public ReconstructionController(KinectSensor sensor)
{
Contract.Requires(sensor != null);
this.syncContext = SynchronizationContext.Current;
this.sensor = sensor;
var rparams = new ReconstructionParameters(128, 256, 256, 256);
reconstruction = Reconstruction.FusionCreateReconstruction(rparams, ReconstructionProcessor.Amp, -1, worldToCameraTransform);
worldToVolumeTransform = reconstruction.GetCurrentWorldToVolumeTransform();
worldToVolumeTransform.M43 -= MIN_DEPTH * rparams.VoxelsPerMeter;
reconstruction.ResetReconstruction(worldToCameraTransform, worldToVolumeTransform);
var depthFrameDesc = sensor.DepthFrameSource.FrameDescription;
var totalPixels = depthFrameDesc.Width * depthFrameDesc.Height;
rawDepthData = new ushort[totalPixels];
bodyIndexData = new byte[totalPixels];
SurfaceBitmap = new ThreadSafeBitmap(depthFrameDesc.Width, depthFrameDesc.Height);
var intrinsics = sensor.CoordinateMapper.GetDepthCameraIntrinsics();
var cparams = new CameraParameters(
intrinsics.FocalLengthX / depthFrameDesc.Width,
intrinsics.FocalLengthY / depthFrameDesc.Height,
intrinsics.PrincipalPointX / depthFrameDesc.Width,
intrinsics.PrincipalPointY / depthFrameDesc.Height);
floatDepthFrame = new FusionFloatImageFrame(depthFrameDesc.Width, depthFrameDesc.Height, cparams);
pointCloudFrame = new FusionPointCloudImageFrame(depthFrameDesc.Width, depthFrameDesc.Height, cparams);
surfaceFrame = new FusionColorImageFrame(depthFrameDesc.Width, depthFrameDesc.Height, cparams);
}
public KinectFrameRenderer(KinectSensor sensor, DepthToColorConverter converter)
{
Contract.Requires(sensor != null);
Contract.Requires(converter != null);
this.syncContext = SynchronizationContext.Current;
this.converter = converter;
var depthFrameDesc = sensor.DepthFrameSource.FrameDescription;
var pixelCount = depthFrameDesc.Width * depthFrameDesc.Height;
frameData = new ushort[pixelCount];
Bitmap = new ThreadSafeBitmap(depthFrameDesc.Width, depthFrameDesc.Height);
reader = sensor.DepthFrameSource.OpenReader();
reader.FrameArrived += Reader_FrameArrived;
}
private void UpdateBitmap(ThreadSafeBitmap bitmap, WriteableBitmapHolder holder, Image image)
{
if (holder == null || bitmap == null)
{
return;
}
var changed = false;
bitmap.Access(bitmapData =>
changed = holder.WritePixels(bitmap.Width, bitmap.Height, bitmapData));
if (changed)
{
image.Source = holder.Bitmap;
}
}
/// <summary>
/// Updates the source of given image.
/// </summary>
/// <param name="bitmap">Bitmap</param>
/// <param name="holder">Bitmap holder</param>
/// <param name="image">Image from statickinect window.</param>
private void UpdateBitmap(ThreadSafeBitmap bitmap, WriteableBitmapHolder holder, Image image)
{
if (holder == null || bitmap == null)
{
return;
}
var changed = false;
// Can not be interrupted by other threads. WritePixels returns true if the bitmap is changed.
bitmap.Access(bitmapData =>
changed = holder.WritePixels(bitmap.Width, bitmap.Height, bitmapData));
// If bitmap is changed updates the source of the image.
if (changed)
{
image.Source = holder.Bitmap;
}
}
