/// <summary>
/// Constructor where a buffer allocation isn't needed
/// </summary>
/// <param name="dataFormat">
/// A <see cref="DepthCamera.DataFormatOption"/>
/// </param>
/// <param name="bufferPointer">
/// A <see cref="IntPtr"/>
/// </param>
internal DepthMap(DepthCamera.DataFormatOption dataFormat, IntPtr bufferPointer)
{
this.Width = DepthCamera.DataFormatDimensions[dataFormat].X;
this.Height = DepthCamera.DataFormatDimensions[dataFormat].Y;
this.DataFormat = dataFormat;
this.Data = null;
this.dataHandle = default(GCHandle);
this.DataPointer = bufferPointer;
}
/// <summary>
/// Constructor that allocates a pinned buffer
/// </summary>
/// <param name="dataFormat">
/// A <see cref="DepthCamera.DataFormatOption"/>
/// </param>
/// <param name="allocateBuffer">
///
/// </param>
internal DepthMap(DepthCamera.DataFormatOption dataFormat)
{
this.Width = DepthCamera.DataFormatDimensions[dataFormat].X;
this.Height = DepthCamera.DataFormatDimensions[dataFormat].Y;
this.DataFormat = dataFormat;
this.Data = new byte[DepthCamera.DataFormatSizes[dataFormat]];
this.dataHandle = GCHandle.Alloc(this.Data, GCHandleType.Pinned);
this.DataPointer = this.dataHandle.AddrOfPinnedObject();
}
public static extern int freenect_set_depth_format(IntPtr device, DepthCamera.DataFormatOption depthFormat);
/// <summary>
///
/// </summary>
/// <param name="sender">
/// A <see cref="System.Object"/>
/// </param>
/// <param name="e">
/// A <see cref="DepthCamera.DataReceivedEventArgs"/>
/// </param>
private void HandleKinectDepthCameraDataReceived (object sender, DepthCamera.DataReceivedEventArgs e)
{
this.previewControl.HandleDepthBackBufferUpdate();
this.kinect.DepthCamera.DataBuffer = this.previewControl.DepthBackBuffer;
}
/// <summary>
/// Sets the DepthCameras's data format. Support function for DepthCamera.DataFormat
/// </summary>
/// <param name="format">
/// A <see cref="DepthCamera.DataFormatOptions"/>
/// </param>
private void SetDataFormat(DepthCamera.DataFormatOption format)
{
// change depth map that's waiting cause format has changed
this.UpdateNextFrameDepthMap();
int result = KinectNative.freenect_set_depth_format(this.parentDevice.devicePointer, format);
if(result != 0)
{
throw new Exception("Could not switch to depth format " + format + ". Error Code: " + result);
}
this.dataFormat = format;
}
void DepthCamera_DataReceived(object sender, DepthCamera.DataReceivedEventArgs e)
{
if (lockedDepth)
return;
if (depthFrameCount % (30 / frameRate) != 1)
{
depthFrameCount++;
return;
}
lockedDepth = true;
short[] image = new short[e.DepthMap.Width * e.DepthMap.Height];
short[] depth = new short[e.DepthMap.Width * e.DepthMap.Height];
int idx = 0;
for (int i = 0; i < e.DepthMap.Width * e.DepthMap.Height * 2; i += 2)
{
short pixel = Marshal.ReadInt16(e.DepthMap.DataPointer, i);
depth[idx] = pixel;
// Convert to little endian.
pixel = IPAddress.HostToNetworkOrder(pixel);
image[idx++] = pixel;
}
this.Dispatcher.Invoke(
new Action(
delegate()
{
_depthImage.Source = BitmapSource.Create(
e.DepthMap.Width,
e.DepthMap.Height,
96,
96, PixelFormats.Gray16, null, image, e.DepthMap.Width * 2);
}));
this.kinectWriterQueue.Enqueue(new Tuple<KinectRawCompositeFrame, DateTime>(new KinectRawCompositeFrame(depth, lastImageData), DateTime.Now));
depthFrameCount++;
lockedDepth = false;
}
/// <summary>
///
/// </summary>
/// <param name="sender">
/// A <see cref="System.Object"/>
/// </param>
/// <param name="e">
/// A <see cref="DepthCamera.DataReceivedEventArgs"/>
/// </param>
private void HandleDepthDataReceived(object sender, DepthCamera.DataReceivedEventArgs e)
{
if(this.kinect == null || this.kinect.IsOpen == false)
{
return;
}
if((DateTime.Now - this.depthLastFrame).TotalMilliseconds >= 1000)
{
this.depthFPS = this.depthFrameCount;
this.depthFrameCount = 0;
this.depthLastFrame = DateTime.Now;
}
else
{
this.depthFrameCount++;
}
try
{
// Swap mid and back
unsafe
{
byte *ptrMid = (byte *)this.depthHandleMid.AddrOfPinnedObject();
Int16 *ptrBack = (Int16 *)this.depthHandleBack.AddrOfPinnedObject();
int dim = 640 * 480;
int i = 0;
for (i = 0; i < dim; i++)
{
Int16 pval = (Int16)this.gamma[ptrBack[i]];
Int16 lb = (Int16)(pval & 0xff);
switch (pval>>8)
{
case 0:
*ptrMid++ = 255;
*ptrMid++ = (byte)(255 - lb);
*ptrMid++ = (byte)(255 - lb);
break;
case 1:
*ptrMid++ = 255;
*ptrMid++ = (byte)lb;
*ptrMid++ = 0;
break;
case 2:
*ptrMid++ = (byte)(255 - lb);
*ptrMid++ = 255;
*ptrMid++ = 0;
break;
case 3:
*ptrMid++ = 0;
*ptrMid++ = 255;
*ptrMid++ = (byte)lb;
break;
case 4:
*ptrMid++ = 0;
*ptrMid++ = (byte)(255 - lb);
*ptrMid++ = 255;
break;
case 5:
*ptrMid++ = 0;
*ptrMid++ = 0;
*ptrMid++ = (byte)(255 - lb);
break;
default:
*ptrMid++ = 0;
*ptrMid++ = 0;
*ptrMid++ = 0;
break;
}
}
}
}
catch(Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
