unsafe private void ShowMappedBodyFrame(int depthWidth, int depthHeight, IBuffer bodyIndexFrameData, IBufferByteAccess bodyIndexByteAccess)
{
bodyIndexByteAccess = (IBufferByteAccess)bodyIndexFrameData;
byte *bodyIndexBytes = null;
bodyIndexByteAccess.Buffer(out bodyIndexBytes);
fixed(DepthSpacePoint *colorMappedToDepthPointsPointer = this.colorMappedToDepthPoints)
{
IBufferByteAccess bitmapBackBufferByteAccess = (IBufferByteAccess)this.bitmap.PixelBuffer;
byte *bitmapBackBufferBytes = null;
bitmapBackBufferByteAccess.Buffer(out bitmapBackBufferBytes);
// Treat the color data as 4-byte pixels
uint *bitmapPixelsPointer = (uint *)bitmapBackBufferBytes;
// Loop over each row and column of the color image
// Zero out any pixels that don't correspond to a body index
int colorMappedLength = this.colorMappedToDepthPoints.Length;
for (int colorIndex = 0; colorIndex < colorMappedLength; ++colorIndex)
{
float colorMappedToDepthX = colorMappedToDepthPointsPointer[colorIndex].X;
float colorMappedToDepthY = colorMappedToDepthPointsPointer[colorIndex].Y;
// The sentinel value is -inf, -inf, meaning that no depth pixel corresponds to this color pixel.
if (!float.IsNegativeInfinity(colorMappedToDepthX) &&
!float.IsNegativeInfinity(colorMappedToDepthY))
{
// Make sure the depth pixel maps to a valid point in color space
int depthX = (int)(colorMappedToDepthX + 0.5f);
int depthY = (int)(colorMappedToDepthY + 0.5f);
// If the point is not valid, there is no body index there.
if ((depthX >= 0) && (depthX < depthWidth) && (depthY >= 0) && (depthY < depthHeight))
{
int depthIndex = (depthY * depthWidth) + depthX;
// If we are tracking a body for the current pixel, do not zero out the pixel
if (bodyIndexBytes[depthIndex] != 0xff)
{
// this bodyIndexByte is good and is a body, loop again.
continue;
}
}
}
// this pixel does not correspond to a body so make it black and transparent
bitmapPixelsPointer[colorIndex] = 0;
}
}
this.bitmap.Invalidate();
FrameDisplayImage.Source = this.bitmap;
}
unsafe private void ShowMappedColorBackgroundRemoved(DepthSpacePoint[] colorMappedToDepthPoints, ushort[] depthFrameData, FrameDescription frameDescription)
{
fixed(DepthSpacePoint *colorMappedToDepthPointsPointer = colorMappedToDepthPoints)
{
IBufferByteAccess bitmapBackBufferByteAccess = (IBufferByteAccess)this.bitmap.PixelBuffer;
byte *bitmapBackBufferBytes = null;
bitmapBackBufferByteAccess.Buffer(out bitmapBackBufferBytes);
// Treat the color data as 4-byte pixels
uint *bitmapPixelsPointer = (uint *)bitmapBackBufferBytes;
int depthWidth = frameDescription.Width;
int depthHeight = frameDescription.Height;
// Loop over each row and column of the color image
// Zero out any pixels that don't correspond to a body index
for (int colorIndex = 0; colorIndex < this.colorMappedToDepthPoints.Length; ++colorIndex)
{
float colorMappedToDepthX = colorMappedToDepthPoints[colorIndex].X;
float colorMappedToDepthY = colorMappedToDepthPoints[colorIndex].Y;
// The sentinel value is -inf, -inf, meaning that no depth pixel corresponds to this color pixel.
if (!float.IsNegativeInfinity(colorMappedToDepthX) &&
!float.IsNegativeInfinity(colorMappedToDepthY))
{
// Make sure the depth pixel maps to a valid point in color space
int depthX = (int)(colorMappedToDepthX + 0.5f);
int depthY = (int)(colorMappedToDepthY + 0.5f);
// If the point is not valid, there is no body index there.
if ((depthX >= 0) && (depthX < depthWidth) && (depthY >= 0) && (depthY < depthHeight))
{
int depthIndex = (depthY * depthWidth) + depthX;
if (depthFrameData[depthIndex] < DepthMax)
{
continue;
}
}
}
// no matching depth. zero out the pixel.
bitmapPixelsPointer[colorIndex] = 0;
}
}
this.bitmap.Invalidate();
FrameDisplayImage.Source = this.bitmap;
}
unsafe private void ShowMappedBodyFrame(int depthWidth, int depthHeight, IBuffer bodyIndexFrameData, IBufferByteAccess bodyIndexByteAccess)
{
bodyIndexByteAccess = (IBufferByteAccess)bodyIndexFrameData;
byte* bodyIndexBytes = null;
bodyIndexByteAccess.Buffer(out bodyIndexBytes);
fixed (DepthSpacePoint* colorMappedToDepthPointsPointer = this.colorMappedToDepthPoints)
{
IBufferByteAccess bitmapBackBufferByteAccess = (IBufferByteAccess)this.bitmap.PixelBuffer;
byte* bitmapBackBufferBytes = null;
bitmapBackBufferByteAccess.Buffer(out bitmapBackBufferBytes);
// Treat the color data as 4-byte pixels
uint* bitmapPixelsPointer = (uint*)bitmapBackBufferBytes;
// Loop over each row and column of the color image
// Zero out any pixels that don't correspond to a body index
int colorMappedLength = this.colorMappedToDepthPoints.Length;
for (int colorIndex = 0; colorIndex < colorMappedLength; ++colorIndex)
{
float colorMappedToDepthX = colorMappedToDepthPointsPointer[colorIndex].X;
float colorMappedToDepthY = colorMappedToDepthPointsPointer[colorIndex].Y;
// The sentinel value is -inf, -inf, meaning that no depth pixel corresponds to this color pixel.
if (!float.IsNegativeInfinity(colorMappedToDepthX) &&
!float.IsNegativeInfinity(colorMappedToDepthY))
{
// Make sure the depth pixel maps to a valid point in color space
int depthX = (int)(colorMappedToDepthX + 0.5f);
int depthY = (int)(colorMappedToDepthY + 0.5f);
// If the point is not valid, there is no body index there.
if ((depthX >= 0) && (depthX < depthWidth) && (depthY >= 0) && (depthY < depthHeight))
{
int depthIndex = (depthY * depthWidth) + depthX;
// If we are tracking a body for the current pixel, do not zero out the pixel
if (bodyIndexBytes[depthIndex] != 0xff)
{
// this bodyIndexByte is good and is a body, loop again.
continue;
}
}
}
// this pixel does not correspond to a body so make it black and transparent
bitmapPixelsPointer[colorIndex] = 0;
}
}
this.bitmap.Invalidate();
FrameDisplayImage.Source = this.bitmap;
}
/// <summary>
/// Handles the depth/color/body index frame data arriving from the sensor.
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
int depthWidth = 0;
int depthHeight = 0;
DepthFrame depthFrame = null;
IBuffer depthFrameData = null;
ColorFrame colorFrame = null;
BodyIndexFrame bodyIndexFrame = null;
IBuffer bodyIndexFrameData = null;
IBufferByteAccess bodyIndexByteAccess = null;
MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
// If the Frame has expired by the time we process this event, return.
if (multiSourceFrame == null)
{
return;
}
// We use a try/finally to ensure that we clean up before we exit the function.
// This includes calling Dispose on any Frame objects that we may have and unlocking the bitmap back buffer.
try
{
depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame();
colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
bodyIndexFrame = multiSourceFrame.BodyIndexFrameReference.AcquireFrame();
// If any frame has expired by the time we process this event, return.
// The "finally" statement will Dispose any that are not null.
if ((depthFrame == null) || (colorFrame == null) || (bodyIndexFrame == null))
{
return;
}
// Process Depth
FrameDescription depthFrameDescription = depthFrame.FrameDescription;
depthWidth = depthFrameDescription.Width;
depthHeight = depthFrameDescription.Height;
// Access the depth frame data directly via LockImageBuffer to avoid making a copy
depthFrameData = depthFrame.LockImageBuffer();
this.coordinateMapper.MapColorFrameToDepthSpaceUsingIBuffer(depthFrameData, this.colorMappedToDepthPoints);
// We're done with the DepthFrame
depthFrame.Dispose();
depthFrame = null;
// We must force a release of the IBuffer in order to ensure that we have dropped all references to it.
System.Runtime.InteropServices.Marshal.ReleaseComObject(depthFrameData);
depthFrameData = null;
// Process Color
colorFrame.CopyConvertedFrameDataToBuffer(this.bitmap.PixelBuffer, ColorImageFormat.Bgra);
// We're done with the ColorFrame
colorFrame.Dispose();
colorFrame = null;
FrameDescription bodyIndexFrameDescription = bodyIndexFrame.FrameDescription;
// Access the body index frame data directly via LockImageBuffer to avoid making a copy
bodyIndexFrameData = bodyIndexFrame.LockImageBuffer();
int colorMappedToDepthPointCount = this.colorMappedToDepthPoints.Length;
unsafe
{
bodyIndexByteAccess = (IBufferByteAccess)bodyIndexFrameData;
byte *bodyIndexBytes = null;
bodyIndexByteAccess.Buffer(out bodyIndexBytes);
fixed(DepthSpacePoint *colorMappedToDepthPointsPointer = this.colorMappedToDepthPoints)
{
IBufferByteAccess bitmapBackBufferByteAccess = (IBufferByteAccess)this.bitmap.PixelBuffer;
byte *bitmapBackBufferBytes = null;
bitmapBackBufferByteAccess.Buffer(out bitmapBackBufferBytes);
// Treat the color data as 4-byte pixels
uint *bitmapPixelsPointer = (uint *)bitmapBackBufferBytes;
// Loop over each row and column of the color image
// Zero out any pixels that don't correspond to a body index
for (int colorIndex = 0; colorIndex < colorMappedToDepthPointCount; ++colorIndex)
{
float colorMappedToDepthX = colorMappedToDepthPointsPointer[colorIndex].X;
float colorMappedToDepthY = colorMappedToDepthPointsPointer[colorIndex].Y;
// The sentinel value is -inf, -inf, meaning that no depth pixel corresponds to this color pixel.
if (!float.IsNegativeInfinity(colorMappedToDepthX) &&
!float.IsNegativeInfinity(colorMappedToDepthY))
{
// Make sure the depth pixel maps to a valid point in color space
int depthX = (int)(colorMappedToDepthX + 0.5f);
int depthY = (int)(colorMappedToDepthY + 0.5f);
// If the point is not valid, there is no body index there.
if ((depthX >= 0) && (depthX < depthWidth) && (depthY >= 0) && (depthY < depthHeight))
{
int depthIndex = (depthY * depthWidth) + depthX;
// If we are tracking a body for the current pixel, do not zero out the pixel
if (bodyIndexBytes[depthIndex] != 0xff)
{
continue;
}
}
}
bitmapPixelsPointer[colorIndex] = 0;
}
}
this.bitmap.Invalidate();
}
}
finally
{
if (depthFrame != null)
{
depthFrame.Dispose();
}
if (depthFrameData != null)
{
// We must force a release of the IBuffer in order to ensure that we have dropped all references to it.
System.Runtime.InteropServices.Marshal.ReleaseComObject(depthFrameData);
}
if (colorFrame != null)
{
colorFrame.Dispose();
}
if (bodyIndexFrame != null)
{
bodyIndexFrame.Dispose();
}
if (bodyIndexFrameData != null)
{
// We must force a release of the IBuffer in order to ensure that we have dropped all references to it.
System.Runtime.InteropServices.Marshal.ReleaseComObject(bodyIndexFrameData);
}
if (bodyIndexByteAccess != null)
{
// We must force a release of the IBuffer in order to ensure that we have dropped all references to it.
System.Runtime.InteropServices.Marshal.ReleaseComObject(bodyIndexByteAccess);
}
}
}