private void MultiFrameArrived(object sender, MultiSourceFrameArrivedEventArgs args)
{
bool dataReceived = false;
MultiSourceFrame multiSourceFrame = args.FrameReference.AcquireFrame();
using (DepthFrame depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame()) {
if (depthFrame != null)
{
var pDepthData = GCHandle.Alloc(pDepthBuffer, GCHandleType.Pinned);
depthFrame.CopyFrameDataToIntPtr(pDepthData.AddrOfPinnedObject(), (uint)pDepthBuffer.Length * sizeof(ushort));
pDepthData.Free();
dataReceived = true;
}
}
using (ColorFrame colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame()) {
if (colorFrame != null)
{
var pColorData = GCHandle.Alloc(pColorBuffer, GCHandleType.Pinned);
colorFrame.CopyConvertedFrameDataToIntPtr(pColorData.AddrOfPinnedObject(), (uint)pColorBuffer.Length, ColorImageFormat.Bgra);
pColorData.Free();
dataReceived = true;
}
}
using (BodyIndexFrame bodyIndexFrame = multiSourceFrame.BodyIndexFrameReference.AcquireFrame()) {
if (bodyIndexFrame != null)
{
var pBodyIndexData = GCHandle.Alloc(pBodyIndexBuffer, GCHandleType.Pinned);
bodyIndexFrame.CopyFrameDataToIntPtr(pBodyIndexData.AddrOfPinnedObject(), (uint)pBodyIndexBuffer.Length);
pBodyIndexData.Free();
dataReceived = true;
}
}
using (BodyFrame bodyFrame = multiSourceFrame.BodyFrameReference.AcquireFrame()) {
if (bodyFrame != null)
{
if (pBodyData == null)
{
pBodyData = new Body[bodyFrame.BodyCount];
}
bodyFrame.GetAndRefreshBodyData(pBodyData);
dataReceived = true;
}
}
if (dataReceived)
{
//////// FPS - BEGIN
frameCount++;
//////// FPS - END
ProcessFrame();
}
}
private unsafe void FrameReader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
_Stopwatch.Restart();
MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
if (multiSourceFrame != null)
{
ColorFrame colorFrame = null;
DepthFrame depthFrame = null;
BodyFrame bodyFrame = null;
BodyIndexFrame bodyIndexFrame = null;
try
{
bool allRequiredDataReceived = true;
if (_FrameSourceTypes.HasFlag(FrameSourceTypes.Color))
{
colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
if (colorFrame != null)
{
fixed(byte *colorBytesPointer = ColorPixels)
{
IntPtr colorPtr = (IntPtr)colorBytesPointer;
uint size = (uint)(_ColorFrameDescription.Width * _ColorFrameDescription.Height * _ColorFrameDescription.BytesPerPixel);
if (colorFrame.RawColorImageFormat == ImageFormat)
{
colorFrame.CopyRawFrameDataToIntPtr(colorPtr, size);
}
else
{
colorFrame.CopyConvertedFrameDataToIntPtr(colorPtr, size, ImageFormat);
}
}
}
else
{
allRequiredDataReceived = false;
}
}
if (_FrameSourceTypes.HasFlag(FrameSourceTypes.Depth) && allRequiredDataReceived)
{
depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame();
if (depthFrame != null)
{
fixed(ushort *depthBytesPointer = DepthPixels)
{
IntPtr depthPtr = (IntPtr)depthBytesPointer;
depthFrame.CopyFrameDataToIntPtr(depthPtr, (uint)(_DepthFrameDescription.Width * _DepthFrameDescription.Height * _DepthFrameDescription.BytesPerPixel));
}
}
else
{
allRequiredDataReceived = false;
}
}
if (_FrameSourceTypes.HasFlag(FrameSourceTypes.Body) && allRequiredDataReceived)
{
bodyFrame = multiSourceFrame.BodyFrameReference.AcquireFrame();
if (bodyFrame != null)
{
bodyFrame.GetAndRefreshBodyData(Bodies);
}
else
{
allRequiredDataReceived = false;
}
}
if (_FrameSourceTypes.HasFlag(FrameSourceTypes.BodyIndex) && allRequiredDataReceived)
{
bodyIndexFrame = multiSourceFrame.BodyIndexFrameReference.AcquireFrame();
if (bodyIndexFrame != null)
{
fixed(byte *bodyIndexBytesPointer = BodyIndexPixels)
{
IntPtr bodyIndexPtr = (IntPtr)bodyIndexBytesPointer;
bodyIndexFrame.CopyFrameDataToIntPtr(bodyIndexPtr, (uint)(_BodyIndexFrameDescription.Width * _BodyIndexFrameDescription.Height * _BodyIndexFrameDescription.BytesPerPixel));
}
}
else
{
allRequiredDataReceived = false;
}
}
if (allRequiredDataReceived)
{
_KinectFrameArrivedEventArgs.ColorPixels = ColorPixels;
_KinectFrameArrivedEventArgs.DepthPixels = DepthPixels;
_KinectFrameArrivedEventArgs.Bodies = Bodies;
_KinectFrameArrivedEventArgs.BodyIndexPixels = BodyIndexPixels;
_KinectFrameArrivedEventArgs.KinectSensor = multiSourceFrame.KinectSensor;
_KinectFrameArrivedEventArgs.FrameNumber = _FrameNumber;
EventHandler <KinectFrameArrivedEventArgs> handler = FrameArrived;
if (handler != null)
{
handler(this, _KinectFrameArrivedEventArgs);
}
}
}
finally
{
if (colorFrame != null)
{
colorFrame.Dispose();
}
if (depthFrame != null)
{
depthFrame.Dispose();
}
if (bodyFrame != null)
{
bodyFrame.Dispose();
}
if (bodyIndexFrame != null)
{
bodyIndexFrame.Dispose();
}
}
}
_Stopwatch.Stop();
RaiseKinectFrameComplete(_Stopwatch.Elapsed);
_FrameNumber++;
}
