private void Reader_MultiSourceFrameArrived(object sender, MultiSourceFrameArrivedEventArgs e)
{
if (!(KinectStreamerConfig.StreamBodyData ||
KinectStreamerConfig.StreamColorData ||
KinectStreamerConfig.StreamDepthData ||
KinectStreamerConfig.StreamPointCloudData ||
KinectStreamerConfig.ProvideCalibrationData ||
KinectStreamerConfig.StreamColoredPointCloudData
))
{
return;
}
depthFrame = null;
colorFrame = null;
bodyFrame = null;
bodyStreamMessage = null;
colorStreamMessage = null;
pointCloudStreamMessage = null;
depthStreamMessage = null;
calibrationDataMessage = null;
coloredPointCloudStreamMessage = null;
multiSourceFrame = e.FrameReference.AcquireFrame();
// If the Frame has expired by the time we process this event, return.
if (multiSourceFrame == null)
{
return;
}
// We use a try/finally to ensure that we clean up before we exit the function.
// This includes calling Dispose on any Frame objects that we may have and unlocking the bitmap back buffer.
try
{
depthFrame = multiSourceFrame.DepthFrameReference.AcquireFrame();
colorFrame = multiSourceFrame.ColorFrameReference.AcquireFrame();
//Debug.Write(colorFrame.RelativeTime.ToString());
bodyFrame = multiSourceFrame.BodyFrameReference.AcquireFrame();
// If any frame has expired by the time we process this event, return.
// The "finally" statement will Dispose any that are not null.
if ((depthFrame == null) || (colorFrame == null) || (bodyFrame == null))
{
return;
}
// Process color stream if needed
if (KinectStreamerConfig.StreamColorData || KinectStreamerConfig.StreamColoredPointCloudData)
{
ProcessColorData();
}
// Process depth frame if needed
if (KinectStreamerConfig.StreamDepthData || KinectStreamerConfig.StreamPointCloudData || KinectStreamerConfig.StreamColoredPointCloudData)
{
ProcessDepthData();
if (KinectStreamerConfig.StreamPointCloudData || KinectStreamerConfig.StreamColoredPointCloudData)
{
GenerateFullPointCloud();
}
}
if (KinectStreamerConfig.StreamColoredPointCloudData)
{
ProcessPointCloudColors();
}
// Process body data if needed
if (KinectStreamerConfig.StreamBodyData || KinectStreamerConfig.ProvideCalibrationData)
{
ProcessBodyData();
}
SendData();
}
finally
{
if (depthFrame != null)
{
depthFrame.Dispose();
}
if (colorFrame != null)
{
colorFrame.Dispose();
}
if (bodyFrame != null)
{
bodyFrame.Dispose();
}
}
}
public NullablePoint3D[] GenerateFullPointCloud()
{
List<NullablePoint3D> validPointList = new List<NullablePoint3D>();
kinectSensor.CoordinateMapper.MapDepthPointsToCameraSpace(allDepthSpacePoints, depthArray, pointCloudCandidates);
int i = 0;
foreach (CameraSpacePoint point in pointCloudCandidates)
{
if (GeometryHelper.IsValidPoint(point))
{
//validPointList.Add(GeometryHelper.CameraSpacePointToPoint3D(point));
validPointList.Add(new NullablePoint3D(point.X, point.Y, point.Z));
}
// Keep invalid points for easier depth space-camera space mapping on client side
else
{
validPointList.Add(null);
}
i++;
}
FullPointCloud = validPointList.ToArray();
pointCloudStreamMessage = new PointCloudStreamMessage(FullPointCloud);
return validPointList.ToArray();
}