/// <summary>
/// Returns true if DetailedGear instances are equal
/// </summary>
/// <param name="other">Instance of DetailedGear to be compared</param>
/// <returns>Boolean</returns>
public bool Equals(DetailedGear other)
{
if (ReferenceEquals(null, other))
{
return(false);
}
if (ReferenceEquals(this, other))
{
return(true);
}
return
((
BrandName == other.BrandName ||
BrandName != null &&
BrandName.Equals(other.BrandName)
) &&
(
ModelName == other.ModelName ||
ModelName != null &&
ModelName.Equals(other.ModelName)
) &&
(
FrameType == other.FrameType ||
FrameType != null &&
FrameType.Equals(other.FrameType)
) &&
(
Description == other.Description ||
Description != null &&
Description.Equals(other.Description)
));
}
public IUIObject CreateFrame(FrameType frameType, string name, IFrame parent, string inherits)
{
if (frameType.Equals(FrameType.Frame))
{
return(MockFrame(name, parent, inherits).Object);
}
throw new NotImplementedException();
}
private void MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
if (m_frameBool)
{
//pull multisource frame reference out
MultiSourceFrame multiSourceFrame = e.FrameReference.AcquireFrame();
//Return on null
if (multiSourceFrame is null)
{
return;
}
//Calibration and full get sampled number of frames
if ((m_currentFrameType.Equals(FrameType.Calibration) || m_currentFrameType.Equals(FrameType.Full)))
{
using (DepthFrame depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame())
{
//Store one frame
m_tempDepthData[m_sampleIndex] = new ushort[m_depthFrameDescription.Width * m_depthFrameDescription.Height];
depthFrame.CopyFrameDataToArray(m_tempDepthData[m_sampleIndex]);
m_minDepth = depthFrame.DepthMinReliableDistance;
m_maxDepth = depthFrame.DepthMaxReliableDistance;
}
//...until all samples are acquired
if (m_sampleIndex == m_samplingRate - 1)
{
//Then clean the points
CleanDepth();
}
else
{
//Not done, get next sample
m_sampleIndex++;
return;
}
}
//Instantiate images
m_depthImage = new WriteableBitmap(m_depthFrameDescription.Width, m_depthFrameDescription.Height, 96, 96, PixelFormats.Bgr32, null);
m_colorImage = new WriteableBitmap(m_colorFrameDescription.Width, m_colorFrameDescription.Height, 96, 96, PixelFormats.Bgr32, null);
m_infraredImage = new WriteableBitmap(m_infraredFrameDescription.Width, m_infraredFrameDescription.Height, 96, 96, PixelFormats.Bgr32, null);
switch (m_currentFrameType)
{
case FrameType.Alignment:
using (DepthFrame depthframe = multiSourceFrame.DepthFrameReference.AcquireFrame())
{
depthframe.CopyFrameDataToArray(m_depthData);
m_maxDepth = depthframe.DepthMaxReliableDistance;
m_minDepth = depthframe.DepthMinReliableDistance;
ProcessDepth();
KinectFrameArgs args = new KinectFrameArgs(FrameType.Alignment, m_depthImage);
args.pointCloudV3 = m_cameraSpacePoints.Where(x => x.X != float.NegativeInfinity).Select(x => new Vector3(x.X, x.Y, x.Z)).ToArray();
FrameArrived.Invoke(HelperContext, args);
}
break;
case FrameType.Calibration:
ProcessDepth();
FrameArrived.Invoke(HelperContext, new KinectFrameArgs(FrameType.Calibration, m_depthImage));
break;
case FrameType.Full:
using (ColorFrame colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame())
using (InfraredFrame infraredFrame = multiSourceFrame.InfraredFrameReference.AcquireFrame())
{
ProcessDepth();
ProcessColor(colorFrame);
ProcessInfrared(infraredFrame);
KinectFrameArgs args = new KinectFrameArgs(FrameType.Full, m_depthImage, m_colorImage, m_infraredImage);
args.pointCloudCSP = m_cameraSpacePoints;
args.pointCloudV3 = m_cameraSpacePoints.Where(x => x.X != float.NegativeInfinity).Select(x => new Vector3(x.X, x.Y, x.Z)).ToArray();
FrameArrived.Invoke(HelperContext, args);
}
break;
}
m_frameBool = false;
}
else
{
return;
}
}