void Microsoft2Grabber::FrameArrived(IMultiSourceFrameArrivedEventArgs *pArgs, bool depthOnly) {
HRESULT hr;
IMultiSourceFrameReference *pFrameReference = nullptr;
//cout << "got a valid frame" << endl;
hr = pArgs->get_FrameReference(&pFrameReference);
if (SUCCEEDED(hr))
{
IMultiSourceFrame *pFrame = nullptr;
hr = pFrameReference->AcquireFrame(&pFrame);
if (FAILED(hr)) {
cout << "fail on AcquireFrame" << endl;
}
IColorFrameReference* pColorFrameReference = nullptr;
IDepthFrameReference* pDepthFrameReference = nullptr;
IBodyIndexFrameReference* pBodyIndexFrameReference = nullptr;
hr = pFrame->get_DepthFrameReference(&pDepthFrameReference);
if (SUCCEEDED(hr))
DepthFrameArrived(pDepthFrameReference);
SafeRelease(pDepthFrameReference);
if (!depthOnly) {
hr = pFrame->get_ColorFrameReference(&pColorFrameReference);
if (SUCCEEDED(hr))
ColorFrameArrived(pColorFrameReference);
SafeRelease(pColorFrameReference);
hr = pFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
if (SUCCEEDED(hr))
BodyIndexFrameArrived(pBodyIndexFrameReference);
SafeRelease(pBodyIndexFrameReference);
}
pFrameReference->Release();
}
}
void KinectDevice::listen() {
if (_listening) throw std::exception("Already listening for new frames");
_listening = true;
while (_listening) {
int idx = WaitForSingleObject((HANDLE) _frameEvent, 100);
switch (idx) {
case WAIT_TIMEOUT:
std::cout << ".";
continue;
case WAIT_OBJECT_0:
IMultiSourceFrameArrivedEventArgs *frameArgs = nullptr;
IMultiSourceFrameReference *frameRef = nullptr;
HRESULT hr = _reader->GetMultiSourceFrameArrivedEventData(_frameEvent, &frameArgs);
if (hr == S_OK) {
hr = frameArgs->get_FrameReference(&frameRef);
frameArgs->Release();
}
if (hr == S_OK) {
//if (_lastFrame) _lastFrame->Release();
hr = frameRef->AcquireFrame(&_lastFrame);
frameRef->Release();
}
if (hr == S_OK) {
// Store frame data
//std::cout << "Got a frame YEAH" << std::endl;
IDepthFrameReference *depthRef = nullptr;
IColorFrameReference *colorRef = nullptr;
IInfraredFrameReference *irRef = nullptr;
ILongExposureInfraredFrameReference *hdirRef = nullptr;
IBodyIndexFrameReference *indexRef = nullptr;
IDepthFrame *depth = nullptr;
IColorFrame *color = nullptr;
IInfraredFrame *ir = nullptr;
ILongExposureInfraredFrame *hdir = nullptr;
IBodyIndexFrame *index = nullptr;
size_t size;
uint16_t *buff;
BYTE *cbuff;
frameLock.lock();
if (_streams & Streams::DEPTH_STREAM) {
_lastFrame->get_DepthFrameReference(&depthRef);
depthRef->AcquireFrame(&depth);
if (depth) {
depthSwap();
depth->AccessUnderlyingBuffer(&size, &buff);
memcpy(depthData.get(), buff, size * sizeof(uint16_t));
depth->Release();
}
depthRef->Release();
}
if (_streams & Streams::COLOR_STREAM) {
_lastFrame->get_ColorFrameReference(&colorRef);
colorRef->AcquireFrame(&color);
//color->AccessUnderlyingBuffer(&size, &buff);
//memcpy(_colorData.get(), buff, size);
color->Release();
colorRef->Release();
}
if (_streams & Streams::IR_STREAM) {
_lastFrame->get_InfraredFrameReference(&irRef);
irRef->AcquireFrame(&ir);
ir->AccessUnderlyingBuffer(&size, &buff);
memcpy(irData.get(), buff, size);
ir->Release();
irRef->Release();
}
if (_streams & Streams::HDIR_STREAM) {
_lastFrame->get_LongExposureInfraredFrameReference(&hdirRef);
hdirRef->AcquireFrame(&hdir);
hdir->AccessUnderlyingBuffer(&size, &buff);
memcpy(hdirData.get(), buff, size);
hdir->Release();
hdirRef->Release();
}
if (_streams & Streams::INDEX_STREAM) {
_lastFrame->get_BodyIndexFrameReference(&indexRef);
indexRef->AcquireFrame(&index);
index->AccessUnderlyingBuffer(&size, &cbuff);
memcpy(indexData.get(), cbuff, size);
index->Release();
indexRef->Release();
}
frameLock.unlock();
_lastFrame->Release();
}
}
}
}
