Exemplo n.º 1
0
Texture::Texture( const Surface8u &surface, Format format )
	: mObj( shared_ptr<Obj>( new Obj( surface.getWidth(), surface.getHeight() ) ) )
{
	if( format.mInternalFormat < 0 )
		format.mInternalFormat = surface.hasAlpha() ? GL_RGBA : GL_RGB;
	mObj->mInternalFormat = format.mInternalFormat;
	mObj->mTarget = format.mTarget;

	GLint dataFormat;
	GLenum type;
	SurfaceChannelOrderToDataFormatAndType( surface.getChannelOrder(), &dataFormat, &type );

	init( surface.getData(), surface.getRowBytes() / surface.getChannelOrder().getPixelInc(), dataFormat, type, format );	
}
Exemplo n.º 2
0
	void Kinect::pixelToVideoSurface( Surface8u &surface, uint8_t *buffer )
	{
		if ( mNewVideoFrame ) {
			return;
		}

		int32_t height = surface.getHeight();
		int32_t width = surface.getWidth();
		int32_t size = width * height * 4;

		// Swap red/blue channels
		for ( int32_t i = 0; i < size; i += 4 ) {
			uint8_t b = buffer[ i ];
			buffer[ i ] = buffer[ i + 2 ];
			buffer[ i + 2 ] = b;
		}

		memcpy( surface.getData(), buffer, size );
		mNewVideoFrame = true;
	}
Exemplo n.º 3
0
Surface8u convertHBitmap( HBITMAP hbitmap )
{
	// create a temporary DC
	HDC hdc = ::CreateCompatibleDC( 0 );
	
	// determine the dimensions first
	BITMAP bm;
	::GetObject( hbitmap, sizeof(BITMAP), &bm );
	
	BITMAPINFO bmi;
	memset( &bmi, 0, sizeof(BITMAPINFO) );
	bmi.bmiHeader.biSize = sizeof(BITMAPINFOHEADER);
	bmi.bmiHeader.biHeight = -bm.bmHeight;
	bmi.bmiHeader.biWidth = bm.bmWidth;
	bmi.bmiHeader.biPlanes = 1;
	bmi.bmiHeader.biBitCount = 32;
	bmi.bmiHeader.biCompression = BI_RGB;
	bmi.bmiHeader.biSizeImage = 0;
	bmi.bmiHeader.biXPelsPerMeter = 0;
	bmi.bmiHeader.biYPelsPerMeter = 0;
	bmi.bmiHeader.biClrUsed = 0;
	bmi.bmiHeader.biClrImportant = 0;

	int width = bmi.bmiHeader.biWidth;
	int height = -bmi.bmiHeader.biHeight;

	// allocate enough space to hold the result
	// We use GlobalAlloc / GlobalFree to ensure 8-byte alignment
	DWORD dwBmpSize = ((width * 32 + 31) / 32) * 4 * height;
	uint8_t *data = reinterpret_cast<uint8_t*>( ::GlobalAlloc( GMEM_FIXED, dwBmpSize ) );
	Surface8u result = Surface8u( data, width, height, width * 4, SurfaceChannelOrder::BGRX );
	// have the Surface's destructor call this to call ::GlobalFree
	result.setDeallocator( surfaceDeallocatorGlobalAlloc, data );
	
	if( ::GetDIBits( hdc, hbitmap, 0, height, result.getData(), &bmi, DIB_RGB_COLORS ) == 0 )
		throw std::exception( "Invalid HBITMAP" );
	
	::ReleaseDC( NULL, hdc );

	return result;
}
Exemplo n.º 4
0
void Fluid2DCamAppApp::update()
{
	
	if( mCapture && mCapture.checkNewFrame() ) {
		if( ! mTexCam ) {
			mTexCam = gl::Texture( mCapture.getSurface() );
		}

		// Flip the image
		if( ! mFlipped ) {
			Surface8u srcImg = mCapture.getSurface();
			mFlipped = Surface8u( srcImg.getWidth(), srcImg.getHeight(), srcImg.hasAlpha(), srcImg.getChannelOrder() );
		}
		Surface8u srcImg = mCapture.getSurface();
		mFlipped = Surface8u( srcImg.getWidth(), srcImg.getHeight(), srcImg.hasAlpha(), srcImg.getChannelOrder() );
		for( int y = 0; y < mCapture.getHeight(); ++y ) {
			const Color8u* src = (const Color8u*)(srcImg.getData() + (y + 1)*srcImg.getRowBytes() - srcImg.getPixelInc());
			Color8u* dst = (Color8u*)(mFlipped.getData() + y*mFlipped.getRowBytes());
			for( int x = 0; x < mCapture.getWidth(); ++x ) {
				*dst = *src;
				++dst;
				--src;
			} 
		}
		
		// Create scaled image
		if( ! mCurScaled  ) {
			mCurScaled = Surface8u( mFlipped.getWidth()/kFlowScale, mFlipped.getHeight()/kFlowScale, mFlipped.hasAlpha(), mFlipped.getChannelOrder() );
		}		
		ip::resize( mFlipped, &mCurScaled );

		// Optical flow 
		if( mCurScaled && mPrvScaled ) {
			mPrvCvData = mCurCvData;
			mCurCvData = cv::Mat( toOcv( Channel( mCurScaled ) ) );

			if( mPrvCvData.data && mCurCvData.data ) {
				int pyrLvels		= 3;
				int winSize			= 3;
				int iters			= 5;
				int poly_n			= 7;
				double poly_sigma	= 1.5;
				cv::calcOpticalFlowFarneback( mPrvCvData, mCurCvData, mFlow, 0.5, pyrLvels, 2*winSize + 1, iters, poly_n, poly_sigma, cv::OPTFLOW_FARNEBACK_GAUSSIAN );

				if( mFlow.data ) {
					if( mFlowVectors.empty() ) {
						mFlowVectors.resize( mCurScaled.getWidth()*mCurScaled.getHeight() );
					}
					
					//memset( &mFlowVectors[0], 0, mCurScaled.getWidth()*mCurScaled.getHeight()*sizeof( Vec2f ) );
					mNumActiveFlowVectors = 0;
					for( int j = 0; j < mCurScaled.getHeight(); ++j ) {
						for( int i = 0; i < mCurScaled.getWidth(); ++i ) {
							const float* fptr = reinterpret_cast<float*>(mFlow.data + j*mFlow.step + i*sizeof(float)*2);
							//
							Vec2f v = Vec2f( fptr[0], fptr[1] ); 
							if( v.lengthSquared() >= mVelThreshold ) {
								if( mNumActiveFlowVectors >= (int)mFlowVectors.size() ) {
									mFlowVectors.push_back( std::make_pair( Vec2i( i, j ), v ) );
								}
								else {
									mFlowVectors[mNumActiveFlowVectors] = std::make_pair( Vec2i( i, j ), v );
								}
								++mNumActiveFlowVectors;
							}
						}
					}
				}
			}
		}

		// Update texture
		mTexCam.update( mFlipped );

		// Save previous frame
		if( ! mPrvScaled ) {
			mPrvScaled = Surface8u( mCurScaled.getWidth(), mCurScaled.getHeight(), mCurScaled.hasAlpha(), mCurScaled.getChannelOrder() );
		}
		memcpy( mPrvScaled.getData(), mCurScaled.getData(), mCurScaled.getHeight()*mCurScaled.getRowBytes() );
	}

	// Update fluid
	float dx = (mFluid2DResX - 2)/(float)(640/kFlowScale);
	float dy = (mFluid2DResY - 2)/(float)(480/kFlowScale);
	for( int i = 0; i < mNumActiveFlowVectors; ++i ) {
		Vec2f P = mFlowVectors[i].first;
		const Vec2f& v = mFlowVectors[i].second;
		mFluid2D.splatDensity( P.x*dx + 1, P.y*dy + 1, mDenScale*v.lengthSquared() );
		mFluid2D.splatVelocity( P.x*dx + 1, P.y*dy + 1, v*mVelScale );
	}
	mFluid2D.step();

	// Update velocity
	const Vec2f* srcVel0 = mFluid2D.dbgVel0().data();
	const Vec2f* srcVel1 = mFluid2D.dbgVel1().data();
	Colorf* dstVel0 = (Colorf*)mSurfVel0.getData();
	Colorf* dstVel1 = (Colorf*)mSurfVel1.getData();
	for( int j = 0; j < mFluid2DResY; ++j ) {
		for( int i = 0; i < mFluid2DResX; ++i ) {
			*dstVel0 = Colorf( srcVel0->x, srcVel0->y, 0.0f );
			*dstVel1 = Colorf( srcVel1->x, srcVel1->y, 0.0f );
			++srcVel0;
			++srcVel1;
			++dstVel0;
			++dstVel1;
		}
	}
	
	// Update Density
	mChanDen0 = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgDen0().data() );
	mChanDen1 = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgDen1().data() );
	
	mTexDen0.update( mChanDen0 );
	mTexDen1.update( mChanDen1 );
	
	// Update velocity textures
	mTexVel0.update( mSurfVel0 );
	mTexVel1.update( mSurfVel1 );
	
	// Update Divergence
	mChanDiv = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgDivergence().data() );
	mTexDiv.update( mChanDiv );

	// Update Divergence
	mChanPrs = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgPressure().data() );
	mTexPrs.update( mChanPrs );

	// Update Curl, Curl Length
	mChanCurl = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgCurl().data() );
	mTexCurl.update( mChanCurl );
	mChanCurlLen = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgCurlLength().data() );
	mTexCurlLen.update( mChanCurlLen );
}
Exemplo n.º 5
0
void CubeMap::update()
{
    glBindTexture(GL_TEXTURE_CUBE_MAP_ARB, textureObject);
    int i = 0;
	for( vector<ofVideoGrabber>::iterator cIt = mCaptures.begin(); cIt != mCaptures.end(); ++cIt )
    {
        int GLCubeDir = -1;
        if( (*cIt)->checkNewFrame() )
        {
            Surface8u surf = (*cIt)->getSurface();
            switch(i)
            {
                case 0:
                    GLCubeDir = GL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB;
                    
                    glTexImage2D(GLCubeDir, 0, GL_RGBA, mWidth, mHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, surf.getData());
                    glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB, 0, GL_RGBA, mWidth, mHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, surf.getData());
                    flipSurface(surf);
                    glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB, 0, GL_RGBA, mWidth, mHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, surf.getData());
                    break;
                case 1:
                    GLCubeDir = GL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB;
//                    Surface8u surf = (*cIt)->getSurface();
                    glTexImage2D(GLCubeDir, 0, GL_RGBA, mWidth, mHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, surf.getData());
                    glTexImage2D(GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB, 0, GL_RGBA, mWidth, mHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, surf.getData());
                    flipSurface(surf);
                    glTexImage2D(GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB, 0, GL_RGBA, mWidth, mHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, surf.getData());
                    break;
//                case 2:
//                    GLCubeDir = GL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB;
//                    break;
                default:
                    GLCubeDir = GL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB;
                    break;                
            }
        }
        i++;
    }
}
Exemplo n.º 6
0
void Device::update()
{
    if ( mFrameReader == 0 ) {
        return;
    }

    IAudioBeamFrame* audioFrame								= 0;
    IBodyFrame* bodyFrame									= 0;
    IBodyIndexFrame* bodyIndexFrame							= 0;
    IColorFrame* colorFrame									= 0;
    IDepthFrame* depthFrame									= 0;
    IMultiSourceFrame* frame								= 0;
    IInfraredFrame* infraredFrame							= 0;
    ILongExposureInfraredFrame* infraredLongExposureFrame	= 0;

    HRESULT hr = mFrameReader->AcquireLatestFrame( &frame );

    if ( SUCCEEDED( hr ) && mDeviceOptions.isAudioEnabled() ) {
        // TODO audio
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyEnabled() ) {
        IBodyFrameReference* frameRef = 0;
        hr = frame->get_BodyFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &bodyFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isBodyIndexEnabled() ) {
        IBodyIndexFrameReference* frameRef = 0;
        hr = frame->get_BodyIndexFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &bodyIndexFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isColorEnabled() ) {
        IColorFrameReference* frameRef = 0;
        hr = frame->get_ColorFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &colorFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isDepthEnabled() ) {
        IDepthFrameReference* frameRef = 0;
        hr = frame->get_DepthFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &depthFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredEnabled() ) {
        IInfraredFrameReference* frameRef = 0;
        hr = frame->get_InfraredFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &infraredFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) && mDeviceOptions.isInfraredLongExposureEnabled() ) {
        ILongExposureInfraredFrameReference* frameRef = 0;
        hr = frame->get_LongExposureInfraredFrameReference( &frameRef );
        if ( SUCCEEDED( hr ) ) {
            hr = frameRef->AcquireFrame( &infraredLongExposureFrame );
        }
        if ( frameRef != 0 ) {
            frameRef->Release();
            frameRef = 0;
        }
    }

    if ( SUCCEEDED( hr ) ) {
        long long timeStamp										= 0L;

        // TODO audio

        std::vector<Body> bodies;
        int64_t bodyTime										= 0L;
        IBody* kinectBodies[ BODY_COUNT ]						= { 0 };
        Vec4f floorClipPlane									= Vec4f::zero();

        Channel8u bodyIndexChannel;
        IFrameDescription* bodyIndexFrameDescription			= 0;
        int32_t bodyIndexWidth									= 0;
        int32_t bodyIndexHeight									= 0;
        uint32_t bodyIndexBufferSize							= 0;
        uint8_t* bodyIndexBuffer								= 0;
        int64_t bodyIndexTime									= 0L;

        Surface8u colorSurface;
        IFrameDescription* colorFrameDescription				= 0;
        int32_t colorWidth										= 0;
        int32_t colorHeight										= 0;
        ColorImageFormat colorImageFormat						= ColorImageFormat_None;
        uint32_t colorBufferSize								= 0;
        uint8_t* colorBuffer									= 0;

        Channel16u depthChannel;
        IFrameDescription* depthFrameDescription				= 0;
        int32_t depthWidth										= 0;
        int32_t depthHeight										= 0;
        uint16_t depthMinReliableDistance						= 0;
        uint16_t depthMaxReliableDistance						= 0;
        uint32_t depthBufferSize								= 0;
        uint16_t* depthBuffer									= 0;

        Channel16u infraredChannel;
        IFrameDescription* infraredFrameDescription				= 0;
        int32_t infraredWidth									= 0;
        int32_t infraredHeight									= 0;
        uint32_t infraredBufferSize								= 0;
        uint16_t* infraredBuffer								= 0;

        Channel16u infraredLongExposureChannel;
        IFrameDescription* infraredLongExposureFrameDescription	= 0;
        int32_t infraredLongExposureWidth						= 0;
        int32_t infraredLongExposureHeight						= 0;
        uint32_t infraredLongExposureBufferSize					= 0;
        uint16_t* infraredLongExposureBuffer					= 0;

        hr = depthFrame->get_RelativeTime( &timeStamp );

        // TODO audio
        if ( mDeviceOptions.isAudioEnabled() ) {

        }

        if ( mDeviceOptions.isBodyEnabled() ) {
            if ( SUCCEEDED( hr ) ) {
                hr = bodyFrame->get_RelativeTime( &bodyTime );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = bodyFrame->GetAndRefreshBodyData( BODY_COUNT, kinectBodies );
            }
            if ( SUCCEEDED( hr ) ) {
                Vector4 v;
                hr = bodyFrame->get_FloorClipPlane( &v );
                floorClipPlane = toVec4f( v );
            }
            if ( SUCCEEDED( hr ) ) {
                for ( uint8_t i = 0; i < BODY_COUNT; ++i ) {
                    IBody* kinectBody = kinectBodies[ i ];
                    if ( kinectBody != 0 ) {
                        uint8_t isTracked	= false;
                        hr					= kinectBody->get_IsTracked( &isTracked );
                        if ( SUCCEEDED( hr ) && isTracked ) {
                            Joint joints[ JointType_Count ];
                            kinectBody->GetJoints( JointType_Count, joints );

                            JointOrientation jointOrientations[ JointType_Count ];
                            kinectBody->GetJointOrientations( JointType_Count, jointOrientations );

                            uint64_t id = 0;
                            kinectBody->get_TrackingId( &id );

                            std::map<JointType, Body::Joint> jointMap;
                            for ( int32_t j = 0; j < JointType_Count; ++j ) {
                                Body::Joint joint(
                                    toVec3f( joints[ j ].Position ),
                                    toQuatf( jointOrientations[ j ].Orientation ),
                                    joints[ j ].TrackingState
                                );
                                jointMap.insert( pair<JointType, Body::Joint>( static_cast<JointType>( j ), joint ) );
                            }
                            Body body( id, i, jointMap );
                            bodies.push_back( body );
                        }
                    }
                }
            }
        }

        if ( mDeviceOptions.isBodyIndexEnabled() ) {
            if ( SUCCEEDED( hr ) ) {
                hr = bodyIndexFrame->get_RelativeTime( &bodyIndexTime );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = bodyIndexFrame->get_FrameDescription( &bodyIndexFrameDescription );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = bodyIndexFrameDescription->get_Width( &bodyIndexWidth );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = bodyIndexFrameDescription->get_Height( &bodyIndexHeight );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = bodyIndexFrame->AccessUnderlyingBuffer( &bodyIndexBufferSize, &bodyIndexBuffer );
            }
            if ( SUCCEEDED( hr ) ) {
                bodyIndexChannel = Channel8u( bodyIndexWidth, bodyIndexHeight );
                memcpy( bodyIndexChannel.getData(), bodyIndexBuffer, bodyIndexWidth * bodyIndexHeight * sizeof( uint8_t ) );
            }
        }

        if ( mDeviceOptions.isColorEnabled() ) {
            if ( SUCCEEDED( hr ) ) {
                hr = colorFrame->get_FrameDescription( &colorFrameDescription );
                if ( SUCCEEDED( hr ) ) {
                    float vFov = 0.0f;
                    float hFov = 0.0f;
                    float dFov = 0.0f;
                    colorFrameDescription->get_VerticalFieldOfView( &vFov );
                    colorFrameDescription->get_HorizontalFieldOfView( &hFov );
                    colorFrameDescription->get_DiagonalFieldOfView( &dFov );
                }
            }
            if ( SUCCEEDED( hr ) ) {
                hr = colorFrameDescription->get_Width( &colorWidth );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = colorFrameDescription->get_Height( &colorHeight );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = colorFrame->get_RawColorImageFormat( &colorImageFormat );
            }
            if ( SUCCEEDED( hr ) ) {
                colorBufferSize = colorWidth * colorHeight * sizeof( uint8_t ) * 4;
                colorBuffer		= new uint8_t[ colorBufferSize ];
                hr = colorFrame->CopyConvertedFrameDataToArray( colorBufferSize, reinterpret_cast<uint8_t*>( colorBuffer ), ColorImageFormat_Rgba );

                if ( SUCCEEDED( hr ) ) {
                    colorSurface = Surface8u( colorWidth, colorHeight, false, SurfaceChannelOrder::RGBA );
                    memcpy( colorSurface.getData(), colorBuffer, colorWidth * colorHeight * sizeof( uint8_t ) * 4 );
                }

                delete [] colorBuffer;
                colorBuffer = 0;
            }
        }

        if ( mDeviceOptions.isDepthEnabled() ) {
            if ( SUCCEEDED( hr ) ) {
                hr = depthFrame->get_FrameDescription( &depthFrameDescription );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = depthFrameDescription->get_Width( &depthWidth );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = depthFrameDescription->get_Height( &depthHeight );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = depthFrame->get_DepthMinReliableDistance( &depthMinReliableDistance );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = depthFrame->get_DepthMaxReliableDistance( &depthMaxReliableDistance );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = depthFrame->AccessUnderlyingBuffer( &depthBufferSize, &depthBuffer );
            }
            if ( SUCCEEDED( hr ) ) {
                depthChannel = Channel16u( depthWidth, depthHeight );
                memcpy( depthChannel.getData(), depthBuffer, depthWidth * depthHeight * sizeof( uint16_t ) );
            }
        }

        if ( mDeviceOptions.isInfraredEnabled() ) {
            if ( SUCCEEDED( hr ) ) {
                hr = infraredFrame->get_FrameDescription( &infraredFrameDescription );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = infraredFrameDescription->get_Width( &infraredWidth );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = infraredFrameDescription->get_Height( &infraredHeight );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = infraredFrame->AccessUnderlyingBuffer( &infraredBufferSize, &infraredBuffer );
            }
            if ( SUCCEEDED( hr ) ) {
                infraredChannel = Channel16u( infraredWidth, infraredHeight );
                memcpy( infraredChannel.getData(), infraredBuffer,  infraredWidth * infraredHeight * sizeof( uint16_t ) );
            }
        }

        if ( mDeviceOptions.isInfraredLongExposureEnabled() ) {
            if ( SUCCEEDED( hr ) ) {
                hr = infraredLongExposureFrame->get_FrameDescription( &infraredLongExposureFrameDescription );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = infraredLongExposureFrameDescription->get_Width( &infraredLongExposureWidth );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = infraredLongExposureFrameDescription->get_Height( &infraredLongExposureHeight );
            }
            if ( SUCCEEDED( hr ) ) {
                hr = infraredLongExposureFrame->AccessUnderlyingBuffer( &infraredLongExposureBufferSize, &infraredLongExposureBuffer );
            }
            if ( SUCCEEDED( hr ) ) {
                infraredLongExposureChannel = Channel16u( infraredLongExposureWidth, infraredLongExposureHeight );
                memcpy( infraredLongExposureChannel.getData(), infraredLongExposureBuffer, infraredLongExposureWidth * infraredLongExposureHeight * sizeof( uint16_t ) );
            }
        }

        if ( SUCCEEDED( hr ) ) {
            mFrame.mBodies						= bodies;
            mFrame.mChannelBodyIndex			= bodyIndexChannel;
            mFrame.mChannelDepth				= depthChannel;
            mFrame.mChannelInfrared				= infraredChannel;
            mFrame.mChannelInfraredLongExposure	= infraredLongExposureChannel;
            mFrame.mDeviceId					= mDeviceOptions.getDeviceId();
            mFrame.mSurfaceColor				= colorSurface;
            mFrame.mTimeStamp					= timeStamp;
            mFrame.mFloorClipPlane				= floorClipPlane;
        }

        if ( bodyIndexFrameDescription != 0 ) {
            bodyIndexFrameDescription->Release();
            bodyIndexFrameDescription = 0;
        }
        if ( colorFrameDescription != 0 ) {
            colorFrameDescription->Release();
            colorFrameDescription = 0;
        }
        if ( depthFrameDescription != 0 ) {
            depthFrameDescription->Release();
            depthFrameDescription = 0;
        }
        if ( infraredFrameDescription != 0 ) {
            infraredFrameDescription->Release();
            infraredFrameDescription = 0;
        }
        if ( infraredLongExposureFrameDescription != 0 ) {
            infraredLongExposureFrameDescription->Release();
            infraredLongExposureFrameDescription = 0;
        }
    }

    if ( audioFrame != 0 ) {
        audioFrame->Release();
        audioFrame = 0;
    }
    if ( bodyFrame != 0 ) {
        bodyFrame->Release();
        bodyFrame = 0;
    }
    if ( bodyIndexFrame != 0 ) {
        bodyIndexFrame->Release();
        bodyIndexFrame = 0;
    }
    if ( colorFrame != 0 ) {
        colorFrame->Release();
        colorFrame = 0;
    }
    if ( depthFrame != 0 ) {
        depthFrame->Release();
        depthFrame = 0;
    }
    if ( frame != 0 ) {
        frame->Release();
        frame = 0;
    }
    if ( infraredFrame != 0 ) {
        infraredFrame->Release();
        infraredFrame = 0;
    }
    if ( infraredLongExposureFrame != 0 ) {
        infraredLongExposureFrame->Release();
        infraredLongExposureFrame = 0;
    }
}