/// <summary>
/// Update kinect data in multithread
/// </summary>
private void UpdateKinectData()
{
bool _done = false;
Chrono chrono = new Chrono();
chrono.Start();
double dt = 0.033;
double next_schedule = 0.0;
Debug.Log("Kinect acquisition started");
while (!_done)
{
double current_time = chrono.GetElapsedTime();
if (current_time > next_schedule)
{
next_schedule += dt;
// Get depth map
UpdateDepthData();
// Get color map
UpdateColorData();
// Convert depth map into point cloud
_cameraSpace = new CameraSpacePoint[_depthData.Length];
lock (_cameraSpace)
{
_mapper.MapDepthFrameToCameraSpace(_depthData, _cameraSpace);
}
// Map depth map to color map
_colorSpace = new ColorSpacePoint[_depthData.Length];
lock (_colorSpace)
{
_mapper.MapDepthFrameToColorSpace(_depthData, _colorSpace);
}
}
lock (doneLock)
{
_done = done;
}
Thread.Sleep(0);
}
Debug.Log("Kinect acquisition stopped");
}
private void UpdateKinectData()
{
bool _done = false;
Capture _capture = null;
Chrono chrono = new Chrono();
chrono.Start();
double dt;
switch (kinectSensor.cameraFPS)
{
case FrameRate.Fifteen:
dt = 1 / 15;
break;
case FrameRate.Thirty:
dt = 1 / 30;
break;
case FrameRate.Five:
dt = 1 / 5;
break;
default:
dt = 1 / 60; // default unity fps
break;
}
double next_schedule = 0.0;
while (!_done)
{
double current_time = chrono.GetElapsedTime();
if (current_time > next_schedule)
{
next_schedule += dt;
lock (capture)
{
if (isCaptureDirty)
{
_capture = capture;
isCaptureDirty = false;
}
}
if (_capture != null)
{
UpdateDepthData(_capture);
UpdateColorData(_capture);
_capture = null;
}
}
lock (doneLock)
{
_done = done;
}
Thread.Sleep(0);
}
}