protected override void StartProcessing(IReadOnlyDictionary <FrameType, Frame> frames)
{
var depthFrame = frames[FrameType.Depth];
var undistorted = new Frame(depthFrame.Width, depthFrame.Height, FrameDataFormat.Float);
var registered = new Frame(depthFrame.Width, depthFrame.Height, FrameDataFormat.Bgrx);
_registration.Apply(frames[FrameType.Color], depthFrame, undistorted, registered);
_outQueue.Enqueue(FrameType.Depth, undistorted);
_outQueue.Enqueue(FrameType.Color, registered);
OnProcessingFinished(frames);
}
public bool OnNewFrame(FrameType frameType, Frame frame)
{
var reportToLog = false;
long colorCount, depthCount, infraRedCount, errors;
lock (_stopwatch)
{
switch (frameType)
{
case FrameType.Color:
_colorCount++;
break;
case FrameType.Depth:
_depthCount++;
break;
case FrameType.InfraRed:
_infraRedCount++;
break;
}
if (frame.HasError)
{
_errors++;
}
colorCount = _colorCount;
depthCount = _depthCount;
infraRedCount = _infraRedCount;
errors = _errors;
if (_stopwatch.Elapsed >= LogInterval)
{
reportToLog = true;
_stopwatch.Restart();
}
}
if (reportToLog)
{
var message = $"Recent frame: type={frameType}, data format={frame.DataFormat}, timestamp={frame.TimeStamp}, sequence={frame.Sequence}, width={frame.Width}, height={frame.Height}, bpp={frame.BytesPerPixel}, has error={frame.HasError}";
_logger.Invoke(message);
message = $"Total frames received: color={colorCount}, depth={depthCount}, infra red={infraRedCount}, errors={errors}";
_logger.Invoke(message);
}
if (!frame.HasError)
{
_queue.Enqueue(frameType, frame);
}
return(true);
}