets a nice C# library version of the Frame Mode class
/// </summary>
/// <param name="mode">
/// A <see cref="FreenectFrameMode"/>
/// </param>
/// <returns>
/// A <see cref="FrameMode"/>
/// </returns>
internal static FrameMode FromInterop(FreenectFrameMode nativeMode, FrameModeType type)
{
FrameMode mode = null;
// Make sure mode is valid
if (nativeMode.IsValid == 0)
{
return(null);
}
// Figure out what type of mode it is
if (type == FrameMode.FrameModeType.VideoFormat)
{
mode = new VideoFrameMode();
}
else if (type == FrameMode.FrameModeType.DepthFormat)
{
mode = new DepthFrameMode();
}
// Copy over rest of data
mode.nativeMode = nativeMode;
mode.Size = nativeMode.Bytes;
mode.Width = nativeMode.Width;
mode.Height = nativeMode.Height;
mode.Resolution = nativeMode.Resolution;
mode.DataBitsPerPixel = nativeMode.DataBitsPerPixel;
mode.PaddingBitsPerPixel = nativeMode.PaddingBitsPerPixel;
mode.FrameRate = nativeMode.Framerate;
mode.videoFormat = nativeMode.VideoFormat;
mode.depthFormat = nativeMode.DepthFormat;
return(mode);
}
/// <summary>
/// Constructor with only mode and data pointer specified. No allocation is made.
/// </summary>
/// <param name="mode">
/// A <see cref="VideoFrameMode"/>
/// </param>
internal BaseDataMap(FrameMode mode, IntPtr bufferPointer)
{
this.Width = mode.Width;
this.Height = mode.Height;
this.CaptureMode = mode;
this.Data = null;
this.dataHandle = default(GCHandle);
this.DataPointer = bufferPointer;
}
/// <summary>
/// Constructor with only mode speicifed. Data is allocated inside.
/// </summary>
/// <param name="mode">
/// A <see cref="VideoFrameMode"/>
/// </param>
internal BaseDataMap(FrameMode mode)
{
// Save format and resolution
this.Width = mode.Width;
this.Height = mode.Height;
this.CaptureMode = mode;
this.Data = new byte[mode.Size];
this.dataHandle = GCHandle.Alloc(this.Data, GCHandleType.Pinned);
this.DataPointer = this.dataHandle.AddrOfPinnedObject();
}
/// <summary>
/// Updates list of depth modes that this camera has.
/// </summary>
private void UpdateDepthModes()
{
List <DepthFrameMode> modes = new List <DepthFrameMode>();
// Get number of modes
int numModes = KinectNative.freenect_get_depth_mode_count(this.parentDevice.devicePointer);
// Go through modes
for (int i = 0; i < numModes; i++)
{
DepthFrameMode mode = (DepthFrameMode)FrameMode.FromInterop(KinectNative.freenect_get_depth_mode(i), FrameMode.FrameModeType.DepthFormat);
if (mode != null)
{
modes.Add(mode);
}
}
// All done
this.Modes = modes.ToArray();
}
/// <summary>
/// Constructor #2
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
/// <param name="buffer">
/// A <see cref="IntPtr"/>
/// </param>
public DepthMap(FrameMode mode, IntPtr buffer) : base(mode, buffer)
{
}
/// <summary>
/// Constructor #1
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
public DepthMap(FrameMode mode) : base(mode)
{
}
/// <summary>
/// Finds a mode, given a format and resolution.
/// </summary>
/// <param name="format">
/// Depth format for the mode
/// </param>
/// <param name="resolution">
/// Resolution for the mode
/// </param>
/// <returns>
/// Mode with the format/resolution combo. Null if the combination is invalid.
/// </returns>
public static DepthFrameMode Find(DepthFormat format, Resolution resolution)
{
return((DepthFrameMode)FrameMode.FromInterop(KinectNative.freenect_find_depth_mode(resolution, format), FrameMode.FrameModeType.DepthFormat));
}
/// <summary>
/// Constructor #2
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
/// <param name="buffer">
/// A <see cref="IntPtr"/>
/// </param>
public DepthMap(FrameMode mode, IntPtr buffer) : base(mode, buffer)
{
}
/// <summary>
/// Constructor #1
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
public DepthMap(FrameMode mode) : base(mode)
{
}
/// <summary>
/// Constructor #2
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
/// <param name="buffer">
/// A <see cref="IntPtr"/>
/// </param>
public ImageMap(FrameMode mode, IntPtr buffer) : base(mode, buffer)
{
}
/// <summary>
/// Constructor #1
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
public ImageMap(FrameMode mode) : base(mode)
{
}
/// <summary>
/// Finds a mode, given a format and resolution.
/// </summary>
/// <param name="format">
/// Video format for the mode
/// </param>
/// <param name="resolution">
/// Resolution for the mode
/// </param>
/// <returns>
/// Mode with the format/resolution combo. Null if the combination is invalid.
/// </returns>
public static VideoFrameMode Find(VideoFormat format, Resolution resolution)
{
return((VideoFrameMode)FrameMode.FromInterop(KinectNative.freenect_find_video_mode(resolution, format), FrameMode.FrameModeType.VideoFormat));
}
/// <summary>
/// Constructor with only mode speicifed. Data is allocated inside.
/// </summary>
/// <param name="mode">
/// A <see cref="VideoFrameMode"/>
/// </param>
internal BaseDataMap(FrameMode mode)
{
// Save format and resolution
this.Width = mode.Width;
this.Height = mode.Height;
this.CaptureMode = mode;
this.Data = new byte[mode.Size];
this.dataHandle = GCHandle.Alloc(this.Data, GCHandleType.Pinned);
this.DataPointer = this.dataHandle.AddrOfPinnedObject();
}
/// <summary>
/// Constructor with only mode and data pointer specified. No allocation is made.
/// </summary>
/// <param name="mode">
/// A <see cref="VideoFrameMode"/>
/// </param>
internal BaseDataMap(FrameMode mode, IntPtr bufferPointer)
{
this.Width = mode.Width;
this.Height = mode.Height;
this.CaptureMode = mode;
this.Data = null;
this.dataHandle = default(GCHandle);
this.DataPointer = bufferPointer;
}
/// <summary>
/// Constructor #2
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
/// <param name="buffer">
/// A <see cref="IntPtr"/>
/// </param>
public ImageMap(FrameMode mode, IntPtr buffer) : base(mode, buffer)
{
}
/// <summary>
/// Constructor #1
/// </summary>
/// <param name="mode">
/// A <see cref="FrameMode"/>
/// </param>
public ImageMap(FrameMode mode) : base(mode)
{
}
