protected virtual void OnColorFrameReceived(KinectBase.ColorFrameEventArgs e)
{
if (ColorFrameReceived != null)
{
ColorFrameReceived(this, e);
}
}
void irReader_FrameArrived(object sender, InfraredFrameArrivedEventArgs e)
{
using (InfraredFrame frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
FrameDescription desc = frame.FrameDescription;
KinectBase.ColorFrameEventArgs irE = new KinectBase.ColorFrameEventArgs();
irE.bytesPerPixel = (int)desc.BytesPerPixel;
irE.pixelFormat = PixelFormats.Gray16;
irE.height = desc.Height;
irE.width = desc.Width;
irE.kinectID = kinectID;
irE.timeStamp = frame.RelativeTime;
irE.isIR = true;
//irE.image = new byte[desc.LengthInPixels * sizeof(UInt16)];
irE.image = irImagePool.GetObject();
unsafe
{
fixed(byte *ptr = irE.image)
{
frame.CopyFrameDataToIntPtr((IntPtr)ptr, desc.LengthInPixels * sizeof(UInt16));
}
}
OnColorFrameReceived(irE);
}
}
}
private void kinect_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame frame = e.OpenColorImageFrame())
{
if (frame != null)
{
KinectBase.ColorFrameEventArgs colorE = new KinectBase.ColorFrameEventArgs();
colorE.kinectID = this.kinectID;
if (frame.Format == ColorImageFormat.InfraredResolution640x480Fps30)
{
colorE.pixelFormat = PixelFormats.Gray16;
colorE.isIR = true;
}
else
{
colorE.pixelFormat = PixelFormats.Bgr32;
colorE.isIR = false;
}
colorE.width = frame.Width;
colorE.height = frame.Height;
colorE.bytesPerPixel = frame.BytesPerPixel;
colorE.timeStamp = new TimeSpan(frame.Timestamp * 10000); //Convert from milliseconds to ticks and set the time span
//colorE.image = new byte[frame.PixelDataLength];
colorE.image = colorImagePool.GetObject(); //Get an array from the image pool
if (colorE.image.Length != frame.PixelDataLength) //If the image array is the wrong size, create a new one (it will get cycled into the pool on its own later)
{
colorE.image = new byte[frame.PixelDataLength];
}
frame.CopyPixelDataTo(colorE.image);
OnColorFrameReceived(colorE);
}
}
}
void colorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
FrameDescription desc = frame.FrameDescription;
KinectBase.ColorFrameEventArgs colorE = new KinectBase.ColorFrameEventArgs();
colorE.bytesPerPixel = 4; //This is fixed to 4 because we are converting to bgra below)
colorE.pixelFormat = PixelFormats.Bgra32;
colorE.height = desc.Height;
colorE.width = desc.Width;
colorE.kinectID = kinectID;
colorE.timeStamp = frame.RelativeTime;
colorE.isIR = false;
colorE.image = colorImagePool.GetObject();
//colorE.image = new byte[desc.LengthInPixels * colorE.bytesPerPixel];
//frame.CopyConvertedFrameDataToArray(colorE.image, ColorImageFormat.Bgra);
unsafe
{
fixed(byte *ptr = colorE.image)
{
frame.CopyConvertedFrameDataToIntPtr((IntPtr)ptr, desc.LengthInPixels * sizeof(byte) * 4, ColorImageFormat.Bgra);
}
}
OnColorFrameReceived(colorE);
}
}
}
protected virtual void OnColorFrameReceived(KinectBase.ColorFrameEventArgs e)
{
if (ColorFrameReceived != null)
{
ColorFrameReceived(this, e);
}
//Put the object back in the image pool
if (e.isIR)
{
irImagePool.PutObject(e.image);
}
else
{
colorImagePool.PutObject(e.image);
}
}
void irReader_FrameArrived(object sender, InfraredFrameArrivedEventArgs e)
{
using (InfraredFrame frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
FrameDescription desc = frame.FrameDescription;
KinectBase.ColorFrameEventArgs irE = new KinectBase.ColorFrameEventArgs();
irE.bytesPerPixel = (int)desc.BytesPerPixel;
irE.pixelFormat = PixelFormats.Gray16;
irE.height = desc.Height;
irE.width = desc.Width;
irE.kinectID = kinectID;
irE.timeStamp = frame.RelativeTime;
irE.isIR = true;
//irE.image = new byte[desc.LengthInPixels * sizeof(UInt16)];
irE.image = irImagePool.GetObject();
unsafe
{
fixed (byte* ptr = irE.image)
{
frame.CopyFrameDataToIntPtr((IntPtr)ptr, desc.LengthInPixels * sizeof(UInt16));
}
}
OnColorFrameReceived(irE);
}
}
}
void colorReader_FrameArrived(object sender, ColorFrameArrivedEventArgs e)
{
using (ColorFrame frame = e.FrameReference.AcquireFrame())
{
if (frame != null)
{
FrameDescription desc = frame.FrameDescription;
KinectBase.ColorFrameEventArgs colorE = new KinectBase.ColorFrameEventArgs();
colorE.bytesPerPixel = 4; //This is fixed to 4 because we are converting to bgra below)
colorE.pixelFormat = PixelFormats.Bgra32;
colorE.height = desc.Height;
colorE.width = desc.Width;
colorE.kinectID = kinectID;
colorE.timeStamp = frame.RelativeTime;
colorE.isIR = false;
colorE.image = colorImagePool.GetObject();
//colorE.image = new byte[desc.LengthInPixels * colorE.bytesPerPixel];
//frame.CopyConvertedFrameDataToArray(colorE.image, ColorImageFormat.Bgra);
unsafe
{
fixed (byte* ptr = colorE.image)
{
frame.CopyConvertedFrameDataToIntPtr((IntPtr)ptr, desc.LengthInPixels * sizeof(byte) * 4, ColorImageFormat.Bgra);
}
}
OnColorFrameReceived(colorE);
}
}
}
private void kinect_ColorFrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
using (ColorImageFrame frame = e.OpenColorImageFrame())
{
if (frame != null)
{
KinectBase.ColorFrameEventArgs colorE = new KinectBase.ColorFrameEventArgs();
colorE.kinectID = this.kinectID;
if (frame.Format == ColorImageFormat.InfraredResolution640x480Fps30)
{
colorE.pixelFormat = PixelFormats.Gray16;
colorE.isIR = true;
}
else
{
colorE.pixelFormat = PixelFormats.Bgr32;
colorE.isIR = false;
}
colorE.width = frame.Width;
colorE.height = frame.Height;
colorE.bytesPerPixel = frame.BytesPerPixel;
colorE.timeStamp = new TimeSpan(frame.Timestamp * 10000); //Convert from milliseconds to ticks and set the time span
//colorE.image = new byte[frame.PixelDataLength];
colorE.image = colorImagePool.GetObject(); //Get an array from the image pool
if (colorE.image.Length != frame.PixelDataLength) //If the image array is the wrong size, create a new one (it will get cycled into the pool on its own later)
{
colorE.image = new byte[frame.PixelDataLength];
}
frame.CopyPixelDataTo(colorE.image);
OnColorFrameReceived(colorE);
}
}
}
