/// <summary>
/// this method sourced from:
/// http://groups.google.com/group/openni-dev/browse_thread/thread/f3d82e8f2de0a59f/19cb38853f9d2672?lnk=gst&q=draw+rgb+image#19cb38853f9d2672
/// </summary>
unsafe byte[] GetImageBytes()
{
byte[] bmpBytes = null;
var imageMD = new ImageMetaData();
this.image.GetMetaData(imageMD);
lock (this)
{
int byteCount = imageMD.XRes * imageMD.YRes * 3; // 3-byte color representation - RGB
if (bmpBytes == null || bmpBytes.Length != byteCount)
bmpBytes = new byte[byteCount];
fixed(byte *texturePointer = &bmpBytes[0])
{
RGB24Pixel *pImage = (RGB24Pixel *)this.image.GetImageMapPtr().ToPointer();
int pointerWalker = 0;
for (int y = 0; y < imageMD.YRes; ++y)
{
for (int x = 0; x < imageMD.XRes; ++x, ++pImage, pointerWalker += 3)
{
texturePointer[pointerWalker] = pImage->nRed;
texturePointer[pointerWalker + 1] = pImage->nGreen;
texturePointer[pointerWalker + 2] = pImage->nBlue;
}
}
}
}
return(bmpBytes);
}
//private unsafe void ReaderThread()
public unsafe void GetData(object sender, DoWorkEventArgs e)
{
DepthMetaData depthMD = new DepthMetaData();
ImageMetaData imageMD = new ImageMetaData();
//SceneMetaData sceneMD = new SceneMetaData();
//while (this.ShouldRun)
while (!this.CancellationPending)
{
//if (this.CancellationPending)
//this.ShouldRun = false;
try
{
//this.context.WaitOneUpdateAll(this.depth);
this.context.WaitAndUpdateAll();
}
catch (Exception)
{
}
// if no device connected
if (this.depth == null ||
this.image == null)
{
return;
}
this.depth.GetMetaData(depthMD);
this.image.GetMetaData(imageMD);
// NOTE: interesting to note if this is the same as GetUserPixels
//MapData<ushort> sceneMap = this.scene.GetLabelMap();
CalcHist(depthMD);
lock (this)
{
Rectangle rect = new Rectangle(0, 0, this.bitmap.Width, this.bitmap.Height);
//BitmapData data = this.bitmap.LockBits(rect, ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
BitmapData data = this.bitmap.LockBits(rect, ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
RGB24Pixel *pImage = (RGB24Pixel *)this.image.GetImageMapPtr().ToPointer();
ushort * pDepth = (ushort *)this.depth.GetDepthMapPtr().ToPointer();
ushort * pLabels = (ushort *)this.userGenerator.GetUserPixels(0).SceneMapPtr.ToPointer();
// set pixels
for (int y = 0; y < depthMD.YRes; ++y)
{
byte *pDest = (byte *)data.Scan0.ToPointer() + y * data.Stride;
//for (int x = 0; x < depthMD.XRes; ++x, ++pDepth, ++pLabels, ++pImage, pDest += 3)
for (int x = 0; x < depthMD.XRes; ++x, ++pDepth, ++pLabels, ++pImage, pDest += 4)
{
//pDest[0] = pDest[1] = pDest[2] = 0;
pDest[0] = pDest[1] = pDest[2] = pDest[3] = 0;
ushort label = *pLabels;
//-------------------------------------------------
// Grab the pixel according to mode
//-------------------------------------------------
if (textureMode == TextureMode.DEPTH)
{
byte pixel = (byte)this.histogram[*pDepth];
pDest[0] = 0;
pDest[1] = pixel;
pDest[2] = pixel;
pDest[3] = 255; // alpha
}
else if (textureMode == TextureMode.DEPTH_RGB_USER)
{
if (*pLabels != 0)
{
Color labelColor = Color.White;
if (label != 0)
{
labelColor = colors[label % ncolors];
}
/*
* byte pixel = (byte)this.histogram[*pDepth];
* pDest[0] = (byte)(pixel * (labelColor.B / 256.0));
* pDest[1] = (byte)(pixel * (labelColor.G / 256.0));
* pDest[2] = (byte)(pixel * (labelColor.R / 256.0));
*/
// grab the rgb pixel for the user
// translate from RGB to BGR (windows format)
pDest[0] = pImage->nBlue;
pDest[1] = pImage->nGreen;
pDest[2] = pImage->nRed;
pDest[3] = 255; // alpha
}
else
{
byte pixel = (byte)this.histogram[*pDepth];
pDest[0] = 0;
pDest[1] = pixel;
pDest[2] = pixel;
pDest[3] = 255; // alpha
}
}
else if (textureMode == TextureMode.RGB)
{
pDest[0] = pImage->nBlue;
pDest[1] = pImage->nGreen;
pDest[2] = pImage->nRed;
pDest[3] = 255; // alpha
}
else if (textureMode == TextureMode.RGB_USER_ONLY)
{
if (*pLabels != 0)
{
/*
* Color labelColor = Color.White;
* if (label != 0)
* {
* labelColor = colors[label % ncolors];
* }
*/
// grab the rgb pixel for the user
// translate from RGB to BGR (windows format)
pDest[0] = pImage->nBlue;
pDest[1] = pImage->nGreen;
pDest[2] = pImage->nRed;
pDest[3] = 255; // alpha
}
else
{
// set all other pixels to be transparent
pDest[0] = 0;
pDest[1] = 0;
pDest[2] = 0;
pDest[3] = 0; // alpha
}
}
/*
* if (*pLabels != 0)
* {
* Color labelColor = Color.White;
* if (label != 0)
* {
* labelColor = colors[label % ncolors];
* }
*
* //byte pixel = (byte)this.histogram[*pDepth];
* //pDest[0] = (byte)(pixel * (labelColor.B / 256.0));
* //pDest[1] = (byte)(pixel * (labelColor.G / 256.0));
* //pDest[2] = (byte)(pixel * (labelColor.R / 256.0));
* // grab the rgb pixel for the user
* // translate from RGB to BGR (windows format)
* pDest[0] = pImage->nBlue;
* pDest[1] = pImage->nGreen;
* pDest[2] = pImage->nRed;
* }
* else
* {
* byte pixel = (byte)this.histogram[*pDepth];
* pDest[0] = 0;
* pDest[1] = pixel;
* pDest[2] = pixel;
* }
*/
}
}
this.bitmap.UnlockBits(data);
Graphics g = Graphics.FromImage(this.bitmap);
uint[] users = this.userGenerator.GetUsers();
foreach (uint user in users)
{
if (this.shouldPrintID)
{
Point3D com = this.userGenerator.GetCoM(user);
com = this.depth.ConvertRealWorldToProjective(com);
string label = "";
g.DrawString(label, new Font("Arial", 6), new SolidBrush(anticolors[user % ncolors]), com.X, com.Y);
}
}
}
// locked copy
this.KinectBitmap.Dispose();
this.KinectBitmap = (Bitmap)this.bitmap.Clone();
// makes all black pixels transparent
//if(textureMode == TextureMode.RGB_USER_ONLY)
// this.KinectBitmap.MakeTransparent( Color.Black );
// will signal up-stream to come get the bitmap
this.ReportProgress(1);
/*
* if (_frame == 30)
* {
* //Debug.WriteLine("\t\tNow: " + DateTime.Now.ToString());
* // will signal to come get the bitmap
* this.ReportProgress(_frame);
* //if (OnKinectTextureReady != null)
* // OnKinectTextureReady(new EarthmineEventArgs(null, null, null));
*
* _frame = 0;
* }
* else
* _frame++;
*/
}
} // reader-thread
private unsafe void ReaderThread()
{
DepthMetaData depthMD = new DepthMetaData();
ImageMetaData imageMD = new ImageMetaData();
//SceneMetaData sceneMD = new SceneMetaData();
while (this.shouldRun)
{
try
{
//this.context.WaitOneUpdateAll(this.depth);
this.context.WaitAndUpdateAll();
}
catch (Exception)
{
}
this.depth.GetMetaData(depthMD);
this.image.GetMetaData(imageMD);
// NOTE: interesting to note if this is the same as GetUserPixels
//MapData<ushort> sceneMap = this.scene.GetLabelMap();
CalcHist(depthMD);
lock (this)
{
Rectangle rect = new Rectangle(0, 0, this.bitmap.Width, this.bitmap.Height);
BitmapData data = this.bitmap.LockBits(rect, ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
RGB24Pixel *pImage = (RGB24Pixel *)this.image.GetImageMapPtr().ToPointer();
ushort * pDepth = (ushort *)this.depth.GetDepthMapPtr().ToPointer();
ushort * pLabels = (ushort *)this.userGenerator.GetUserPixels(0).SceneMapPtr.ToPointer();
// set pixels
for (int y = 0; y < depthMD.YRes; ++y)
{
byte *pDest = (byte *)data.Scan0.ToPointer() + y * data.Stride;
for (int x = 0; x < depthMD.XRes; ++x, ++pDepth, ++pLabels, ++pImage, pDest += 3)
{
pDest[0] = pDest[1] = pDest[2] = 0;
ushort label = *pLabels;
if (*pLabels != 0)
{
Color labelColor = Color.White;
if (label != 0)
{
labelColor = colors[label % ncolors];
}
/*
* byte pixel = (byte)this.histogram[*pDepth];
* pDest[0] = (byte)(pixel * (labelColor.B / 256.0));
* pDest[1] = (byte)(pixel * (labelColor.G / 256.0));
* pDest[2] = (byte)(pixel * (labelColor.R / 256.0));
*/
// grab the rgb pixel for the user
// translate from RGB to BGR (windows format)
pDest[0] = pImage->nBlue;
pDest[1] = pImage->nGreen;
pDest[2] = pImage->nRed;
}
else
{
byte pixel = (byte)this.histogram[*pDepth];
pDest[0] = 0;
pDest[1] = pixel;
pDest[2] = pixel;
}
}
}
this.bitmap.UnlockBits(data);
Graphics g = Graphics.FromImage(this.bitmap);
uint[] users = this.userGenerator.GetUsers();
foreach (uint user in users)
{
if (this.shouldPrintID)
{
Point3D com = this.userGenerator.GetCoM(user);
com = this.depth.ConvertRealWorldToProjective(com);
string label = "";
g.DrawString(label, new Font("Arial", 6), new SolidBrush(anticolors[user % ncolors]), com.X, com.Y);
}
}
}
this.Invalidate();
}
}