/// <summary>
/// Constructor that allocates a pinned buffer
/// </summary>
/// <param name="dataFormat">
/// A <see cref="DepthCamera.DataFormatOption"/>
/// </param>
/// <param name="allocateBuffer">
///
/// </param>
internal DepthMap(DepthCamera.DataFormatOption dataFormat)
{
this.Width = DepthCamera.DataFormatDimensions[dataFormat].X;
this.Height = DepthCamera.DataFormatDimensions[dataFormat].Y;
this.DataFormat = dataFormat;
this.Data = new byte[DepthCamera.DataFormatSizes[dataFormat]];
this.dataHandle = GCHandle.Alloc(this.Data, GCHandleType.Pinned);
this.DataPointer = this.dataHandle.AddrOfPinnedObject();
}
/// <summary>
/// Constructor where a buffer allocation isn't needed
/// </summary>
/// <param name="dataFormat">
/// A <see cref="DepthCamera.DataFormatOption"/>
/// </param>
/// <param name="bufferPointer">
/// A <see cref="IntPtr"/>
/// </param>
internal DepthMap(DepthCamera.DataFormatOption dataFormat, IntPtr bufferPointer)
{
this.Width = DepthCamera.DataFormatDimensions[dataFormat].X;
this.Height = DepthCamera.DataFormatDimensions[dataFormat].Y;
this.DataFormat = dataFormat;
this.Data = null;
this.dataHandle = default(GCHandle);
this.DataPointer = bufferPointer;
}
/// <summary>
/// Sets the DepthCameras's data format. Support function for DepthCamera.DataFormat
/// </summary>
/// <param name="format">
/// A <see cref="DepthCamera.DataFormatOptions"/>
/// </param>
private void SetDataFormat(DepthCamera.DataFormatOption format)
{
// change depth map that's waiting cause format has changed
this.UpdateNextFrameDepthMap();
int result = KinectNative.freenect_set_depth_format(this.parentDevice.devicePointer, format);
if (result != 0)
{
throw new Exception("Could not switch to depth format " + format + ". Error Code: " + result);
}
this.dataFormat = format;
}
public static extern int freenect_set_depth_format(IntPtr device, DepthCamera.DataFormatOption depthFormat);
