public DepthFrame(Windows.Kinect.DepthFrame df)
{
Type = FrameType.Depth;
this.underlyingDepthFrame = df;
// Set Dimensions of the depth frame
Width = df.DepthFrameSource.FrameDescription.Width;
Height = df.DepthFrameSource.FrameDescription.Height;
// Reserve memory for storing depth data
if (depthData == null)
{
depthData = new ushort[Width * Height];
}
// Copy depth data to memory reserved earlier
df.CopyFrameDataToArray(this.depthData);
}
public Status Update()
{
Kinect.MultiSourceFrame frame = _Reader.AcquireLatestFrame();
if (frame == null)
{
//Debug.LogWarning("Frame not arrived");
return(Status.ZeroBody);
}
Kinect.DepthFrame depthFrame = frame.DepthFrameReference.AcquireFrame();
if (depthFrame == null)
{
return(Status.ZeroBody);
}
depthFrame.CopyFrameDataToArray(DepthData);
depthFrame.Dispose();
depthFrame = null;
Kinect.BodyFrame bodyFrame = frame.BodyFrameReference.AcquireFrame();
if (bodyFrame == null)
{
return(Status.ZeroBody);
}
bodyFrame.GetAndRefreshBodyData(_BodyData);
bodyFrame.Dispose();
bodyFrame = null;
int bodyIdx;
Status status;
checkTrackedBody(out bodyIdx, out status);
if (status != Status.ZeroBody)
{
JointData = _BodyData[bodyIdx].Joints;
JointOriendationData = _BodyData[bodyIdx].JointOrientations;
}
return(status);
}
public bool GetMultiSourceFrame(KinectInterop.SensorData sensorData)
{
if(multiSourceFrameReader != null)
{
multiSourceFrame = multiSourceFrameReader.AcquireLatestFrame();
if(multiSourceFrame != null)
{
// try to get all frames at once
msBodyFrame = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0 ? multiSourceFrame.BodyFrameReference.AcquireFrame() : null;
msBodyIndexFrame = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0 ? multiSourceFrame.BodyIndexFrameReference.AcquireFrame() : null;
msColorFrame = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0 ? multiSourceFrame.ColorFrameReference.AcquireFrame() : null;
msDepthFrame = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0 ? multiSourceFrame.DepthFrameReference.AcquireFrame() : null;
msInfraredFrame = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0 ? multiSourceFrame.InfraredFrameReference.AcquireFrame() : null;
bool bAllSet =
((sensorFlags & KinectInterop.FrameSource.TypeBody) == 0 || msBodyFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) == 0 || msBodyIndexFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeColor) == 0 || msColorFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeDepth) == 0 || msDepthFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeInfrared) == 0 || msInfraredFrame != null);
if(!bAllSet)
{
// release all frames
if(msBodyFrame != null)
{
msBodyFrame.Dispose();
msBodyFrame = null;
}
if(msBodyIndexFrame != null)
{
msBodyIndexFrame.Dispose();
msBodyIndexFrame = null;
}
if(msColorFrame != null)
{
msColorFrame.Dispose();
msColorFrame = null;
}
if(msDepthFrame != null)
{
msDepthFrame.Dispose();
msDepthFrame = null;
}
if(msInfraredFrame != null)
{
msInfraredFrame.Dispose();
msInfraredFrame = null;
}
}
// else
// {
// bool bNeedBody = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0;
// bool bNeedBodyIndex = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0;
// bool bNeedColor = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0;
// bool bNeedDepth = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0;
// bool bNeedInfrared = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0;
//
// bAllSet = true;
// }
}
return (multiSourceFrame != null);
}
return false;
}
public void FreeMultiSourceFrame(KinectInterop.SensorData sensorData)
{
// release all frames
if(msBodyFrame != null)
{
msBodyFrame.Dispose();
msBodyFrame = null;
}
if(msBodyIndexFrame != null)
{
msBodyIndexFrame.Dispose();
msBodyIndexFrame = null;
}
if(msColorFrame != null)
{
msColorFrame.Dispose();
msColorFrame = null;
}
if(msDepthFrame != null)
{
msDepthFrame.Dispose();
msDepthFrame = null;
}
if(msInfraredFrame != null)
{
msInfraredFrame.Dispose();
msInfraredFrame = null;
}
if(multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
