public void CloseSensor(KinectInterop.SensorData sensorData)
{
UnityEngine.WSA.Application.InvokeOnUIThread(() =>
{
if (_kinectSensor != null)
{
_kinectSensor?.CloseAsync();
Debug.Log("UWP-K2 sensor closed");
}
}, true);
if (_depthPlaneCoordsBuf != null)
{
_depthPlaneCoordsBuf.Release();
_depthPlaneCoordsBuf = null;
}
if (_depthDepthValuesBuf != null)
{
_depthDepthValuesBuf.Release();
_depthDepthValuesBuf = null;
}
if (_colorPlaneCoordsBuf != null)
{
_colorPlaneCoordsBuf.Release();
_colorPlaneCoordsBuf = null;
}
if (_colorSpaceCoordsBuf != null)
{
_colorSpaceCoordsBuf.Release();
_colorSpaceCoordsBuf = null;
}
if (_colorDepthCoordsBuf != null)
{
_colorDepthCoordsBuf.Release();
_colorDepthCoordsBuf = null;
}
_colorCameraIntrinsics = null;
_depthCameraIntrinsics = null;
_coordinateMapper = null;
_coordinateMapper2 = null;
_coordMapperShader = null;
_lastDepthDataBuf = null;
_clearLatestFrames = true;
FreeMultiSourceFrame(sensorData);
}
private async Task InitializeKinect()
{
_kinectSensor = await Sensor.GetDefaultAsync();
if (_kinectSensor != null)
{
await _kinectSensor.OpenAsync();
if ((sensorFlags & KinectInterop.FrameSource.TypeColor) != 0)
{
_colorReader = await _kinectSensor.OpenColorFrameReaderAsync(ReaderConfig.HalfRate | ReaderConfig.HalfResolution);
sensorData.colorImage = new byte[sensorData.colorImageWidth * sensorData.colorImageHeight * 4];
if (_colorReader != null)
{
_colorReader.FrameArrived += ColorReader_FrameArrived;
}
}
if ((sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0)
{
_depthReader = await _kinectSensor.OpenDepthFrameReaderAsync();
sensorData.depthImage = new ushort[sensorData.depthImageWidth * sensorData.depthImageHeight];
if (_depthReader != null)
{
_depthReader.FrameArrived += DepthReader_FrameArrived;
}
}
if ((sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0)
{
_bodyIndexReader = await _kinectSensor.OpenBodyIndexFrameReaderAsync();
sensorData.bodyIndexImage = new byte[sensorData.depthImageWidth * sensorData.depthImageHeight];
if (_bodyIndexReader != null)
{
_bodyIndexReader.FrameArrived += BodyIndexReader_FrameArrived;
}
}
if ((sensorFlags & KinectInterop.FrameSource.TypeBody) != 0)
{
_bodyReader = await _kinectSensor.OpenBodyFrameReaderAsync();
if (_bodyReader != null)
{
_bodyReader.FrameArrived += BodyReader_FrameArrived;
}
}
// get the coordinate mapper
_coordinateMapper = _kinectSensor.GetCoordinateMapper();
_coordinateMapper2 = new CoordinateMapper2();
Debug.Log("UWP-K2 sensor opened");
}
else
{
Debug.Log("UWP-K2 sensor not found");
}
}
