/// <summary>
/// Main processing function
/// </summary>
void KinectEasyGrabber::Record()
{
if (NULL == m_pNuiSensor)
{
return;
}
bool needToDraw = false;
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextDepthFrameEvent, 0) )
{
// if we have received any valid new depth data we may need to draw
if ( SUCCEEDED(ProcessDepth()) )
{
needToDraw = true;
}
}
if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextColorFrameEvent, 0) )
{
// if we have received any valid new color data we may need to draw
if ( SUCCEEDED(ProcessColor()) )
{
needToDraw = true;
}
}
// Depth is 30 fps. For any given combination of FPS, we should ensure we are within half a frame of the more frequent of the two.
// But depth is always the greater (or equal) of the two, so just use depth FPS.
const int depthFps = 30;
const int halfADepthFrameMs = (1000 / depthFps) / 2;
// If we have not yet received any data for either color or depth since we started up, we shouldn't draw
if (m_colorTimeStamp.QuadPart == 0 || m_depthTimeStamp.QuadPart == 0)
{
needToDraw = false;
}
// If the color frame is more than half a depth frame ahead of the depth frame we have,
// then we should wait for another depth frame. Otherwise, just go with what we have.
if (m_colorTimeStamp.QuadPart - m_depthTimeStamp.QuadPart > halfADepthFrameMs)
{
needToDraw = false;
}
if (needToDraw)
{
if(m_frameIndex >= 50) return;
dumpToDisk(m_frameIndex, m_frameBasename, m_depthD16, m_colorRGBX, m_colorCoordinates, m_depthTimeStamp, m_colorTimeStamp);
// Draw the data with Direct2D
m_pDrawKinectEasyGrabber->Draw(m_colorRGBX, m_colorWidth * m_colorHeight * cBytesPerPixel);
m_frameIndex++;
}
}
void StatsCollector::startNewRecord() {
if (_enabled) {
if (_dumpEveryXRecord && ++_recordsSinceLastDump >= _dumpEveryXRecord) {
dumpToDisk();
_recordsSinceLastDump = 0;
}
i.startNewRecord();
d.startNewRecord();
}
}
/// <summary>
/// Main processing function
/// </summary>
void KinectEasyGrabber::RecordArrayToDisk(){
if(m_frameIndex < m_totalFrames) return;
if(m_dumped) return;
m_pDrawKinectEasyGrabber->Draw(m_colorRGBX, m_colorWidth * m_colorHeight * cBytesPerPixel);
for(int i=0; i < m_totalFrames; i++){
dumpToDisk(i, m_frameBasename, m_outputArrayDepthD16[i], m_outputArrayRGBX[i], m_outputArrayColorCoordinates[i], m_depthArrayTimeStamp[i], m_colorArrayTimeStamp[i]);
delete [] m_outputArrayDepthD16[i];
delete [] m_outputArrayColorCoordinates[i];
delete [] m_outputArrayRGBX[i];
m_outputArrayDepthD16[i] = NULL;
m_outputArrayColorCoordinates[i] = NULL;
m_outputArrayRGBX[i] = NULL;
}
//-------------------------------------------------------
// TIMES STAMP --------------------------------
//-------------------------------------------------------
FILE* fid = 0;
sprintf(m_frameBasename,"data/video_ts.txt");
fid = fopen(m_frameBasename,"w");
fprintf(fid,"Frames=%d, Time=%fseg, Depth size=%dx%d, RGB size=%dx%d\n",
m_totalFrames, (m_depthArrayTimeStamp[m_totalFrames-1].QuadPart - m_depthArrayTimeStamp[0].QuadPart)/1000.0f,
m_depthWidth,m_depthHeight,m_colorWidth,m_colorHeight);
fprintf(fid, "Frame\tDepth\tColor\tD_i-D_i-1\tC_i-C_i-1\tC_i-D_i\n");
if(!fid){
printf("ERROR abriendo el archivo %d\n",m_frameBasename);
exit(-1);
}
LONGLONG dprev=0, dact=0, cprev=0, cact=0;
for(int i=0; i < m_totalFrames; i++){
dprev = dact;
cprev = cact;
dact = m_depthArrayTimeStamp[i].QuadPart;
cact = m_colorArrayTimeStamp[i].QuadPart;
fprintf(fid, "%d\t%llu\t%llu\t%llu\t%llu\t%llu\n", i, dact, cact, (dact-dprev), (cact-cprev), abs(cact-dact));
}
fclose(fid);
m_dumped = true;
m_pDrawKinectEasyGrabber->Draw(m_backgroundRGBX, m_colorWidth * m_colorHeight * cBytesPerPixel);
delete [] m_outputArrayDepthD16;
delete [] m_outputArrayColorCoordinates;
delete [] m_outputArrayRGBX;
delete [] m_colorArrayTimeStamp;
delete [] m_depthArrayTimeStamp;
}
StatsCollector::~StatsCollector() {
dumpToDisk();
}
