Frame ApplyFilter(DepthFrame depth, FrameSource frameSource)
{
using (var p = depth.Profile)
{
var count = depth.Width * depth.Height;
if (depthData == null || depthData.Length != count)
{
depthData = new ushort[count];
}
depth.CopyTo(depthData);
for (int i = 0; i < count; i++)
{
if (depthData[i] > Distance)
{
depthData[i] = 0;
}
}
var v = frameSource.AllocateVideoFrame <DepthFrame>(p, depth, depth.BitsPerPixel, depth.Width, depth.Height, depth.Stride, Extension.DepthFrame);
v.CopyFrom(depthData);
return(v);
}
}
public override Frame Process(Frame frame, FrameSource frameSource, FramesReleaser releaser)
{
if (!_enabled)
{
return(frame);
}
var org = frame as VideoFrame;
var stride = org.Width * org.BitsPerPixel / 8;
var newFrame = frameSource.AllocateVideoFrame(org.Profile, org, org.BitsPerPixel, org.Width, org.Height, stride, Extension.DepthFrame);
if (_pixels == null || org.Profile.UniqueID != _uniqueID)
{
InitPixels(org);
}
Marshal.Copy(org.Data, _pixels, 0, _pixels.Length);
for (int i = 0; i < _pixels.Length; i++)
{
_pixels[i] = (short)(_pixels[i] >> _depthResolution);
_pixels[i] = (short)(_pixels[i] << _depthResolution);
}
Marshal.Copy(_pixels, 0, newFrame.Data, _pixels.Length);
return(newFrame);
}