protected virtual void OnDepthFrameReceived(KinectBase.DepthFrameEventArgs e)
{
if (DepthFrameReceived != null)
{
DepthFrameReceived(this, e);
}
}
protected virtual void OnDepthFrameReceived(KinectBase.DepthFrameEventArgs e)
{
if (DepthFrameReceived != null)
{
DepthFrameReceived(this, e);
}
//Put the image array back in the image pool
depthImagePool.PutObject(e.image);
}
void depthReader_FrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
using (DepthFrame depthFrame = e.FrameReference.AcquireFrame())
{
if (depthFrame != null)
{
FrameDescription desc = depthFrame.FrameDescription;
KinectBase.DepthFrameEventArgs depthE = new KinectBase.DepthFrameEventArgs();
depthE.bytesPerPixel = 2; //This is fixed to 2 because we are using a ushort to hold the depth image
depthE.perPixelExtra = 2; //We always have an extra two bytes per pixel because we are storing a Gray16 in a bgr32 format
depthE.height = desc.Height;
depthE.width = desc.Width;
depthE.kinectID = kinectID;
depthE.timeStamp = depthFrame.RelativeTime;
depthE.reliableMin = (float)depthFrame.DepthMinReliableDistance / (float)ushort.MaxValue;
depthE.reliableMax = (float)depthFrame.DepthMaxReliableDistance / (float)ushort.MaxValue;
//Get all the data for the depth, and store the bytes for the Gray16 in the blue and green channels of a bgr32
IntPtr depthImagePtr = Marshal.AllocHGlobal((int)(depthE.bytesPerPixel * desc.LengthInPixels));
depthFrame.CopyFrameDataToIntPtr(depthImagePtr, (uint)depthE.bytesPerPixel * desc.LengthInPixels);
//depthE.image = new byte[desc.LengthInPixels * (depthE.perPixelExtra + depthE.bytesPerPixel)];
depthE.image = depthImagePool.GetObject();
unsafe
{
fixed(byte *pDst = depthE.image)
{
ushort *pD = (ushort *)pDst;
ushort *pS = (ushort *)depthImagePtr.ToPointer();
for (int n = 0; n < desc.LengthInPixels; n++)
{
*pD = *pS;
pD += 2;
pS++;
}
}
}
Marshal.FreeHGlobal(depthImagePtr);
OnDepthFrameReceived(depthE);
}
}
}
private void kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame frame = e.OpenDepthImageFrame())
{
if (frame != null)
{
//Pass the data to the interaction frame for processing
if (interactStream != null && frame.Format == DepthImageFormat.Resolution640x480Fps30)
{
interactStream.ProcessDepth(frame.GetRawPixelData(), frame.Timestamp);
}
KinectBase.DepthFrameEventArgs depthE = new KinectBase.DepthFrameEventArgs();
depthE.kinectID = this.kinectID;
depthE.perPixelExtra = 2;
depthE.width = frame.Width;
depthE.height = frame.Height;
depthE.bytesPerPixel = frame.BytesPerPixel;
depthE.reliableMin = (float)frame.MinDepth / (float)ushort.MaxValue;
depthE.reliableMax = (float)frame.MaxDepth / (float)ushort.MaxValue;
depthE.timeStamp = new TimeSpan(frame.Timestamp * 10000); //Convert from milliseconds to ticks and set the time span
//The second 2 bytes of the DepthImagePixel structure hold the actual depth as a uint16, so lets get those, and put the data in the blue and green channel of the image
//depthE.image = new byte[frame.PixelDataLength * (depthE.perPixelExtra + depthE.bytesPerPixel)];
depthE.image = depthImagePool.GetObject(); //Get an image array from the object pool
if (depthE.image.Length != frame.PixelDataLength * (depthE.perPixelExtra + depthE.bytesPerPixel)) //If the object is the wrong size, replace it with one that is the right size
{
depthE.image = new byte[frame.PixelDataLength * (depthE.perPixelExtra + depthE.bytesPerPixel)];
}
unsafe
{
//The sizeof() operation is unsafe in this instance, otherwise this would all be safe code
IntPtr depthImagePtr = Marshal.AllocHGlobal(sizeof(DepthImagePixel) * frame.PixelDataLength);
frame.CopyDepthImagePixelDataTo(depthImagePtr, frame.PixelDataLength);
Marshal.Copy(depthImagePtr, depthE.image, 2, depthE.image.Length - 2);
Marshal.FreeHGlobal(depthImagePtr);
}
OnDepthFrameReceived(depthE);
}
}
}
void depthReader_FrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
using (DepthFrame depthFrame = e.FrameReference.AcquireFrame())
{
if (depthFrame != null)
{
FrameDescription desc = depthFrame.FrameDescription;
KinectBase.DepthFrameEventArgs depthE = new KinectBase.DepthFrameEventArgs();
depthE.bytesPerPixel = 2; //This is fixed to 2 because we are using a ushort to hold the depth image
depthE.perPixelExtra = 2; //We always have an extra two bytes per pixel because we are storing a Gray16 in a bgr32 format
depthE.height = desc.Height;
depthE.width = desc.Width;
depthE.kinectID = kinectID;
depthE.timeStamp = depthFrame.RelativeTime;
depthE.reliableMin = (float)depthFrame.DepthMinReliableDistance / (float)ushort.MaxValue;
depthE.reliableMax = (float)depthFrame.DepthMaxReliableDistance / (float)ushort.MaxValue;
//Get all the data for the depth, and store the bytes for the Gray16 in the blue and green channels of a bgr32
IntPtr depthImagePtr = Marshal.AllocHGlobal((int)(depthE.bytesPerPixel * desc.LengthInPixels));
depthFrame.CopyFrameDataToIntPtr(depthImagePtr, (uint)depthE.bytesPerPixel * desc.LengthInPixels);
//depthE.image = new byte[desc.LengthInPixels * (depthE.perPixelExtra + depthE.bytesPerPixel)];
depthE.image = depthImagePool.GetObject();
unsafe
{
fixed (byte* pDst = depthE.image)
{
ushort* pD = (ushort*)pDst;
ushort* pS = (ushort*)depthImagePtr.ToPointer();
for (int n = 0; n < desc.LengthInPixels; n++)
{
*pD = *pS;
pD += 2;
pS++;
}
}
}
Marshal.FreeHGlobal(depthImagePtr);
OnDepthFrameReceived(depthE);
}
}
}
private void kinect_DepthFrameReady(object sender, DepthImageFrameReadyEventArgs e)
{
using (DepthImageFrame frame = e.OpenDepthImageFrame())
{
if (frame != null)
{
//Pass the data to the interaction frame for processing
if (interactStream != null && frame.Format == DepthImageFormat.Resolution640x480Fps30)
{
interactStream.ProcessDepth(frame.GetRawPixelData(), frame.Timestamp);
}
KinectBase.DepthFrameEventArgs depthE = new KinectBase.DepthFrameEventArgs();
depthE.kinectID = this.kinectID;
depthE.perPixelExtra = 2;
depthE.width = frame.Width;
depthE.height = frame.Height;
depthE.bytesPerPixel = frame.BytesPerPixel;
depthE.reliableMin = (float)frame.MinDepth / (float)ushort.MaxValue;
depthE.reliableMax = (float)frame.MaxDepth / (float)ushort.MaxValue;
depthE.timeStamp = new TimeSpan(frame.Timestamp * 10000); //Convert from milliseconds to ticks and set the time span
//The second 2 bytes of the DepthImagePixel structure hold the actual depth as a uint16, so lets get those, and put the data in the blue and green channel of the image
//depthE.image = new byte[frame.PixelDataLength * (depthE.perPixelExtra + depthE.bytesPerPixel)];
depthE.image = depthImagePool.GetObject(); //Get an image array from the object pool
if (depthE.image.Length != frame.PixelDataLength * (depthE.perPixelExtra + depthE.bytesPerPixel)) //If the object is the wrong size, replace it with one that is the right size
{
depthE.image = new byte[frame.PixelDataLength * (depthE.perPixelExtra + depthE.bytesPerPixel)];
}
unsafe
{
//The sizeof() operation is unsafe in this instance, otherwise this would all be safe code
IntPtr depthImagePtr = Marshal.AllocHGlobal(sizeof(DepthImagePixel) * frame.PixelDataLength);
frame.CopyDepthImagePixelDataTo(depthImagePtr, frame.PixelDataLength);
Marshal.Copy(depthImagePtr, depthE.image, 2, depthE.image.Length - 2);
Marshal.FreeHGlobal(depthImagePtr);
}
OnDepthFrameReceived(depthE);
}
}
}
