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public static Array2Image ( byte data, int width, int height, int stride ) : byte>.Image |
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| data | byte | |
| width | int | |
| height | int | |
| stride | int | |
| return | byte>.Image | |
private void depth_FrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
current_frame_number_for_stop++;
if (waiting == 0)
{
waiting += 2;
}
else
{
waiting++;
}
using (DepthImageFrame depthFrame = e.OpenDepthImageFrame())
{
if (depthFrame != null)
{
int count = 0;
int frameNumber = 0;
if (depthFrame.Timestamp == 0)
{
waiting -= 1;
return;
}
if (depthFrame.Timestamp < FirstTimeStamp)
{
FirstTimeStamp = depthFrame.Timestamp;
}
frameNumber = GetRealCurrentFrame(depthFrame.Timestamp - FirstTimeStamp);
count = frameNumber - PreDepthFrameNumber;
PreDepthFrameNumber = frameNumber;
//Console.WriteLine("Depth {0} {1} {2} {3} {4}", FirstTimeStamp, depthFrame.Timestamp, depthFrame.Timestamp - FirstTimeStamp, frameNumber, count);
depthFrame.CopyDepthImagePixelDataTo(depthPixels);
//int minDepth = depthFrame.MinDepth;
//int maxDepth = depthFrame.MaxDepth;
int width = depthFrame.Width;
int height = depthFrame.Height;
//Console.WriteLine("Depth:{0} {1}" ,DepthTS,count);
colorizer.TransformAndConvertDepthFrame(depthPixels, _colorPixels);
var depthImg = ImageConverter.Array2Image(_colorPixels, width, height, width * 4).Convert <Bgr, byte>();
if (depthImg.Ptr != IntPtr.Zero)
{
for (int i = 0; i < count; i++)
{
if (depthWriter != null)
{
depthWriter.WriteFrame(depthImg);
}
}
}
}
}
waiting -= 1;
}
private void color_FrameReady(object sender, ColorImageFrameReadyEventArgs e)
{
current_frame_number_for_stop++;
if (waiting == 0)
{
waiting += 2;
}
else
{
waiting++;
}
using (ColorImageFrame colorFrame = e.OpenColorImageFrame())
{
if (colorFrame != null)
{
int count = 0;
int frameNumber = 0;
if (colorFrame.Timestamp == 0)
{
waiting -= 1;
return;
}
if (colorFrame.Timestamp < FirstTimeStamp)
{
FirstTimeStamp = colorFrame.Timestamp;
}
frameNumber = GetRealCurrentFrame(colorFrame.Timestamp - FirstTimeStamp);
count = frameNumber - PreColorFrameNumber;
PreColorFrameNumber = frameNumber;
//Console.WriteLine("Color {0} {1} {2} {3} {4}", FirstTimeStamp, colorFrame.Timestamp, colorFrame.Timestamp - FirstTimeStamp, frameNumber,count);
colorFrame.CopyPixelDataTo(this._colorPixels);
var img = ImageConverter.Array2Image(_colorPixels, 640, 480, 640 * 4).Convert <Bgr, byte>();
if (img.Ptr != IntPtr.Zero)
{
for (int i = 0; i < count; i++)
{
if (colorWriter != null)
{
colorWriter.WriteFrame(img);
}
}
}
}
}
waiting -= 1;
}
