public bool PollInfraredFrame(KinectInterop.SensorData sensorData)
{
bool bNewFrame = false;
if ((multiSourceFrameReader != null && multiSourceFrame != null) ||
infraredFrameReader != null)
{
var infraredFrame = multiSourceFrame != null?multiSourceFrame.InfraredFrameReference.AcquireFrame() :
infraredFrameReader.AcquireLatestFrame();
if (infraredFrame != null)
{
var pInfraredData = GCHandle.Alloc(sensorData.infraredImage, GCHandleType.Pinned);
infraredFrame.CopyFrameDataToIntPtr(pInfraredData.AddrOfPinnedObject(), (uint)sensorData.infraredImage.Length * sizeof(ushort));
pInfraredData.Free();
sensorData.lastInfraredFrameTime = infraredFrame.RelativeTime.Ticks;
infraredFrame.Dispose();
infraredFrame = null;
bNewFrame = true;
}
}
return(bNewFrame);
}
private void Update()
{
if (_Reader != null)
{
var frame = _Reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(_Data);
var index = 0;
foreach (var ir in _Data)
{
var intensity = (byte)(ir >> 8);
_RawData[index++] = intensity;
_RawData[index++] = intensity;
_RawData[index++] = intensity;
_RawData[index++] = 255; // Alpha
}
_Texture.LoadRawTextureData(_RawData);
_Texture.Apply();
frame.Dispose();
frame = null;
}
}
}
public override void Update()
{
trackedBodyJoints.Clear();
if (infraredReader != null)
{
var infraredFrame = infraredReader.AcquireLatestFrame();
if (infraredFrame != null)
{
infraredFrame.CopyFrameDataToArray(_InfraredData);
int index = 0;
foreach (var ir in _InfraredData)
{
byte intensity = (byte)(ir >> 8);
_InfraredRawData[index++] = intensity;
_InfraredRawData[index++] = intensity;
_InfraredRawData[index++] = intensity;
_InfraredRawData[index++] = 255;
}
_InfraredTexture.LoadRawTextureData(_InfraredRawData);
_InfraredTexture.Apply();
infraredFrame.Dispose();
infraredFrame = null;
}
}
}
public void Update()
{
if (reader != null)
{
InfraredFrame frame = reader.AcquireLatestFrame();
if (frame != null)
{
frame.CopyFrameDataToArray(FrameData);
int index = 0;
foreach (var ir in FrameData)
{
byte intensity = (byte)(ir >> 8);
for (int i = 0; i < 3; i++)
{
RawData[index++] = intensity;
}
RawData[index++] = 255; // Alpha
}
Texture.LoadRawTextureData(RawData);
Texture.Apply();
frame.Dispose();
frame = null;
}
}
}
/// <summary>
/// Acquires the latest infrared frame.
/// It calles the OnInfraredFrameReceived only if the acquired frame is not null.
/// </summary>
protected void UpdateInfraredFrame(bool updateFrameView = true)
{
if (infraredFrameReader != null)
{
using (InfraredFrame frame = infraredFrameReader.AcquireLatestFrame())
{
if (frame != null)
{
if (updateFrameView)
{
frameView.FrameTexture = frame.ToBitmap();
}
OnInfraredFrameReceived(frame);
}
}
}
}
void Update()
{
if (colorReader != null)
{
updateColor(colorReader.AcquireLatestFrame());
}
if (infraredReader != null)
{
updateInfrared(infraredReader.AcquireLatestFrame());
}
if (depthReader != null)
{
updateDepth(depthReader.AcquireLatestFrame());
}
}
public static bool PollInfrared(InfraredFrameReader reader, ref ushort[] infraredFrameData)
{
bool newInfrared = false;
if (reader != null)
{
var frame = reader.AcquireLatestFrame();
if (frame != null)
{
newInfrared = true;
frame.CopyFrameDataToArray(infraredFrameData);
frame.Dispose();
frame = null;
}
}
return(newInfrared);
}
////////////////////////////////////////INFRA////////////////////////////////////////////////////////
void Update()
{
if (_Reader_Infrared != null && _Reader_Depth != null)
{
var infrared_frame = _Reader_Infrared.AcquireLatestFrame();
var depth_frame = _Reader_Depth.AcquireLatestFrame();
if (infrared_frame != null && depth_frame != null)
{
infrared_frame.CopyFrameDataToArray(_Data_Infrared);
depth_frame.CopyFrameDataToArray(_Data_Depth);
ushort minDepth = depth_frame.DepthMinReliableDistance;
maxDepth = depth_frame.DepthMaxReliableDistance;
///INFRARED
int index = 0;
int column = 0;
int row = 0;
List <Coord> blank_spaces = new List <Coord>();
foreach (var ir in _Data_Infrared)
{
byte intensity = (byte)(ir >> 8);
if (column == width)
{
column = 0;
row++;
}
try
{
infrared_matrix[row, column] = intensity;
}
catch (Exception e)
{
Debug.Log("ERROR: row" + row + " column" + column);
}
infrared_matrix[row, column] = intensity;
//si el punto es completamente blanco, entonces forma parte de un marker
if (intensity == 255)
{
Coord aux = new Coord(row, column);
blank_spaces.Add(aux);
}
/*if (counting < 100 && intensity == 255)
* {
* Debug.Log("intensity: " + intensity);
* Debug.Log("index: " + index);
*
* counting++;
* }*/
_RawData[index++] = intensity;
_RawData[index++] = intensity;
_RawData[index++] = intensity;
_RawData[index++] = 255; // Alpha
column++;
}
_Texture.LoadRawTextureData(_RawData);
_Texture.Apply();
infrared_frame.Dispose();
infrared_frame = null;
///INFRARED
///DEPTH
column = 0;
row = 0;
foreach (var depth in _Data_Depth)
{
byte distance = (byte)(depth >= minDepth && depth <= maxDepth ? depth : 0);
/*if (distance!=0 && counter < 10)
* {
* Debug.Log("distancia: " + distance);
* Debug.Log("X:" + column + " Y:" + row);
* counter++;
* }*/
if (column == width)
{
column = 0;
row++;
}
try
{
depth_matrix[row, column] = depth;
}
catch (Exception e)
{
Debug.Log("ERROR: row" + row + " column" + column);
}
depth_matrix[row, column] = depth;
column++;
}
depth_frame.Dispose();
depth_frame = null;
///DEPTH
//checkear si hay demasiado blanco
if (blank_spaces.Count < width * height * 5 / 100)
{
markers = find_markers(blank_spaces);
List <int> tmp_marker_minimum = new List <int>();
//algoritmo para llenar una lista con los bordes para cada marcador marcadores
for (int i = 0; i < markers.Count; i++)
{
List <InfraredSourceManager.Coord> marker_pixels = markers[i].pixels;
List <InfraredSourceManager.Coord> borders = get_border(marker_pixels);
tmp_marker_minimum.Add(get_minimum(borders));
}
markers_depth = tmp_marker_minimum;
}
else
{
markers = null;
markers_depth = null;
}
//Algoritmo de deteccion de marcadores
/*if (markers.Count>0)
* Debug.Log("TOTAL DE MARCADORES:" + markers.Count);*/
/* index maximo es 868 352 */
/* van de 4 en 4 ...asi que son 217 088 */
/* ventana es 512 424 */
}
}
}
