private static void HandleKinectDepthCameraDataReceived(object sender, BaseCamera.DataReceivedEventArgs e)
{
Console.WriteLine("Depth data received at {0}", e.Timestamp);
Image <Gray, byte> depthImage = new Image <Gray, byte>(e.Data.Width, e.Data.Height);
depthImage.Bytes = e.Data.Data;
depthImage.Save("depth_img_" + System.DateTime.Now.ToString().Replace(".", "").Replace("/", "").Replace(" ", "") + ".png");
}
private static void HandleKinectVideoCameraDataReceived(object sender, BaseCamera.DataReceivedEventArgs e)
{
Console.WriteLine("Video data received at {0}", e.Timestamp);
Mat img = new Mat(e.Data.Height, e.Data.Width, DepthType.Cv8U, 3);
img.Save("RGB_img_mat_" + System.DateTime.Now.ToString().Replace(".", "").Replace("/", "").Replace(" ", "") + ".png");
Image <Bgr, byte> depthImage = new Image <Bgr, byte>(e.Data.Width, e.Data.Height);
depthImage.Bytes = e.Data.Data;
depthImage.Save("rgb_img_" + System.DateTime.Now.ToString().Replace(".", "").Replace("/", "").Replace(" ", "") + ".png");
}
void DataReceived(object sender, BaseCamera.DataReceivedEventArgs e)
{
if (!BufferUsageDisabled)
{
VideoBufferInUse = true;
switch (Mode)
{
case Modes.IR1024:
case Modes.IR480:
VideoTextureBuffer.SetData(e.Data.Data);
break;
case Modes.RGB1024:
case Modes.RGB480:
case Modes.Depth480:
ConvertColorData(e.Data.Data, Prebuffer);
VideoTextureBuffer.SetData(Prebuffer);
break;
}
if (Mode != Modes.Depth480)
{
FrameCounter++;
}
VideoBufferInUse = false;
}
else
{
BufferReleaseARE.Set();
}
FrameID++;
OnRawFrameIn(e.Data.Data, FrameTypes.Color);
if (RawSaveDataNext)
{
string path = RawSavePath + ".rwc";
try
{
File.WriteAllBytes(path, e.Data.Data);
SendIOEvent(new IOEventArgs(path, true, null));
}
catch (Exception t)
{
SendIOEvent(new IOEventArgs(path, false, t.Message));
}
RawSaveDataNext = false;
}
}
// Callback for kinect camera, called when depth data stream is received
private void HandleKinectDepthCameraDataReceived(object sender, BaseCamera.DataReceivedEventArgs e)
{
// byte[] kinectRawData = e.Data.Data;
// ushort[] kinectDepthValues = new ushort[320 * 240];
// for (int i = 0; i < kinectDepthValues.Length; i ++) {
// ushort s = BitConverter.ToUInt16 (e.Data.Data, i*2);
// kinectDepthValues [i] = s;
// }
// Debug.Log(BitConverter.IsLittleEndian);
// Debug.Log(BitConverter.ToUInt16 (e.Data.Data, 0));
depthTexture.LoadRawTextureData(e.Data.Data);
depthTexture.Apply();
// terrainMaterial.SetTexture ("_Heightmap", depthTexture);
}
void DepthDataReceived(object sender, BaseCamera.DataReceivedEventArgs e)
{
if (!BufferUsageDisabled)
{
DepthBufferInUse = true;
switch (Mode)
{
case Modes.Depth480:
if (DepthMeasurementWindow != null)
{
int x1 = DepthMeasurementWindow.Value.X, y1 = DepthMeasurementWindow.Value.Y;
int x2 = DepthMeasurementWindow.Value.Width + x1, y2 = DepthMeasurementWindow.Value.Height + y1;
int n, dmax = 10000, w = x2 - x1 + 1, h = y2 - y1 + 1, pos, x;
byte[] data = e.Data.Data;
for (int i = x1; i <= x2; i++)
{
n = 0;
for (int j = y1; j <= y2; j++)
{
pos = (j * DepthWidth + i) * 2;
x = data[pos + 1] << 8;
x += data[pos];
n += x;
}
n /= h;
if (n < dmax)
{
dmax = n;
}
}
Depth = dmax;
DepthCount++;
DepthSum += Depth;
DepthAverage = (double)DepthSum / DepthCount;
}
FrameCounter++;
DepthTextureBuffer.SetData(e.Data.Data);
break;
}
DepthBufferInUse = false;
}
else
{
BufferReleaseARE.Set();
}
OnRawFrameIn(e.Data.Data, FrameTypes.Depth);
if (RawSaveDepthNext)
{
string path = RawSavePath + ".rwd";
try
{
File.WriteAllBytes(path, e.Data.Data);
SendIOEvent(new IOEventArgs(path, true, null));
}
catch (Exception t)
{
SendIOEvent(new IOEventArgs(path, false, t.Message));
}
RawSaveDepthNext = false;
}
}
