/// <inheritdoc/>
protected override void ProcessSensorFrame(IResearchModeSensorFrame sensorFrame, ResearchModeSensorResolution resolution, ulong frameTicks, DateTime originatingTime)
{
var shouldOutputDepthImage = this.Configuration.OutputDepthImage &&
(originatingTime - this.DepthImage.LastEnvelope.OriginatingTime) > this.Configuration.OutputMinInterval;
var shouldOutputDepthImageCameraView = this.Configuration.OutputDepthImageCameraView &&
(originatingTime - this.DepthImageCameraView.LastEnvelope.OriginatingTime) > this.Configuration.OutputMinInterval;
var shouldOutputInfraredImage = this.Configuration.OutputInfraredImage &&
(originatingTime - this.InfraredImage.LastEnvelope.OriginatingTime) > this.Configuration.OutputMinInterval;
var shouldOutputInfraredImageCameraView = this.Configuration.OutputInfraredImageCameraView &&
(originatingTime - this.InfraredImageCameraView.LastEnvelope.OriginatingTime) > this.Configuration.OutputMinInterval;
if (shouldOutputDepthImage ||
shouldOutputDepthImageCameraView ||
shouldOutputInfraredImage ||
shouldOutputInfraredImageCameraView)
{
var depthFrame = sensorFrame as ResearchModeSensorDepthFrame;
int depthImageWidth = (int)resolution.Width;
int depthImageHeight = (int)resolution.Height;
// Process and post the depth image if need be
if (shouldOutputDepthImage || shouldOutputDepthImageCameraView)
{
byte[] sigmaBuffer = null;
var depthBuffer = depthFrame.GetBuffer();
if (this.isLongThrow)
{
sigmaBuffer = depthFrame.GetSigmaBuffer(); // Long-throw only
Debug.Assert(depthBuffer.Length == sigmaBuffer.Length, "Depth and sigma buffers should be of equal size!");
}
using var depthImage = DepthImagePool.GetOrCreate(
depthImageWidth,
depthImageHeight,
DepthValueSemantics.DistanceToPoint,
0.001);
Debug.Assert(depthImage.Resource.Size == depthBuffer.Length * sizeof(ushort), "DepthImage size does not match raw depth buffer size!");
unsafe
{
ushort *depthData = (ushort *)depthImage.Resource.ImageData.ToPointer();
for (int i = 0; i < depthBuffer.Length; ++i)
{
bool invalid = this.isLongThrow ?
((sigmaBuffer[i] & InvalidMask) > 0) :
(depthBuffer[i] >= InvalidAhatValue);
*depthData++ = invalid ? (ushort)0 : depthBuffer[i];
}
}
if (shouldOutputDepthImage)
{
this.DepthImage.Post(depthImage, originatingTime);
}
if (shouldOutputDepthImageCameraView)
{
using var depthImageCameraView = new DepthImageCameraView(depthImage, this.GetCameraIntrinsics(), this.GetCameraPose());
this.DepthImageCameraView.Post(depthImageCameraView, originatingTime);
}
}
// Process and post the infrared image if need be
if (shouldOutputInfraredImage || shouldOutputInfraredImageCameraView)
{
var infraredBuffer = depthFrame.GetAbDepthBuffer();
using var infraredImage = ImagePool.GetOrCreate(depthImageWidth, depthImageHeight, PixelFormat.Gray_16bpp);
Debug.Assert(infraredImage.Resource.Size == infraredBuffer.Length * sizeof(ushort), "InfraredImage size does not match raw infrared buffer size!");
unsafe
{
fixed(ushort *p = infraredBuffer)
{
infraredImage.Resource.CopyFrom((IntPtr)p);
}
}
if (shouldOutputInfraredImage)
{
this.InfraredImage.Post(infraredImage, originatingTime);
}
if (shouldOutputInfraredImageCameraView)
{
using var infraredImageCameraView = new ImageCameraView(infraredImage, this.GetCameraIntrinsics(), this.GetCameraPose());
this.InfraredImageCameraView.Post(infraredImageCameraView, originatingTime);
}
}
}
}
/// <inheritdoc/>
protected override void ProcessSensorFrame(IResearchModeSensorFrame sensorFrame, ResearchModeSensorResolution resolution, ulong frameTicks, DateTime originatingTime)
{
var shouldOutputImage = this.Configuration.OutputImage &&
(originatingTime - this.Image.LastEnvelope.OriginatingTime) > this.Configuration.OutputMinInterval;
var shouldOutputImageCameraView = this.Configuration.OutputImageCameraView &&
(originatingTime - this.ImageCameraView.LastEnvelope.OriginatingTime) > this.Configuration.OutputMinInterval;
if (shouldOutputImage || shouldOutputImageCameraView)
{
var vlcFrame = sensorFrame as ResearchModeSensorVlcFrame;
var imageBuffer = vlcFrame.GetBuffer();
int imageWidth = (int)resolution.Width;
int imageHeight = (int)resolution.Height;
using var image = ImagePool.GetOrCreate(imageWidth, imageHeight, PixelFormat.Gray_8bpp);
Debug.Assert(image.Resource.Size == imageBuffer.Length * sizeof(byte), "Image size does not match raw image buffer size!");
image.Resource.CopyFrom(imageBuffer);
if (shouldOutputImage)
{
this.Image.Post(image, originatingTime);
}
if (shouldOutputImageCameraView)
{
using var imageCameraView = new ImageCameraView(image, this.GetCameraIntrinsics(), this.GetCameraPose());
this.ImageCameraView.Post(imageCameraView, originatingTime);
}
}
}
