public void CopyFrameDataToArray(ushort[] frameData)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("InfraredFrame");
}
var frameDataSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(frameData, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _frameData = frameDataSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_InfraredFrame_CopyFrameDataToArray(_pNative, _frameData, frameData.Length);
Helper.ExceptionHelper.CheckLastError();
}
public void CopyConvertedFrameDataToArray(byte[] frameData, Windows.Kinect.ColorImageFormat colorFormat)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("ColorFrame");
}
var frameDataSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(frameData, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _frameData = frameDataSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_ColorFrame_CopyConvertedFrameDataToArray(_pNative, _frameData, frameData.Length, colorFormat);
Helper.ExceptionHelper.CheckLastError();
}
public void MapColorFrameToCameraSpace(ushort[] depthFrameData, Windows.Kinect.CameraSpacePoint[] cameraSpacePoints)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("CoordinateMapper");
}
var depthFrameDataSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(depthFrameData, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _depthFrameData = depthFrameDataSmartGCHandle.AddrOfPinnedObject();
var cameraSpacePointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(cameraSpacePoints, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _cameraSpacePoints = cameraSpacePointsSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_CoordinateMapper_MapColorFrameToCameraSpace(_pNative, _depthFrameData, depthFrameData.Length, _cameraSpacePoints, cameraSpacePoints.Length);
Helper.ExceptionHelper.CheckLastError();
}
public void MapDepthPointsToColorSpace(Windows.Kinect.DepthSpacePoint[] depthPoints, ushort[] depths, Windows.Kinect.ColorSpacePoint[] colorPoints)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("CoordinateMapper");
}
var depthPointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(depthPoints, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _depthPoints = depthPointsSmartGCHandle.AddrOfPinnedObject();
var depthsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(depths, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _depths = depthsSmartGCHandle.AddrOfPinnedObject();
var colorPointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(colorPoints, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _colorPoints = colorPointsSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_CoordinateMapper_MapDepthPointsToColorSpace(_pNative, _depthPoints, depthPoints.Length, _depths, depths.Length, _colorPoints, colorPoints.Length);
Helper.ExceptionHelper.CheckLastError();
}
public Windows.Kinect.PointF[] GetDepthFrameToCameraSpaceTable()
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("CoordinateMapper");
}
if (_DepthFrameToCameraSpaceTable == null)
{
var desc = KinectSensor.GetDefault().DepthFrameSource.FrameDescription;
_DepthFrameToCameraSpaceTable = new PointF[desc.Width * desc.Height];
var pointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(_DepthFrameToCameraSpaceTable, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _points = pointsSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_CoordinateMapper_GetDepthFrameToCameraSpaceTable(_pNative, _points, (uint)_DepthFrameToCameraSpaceTable.Length);
Helper.ExceptionHelper.CheckLastError();
}
return(_DepthFrameToCameraSpaceTable);
}
public void AddGestures(Microsoft.Kinect.VisualGestureBuilder.Gesture[] gestures)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("VisualGestureBuilderFrameSource");
}
int _gestures_idx = 0;
var _gestures_array = new RootSystem.IntPtr[gestures.Count()];
foreach (var value in gestures)
{
_gestures_array[_gestures_idx] = Helper.NativeWrapper.GetNativePtr(value);
_gestures_idx++;
}
var gesturesSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(_gestures_array, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _gestures = gesturesSmartGCHandle.AddrOfPinnedObject();
Microsoft_Kinect_VisualGestureBuilder_VisualGestureBuilderFrameSource_AddGestures(_pNative, _gestures, gestures.Length);
Helper.ExceptionHelper.CheckLastError();
}
public Windows.Kinect.PointF[] GetDepthFrameToCameraSpaceTable()
{
if (_pNative == RootSystem.IntPtr.Zero) {
throw new RootSystem.ObjectDisposedException ("CoordinateMapper");
}
if (_DepthFrameToCameraSpaceTable == null) {
var desc = KinectSensor.GetDefault ().DepthFrameSource.FrameDescription;
_DepthFrameToCameraSpaceTable = new PointF[desc.Width * desc.Height];
var pointsSmartGCHandle = new Helper.SmartGCHandle (RootSystem.Runtime.InteropServices.GCHandle.Alloc (_DepthFrameToCameraSpaceTable, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _points = pointsSmartGCHandle.AddrOfPinnedObject ();
Windows_Kinect_CoordinateMapper_GetDepthFrameToCameraSpaceTable (_pNative, _points, (uint)_DepthFrameToCameraSpaceTable.Length);
Helper.ExceptionHelper.CheckLastError ();
}
return _DepthFrameToCameraSpaceTable;
}
public void MapColorFrameToCameraSpace(ushort[] depthFrameData, Windows.Kinect.CameraSpacePoint[] cameraSpacePoints)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("CoordinateMapper");
}
var depthFrameDataSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(depthFrameData, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _depthFrameData = depthFrameDataSmartGCHandle.AddrOfPinnedObject();
var cameraSpacePointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(cameraSpacePoints, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _cameraSpacePoints = cameraSpacePointsSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_CoordinateMapper_MapColorFrameToCameraSpace(_pNative, _depthFrameData, depthFrameData.Length, _cameraSpacePoints, cameraSpacePoints.Length);
Helper.ExceptionHelper.CheckLastError();
}
public void MapDepthPointsToColorSpace(Windows.Kinect.DepthSpacePoint[] depthPoints, ushort[] depths, Windows.Kinect.ColorSpacePoint[] colorPoints)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("CoordinateMapper");
}
var depthPointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(depthPoints, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _depthPoints = depthPointsSmartGCHandle.AddrOfPinnedObject();
var depthsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(depths, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _depths = depthsSmartGCHandle.AddrOfPinnedObject();
var colorPointsSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(colorPoints, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _colorPoints = colorPointsSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_CoordinateMapper_MapDepthPointsToColorSpace(_pNative, _depthPoints, depthPoints.Length, _depths, depths.Length, _colorPoints, colorPoints.Length);
Helper.ExceptionHelper.CheckLastError();
}
public void AddGestures(Microsoft.Kinect.VisualGestureBuilder.Gesture[] gestures)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("VisualGestureBuilderFrameSource");
}
int _gestures_idx=0;
var _gestures_array = new RootSystem.IntPtr[gestures.Count()];
foreach(var value in gestures)
{
_gestures_array[_gestures_idx] = Helper.NativeWrapper.GetNativePtr(value);
_gestures_idx++;
}
var gesturesSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(_gestures_array, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _gestures = gesturesSmartGCHandle.AddrOfPinnedObject();
Microsoft_Kinect_VisualGestureBuilder_VisualGestureBuilderFrameSource_AddGestures(_pNative, _gestures, gestures.Length);
Helper.ExceptionHelper.CheckLastError();
}
public void CopyFrameDataToArray(ushort[] frameData)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("InfraredFrame");
}
var frameDataSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(frameData, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _frameData = frameDataSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_InfraredFrame_CopyFrameDataToArray(_pNative, _frameData, frameData.Length);
Helper.ExceptionHelper.CheckLastError();
}
public void CopyConvertedFrameDataToArray(byte[] frameData, Windows.Kinect.ColorImageFormat colorFormat)
{
if (_pNative == RootSystem.IntPtr.Zero)
{
throw new RootSystem.ObjectDisposedException("ColorFrame");
}
var frameDataSmartGCHandle = new Helper.SmartGCHandle(RootSystem.Runtime.InteropServices.GCHandle.Alloc(frameData, RootSystem.Runtime.InteropServices.GCHandleType.Pinned));
var _frameData = frameDataSmartGCHandle.AddrOfPinnedObject();
Windows_Kinect_ColorFrame_CopyConvertedFrameDataToArray(_pNative, _frameData, frameData.Length, colorFormat);
Helper.ExceptionHelper.CheckLastError();
}
