public ColorFrame(Microsoft.Kinect.ColorFrame cf)
{
Type = FrameType.Color;
underlyingColorFrame = cf;
FrameDescription cfd = underlyingColorFrame.CreateFrameDescription(ColorImageFormat.Bgra);
Width = cfd.Width;
Height = cfd.Height;
// Stride is the number of bytes allocated for one scanline of the bitmap
// Fact: Scanlines must be aligned on 32-bit boundaries
// So, each scanline may have padded bytes at the end to ensure this
// so stride is: ((w * bitsPerPixel + (padBits-1)) / padBits) * padToNBytes
// where padBits = 8 * padToNBytes
// See https://msdn.microsoft.com/en-us/library/windows/desktop/aa473780(v=vs.85).aspx
stride = (Width * PixelFormats.Bgra32.BitsPerPixel + 7) / 8;
if (colorData == null)
{
colorData = new byte[stride * Height];
using (KinectBuffer colorBuffer = cf.LockRawImageBuffer())
{
// TODO: crop and convert to jpeg.
underlyingColorFrame.CopyConvertedFrameDataToArray(colorData, ColorImageFormat.Bgra);
}
colorDataBitmap = new Bitmap(Width, Height, stride,
System.Drawing.Imaging.PixelFormat.Format32bppArgb,
Marshal.UnsafeAddrOfPinnedArrayElement(colorData, 0));
}
}
public void CopyFramePixelDataToArray(byte[] buffer)
{
_colorFrame.CopyConvertedFrameDataToArray(buffer, ColorImageFormat.Bgra);
}