void OnApplicationQuit()
{
if (_sensor != null)
{
_sensor.Dispose();
_sensor = null;
}
}
public MainWindow()
{
var sensor = V2Sensor.GetDefault();
_sensor = sensor;
#if true
{
// setup depth stream
var depthStream = new V2DepthStream(sensor.Sensor);
// create the bitmap to display
_depthSource = new WriteableBitmap(
depthStream.Resolution.Width(),
depthStream.Resolution.Height(),
96.0, 96.0, PixelFormats.Gray16, null);
var depthWaitHandle = new ManualResetEvent(false);
depthWaitHandle.SafeWaitHandle = new Microsoft.Win32.SafeHandles.SafeWaitHandle(
depthStream.CreateWaitHandle(), false);
StartUpdating(depthWaitHandle, depthStream);
}
#endif
#if false
{
// setup image stream
var imageStream = new V2ImageStream(sensor.Sensor);
// create the bitmap to display
DepthSource = new WriteableBitmap(
imageStream.Width,
imageStream.Height,
96.0, 96.0, PixelFormats.Bgr32, null);
var waitHandle = new ManualResetEvent(false);
waitHandle.SafeWaitHandle = new Microsoft.Win32.SafeHandles.SafeWaitHandle(
imageStream.CreateWaitHandle(), false);
StartUpdating(waitHandle, imageStream);
}
#endif
InitializeComponent();
}
// Update is called once per frame
void Update () {
if (_sensor == null)
{
var sensor = new V2Sensor();
_depthStream = new V2DepthStream(sensor.Sensor);
_sensor = sensor;
}
using (var frame = _depthStream.GetFrame())
{
if (frame == null)
{
return;
}
if (DepthTexture == null)
{
DepthTexture = new Texture2D(
_depthStream.Width, _depthStream.Height, TextureFormat.ARGB32, false);
DepthTexture.filterMode = FilterMode.Point;
_depth = new Int16[_depthStream.Width * _depthStream.Height];
}
Marshal.Copy(frame.Buffer, _depth, 0, _depth.Length);
var pixel32s = _depth.Select((Int16 d) =>
{
var b = (Byte)(UInt16)d;
return new Color32(
b, b, b, 255
);
}).ToArray();
//Debug.Log(pixel32s.Length);
DepthTexture.SetPixels32(pixel32s);
DepthTexture.Apply();
}
}
