/// <summary>
/// Handles the multisource frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private unsafe void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
// Create instance of EMGUargs which holds the output of data from the kinect
EMGUargs emguArgs = new EMGUargs();
MultiSourceFrameReference frameReference = e.FrameReference;
// Variables initialized to null for easy check of camera failures
MultiSourceFrame multiSourceFrame = null;
InfraredFrame infraredFrame = null;
ColorFrame colorFrame = null;
DepthFrame depthFrame = null;
// Acquire frame from the Kinect
multiSourceFrame = frameReference.AcquireFrame();
// If the Frame has expired by the time we process this event, return.
if (multiSourceFrame == null)
{
return;
}
try
{
/*
* DepthSpacePoint dp = new DepthSpacePoint
* {
* X = 50,
* Y = 20
* };
* DepthSpacePoint[] dps = new DepthSpacePoint[] { dp };
* ushort[] depths = new ushort[] { 2000 };
* CameraSpacePoint[] ameraSpacePoints = new CameraSpacePoint[1];
*
* mapper.MapDepthPointsToCameraSpace(dps, depths, ameraSpacePoints);
*/
InfraredFrameReference infraredFrameReference = multiSourceFrame.InfraredFrameReference;
infraredFrame = infraredFrameReference.AcquireFrame();
DepthFrameReference depthFrameReference = multiSourceFrame.DepthFrameReference;
depthFrame = depthFrameReference.AcquireFrame();
// Check whether needed frames are avaliable
if (infraredFrame == null || depthFrame == null)
{
return;
}
// the fastest way to process the depth frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer depthBuffer = depthFrame.LockImageBuffer())
{
// verify data and write the new depth frame data to the display bitmap
if (((this.depthFrameDescription.Width * this.depthFrameDescription.Height) ==
(depthBuffer.Size / this.depthFrameDescription.BytesPerPixel)))
{
// Conversion to needed EMGU image
Mat depthImage = this.ProcessDepthFrameData(depthFrame);
emguArgs.DepthImage = depthImage;
emguArgs.DepthFrameDimension = new FrameDimension(depthFrameDescription.Width, depthFrameDescription.Height);
}
//BgrToDephtPixel(depthBuffer.UnderlyingBuffer, depthBuffer.Size);
depthFrame.Dispose();
depthFrame = null;
}
// IR image
FrameDescription infraredFrameDescription = infraredFrame.FrameDescription;
// the fastest way to process the infrared frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer infraredBuffer = infraredFrame.LockImageBuffer())
{
// verify data and write the new infrared frame data to the display bitmap
if (((this.infraredFrameDescription.Width * this.infraredFrameDescription.Height) == (infraredBuffer.Size / this.infraredFrameDescription.BytesPerPixel)))
{
// Conversion to needed EMGU image
Mat infraredImage = this.ProcessInfaredFrameData(infraredFrame);
emguArgs.InfraredImage = infraredImage;
emguArgs.InfraredFrameDimension = new FrameDimension(infraredFrameDescription.Width, infraredFrameDescription.Height);
// infraredImage.Dispose();
}
infraredFrame.Dispose();
infraredFrame = null;
// Check as to whether or not the color image is needed for mainwindow view
if (generateColorImage)
{
ColorFrameReference colorFrameReference = multiSourceFrame.ColorFrameReference;
colorFrame = colorFrameReference.AcquireFrame();
if (colorFrame == null)
{
return;
}
// color image
FrameDescription colorFrameDescription = colorFrame.FrameDescription;
// the fastest way to process the color frame data is to directly access
// the underlying buffer
using (Microsoft.Kinect.KinectBuffer colorBuffer = colorFrame.LockRawImageBuffer())
{
// Conversion to needed EMGU image
Mat colorImage = this.ProcessColorFrameData(colorFrame);
emguArgs.Colorimage = colorImage;
emguArgs.ColorFrameDimension = new FrameDimension(colorFrameDescription.Width, colorFrameDescription.Height);
}
// We're done with the colorFrame
colorFrame.Dispose();
colorFrame = null;
}
}
// Call the processing finished event for the conversion to EMGU images
OnEmguArgsProcessed(emguArgs);
}
catch (Exception ex)
{
// ignore if the frame is no longer available
Console.WriteLine("FRAME CHRASHED: " + ex.ToString());
}
finally
{
// generate event at send writeable bitmaps for each frame, and cleanup.
// only generate event if the mainwindow is shown.
// DepthFrame, ColorFrame are Disposable.
if (colorFrame != null)
{
colorFrame.Dispose();
colorFrame = null;
}
if (depthFrame != null)
{
depthFrame.Dispose();
depthFrame = null;
}
// infraredFrame is Disposable
if (infraredFrame != null)
{
infraredFrame.Dispose();
infraredFrame = null;
}
if (multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
}
/// <summary>
/// Sends an event with FrameProcessedEventArgs when a frame has be processed
/// </summary>
/// <param name="e"></param>
protected virtual void OnEmguArgsProcessed(EMGUargs e)
{
EmguArgsProcessed?.Invoke(this, e);
}