bbiwarg-original/bbiwarg/InputProvider/InputFrame.cs

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Emgu.CV;
using Emgu.CV.Structure;

namespace bbiwarg.InputProviders
{
    class InputFrame
    {
        private int width;
        private int height;
        private int widthRawColor;
        private int heightRawColor;
        private Int16[] depthData;
        private Int16[] confidenceData;
        private float[] uvData;
        private byte[] rawColorData;

        public InputFrame(int width, int height, int widthRawColor, int heightRawColor, Int16[] depthData, Int16[] confidenceData, float[] uvData, byte[] rawColorData) {
            this.width = width;
            this.height = height;
            this.widthRawColor = widthRawColor;
            this.heightRawColor = heightRawColor;
            this.depthData = depthData;
            this.confidenceData = confidenceData;
            this.uvData = uvData;
            this.rawColorData = rawColorData;
        }

        public int getWidth() {
            return width;
        }

        public int getHeight() {
            return height;
        }

        public Int16 getDepthAt(int x, int y) {
            return depthData[y * width + x];
        }

        public Int16 getConfidenceAt(int x, int y) {
            return confidenceData[y * width + x];
        }

        public float getUAt(int x, int y)
        {
            return uvData[2 * (y * width + x) + 0];
        }

        public float getVAt(int x, int y)
        {
            return uvData[2 * (y * width + x) + 1];
        }

        public Color getColorAt(int x, int y) {
            float u = getUAt(x, y);
            float v = getVAt(x, y);

            if (u < 0 || v < 0)
                return Color.Black;

            int xInColorImage = (int)(u * widthRawColor) % widthRawColor;
            int yInColorImage = (int)(v * heightRawColor) % heightRawColor;
            return getRawColorAt(x,y);
        }

        public Color getRawColorAt(int x, int y) {
            int offset = 4 * (y * widthRawColor + x);
            byte alpha = rawColorData[offset + 3];
            byte red = rawColorData[offset + 2];
            byte green = rawColorData[offset + 1];
            byte blue = rawColorData[offset + 0];

            return Color.FromArgb(alpha, red, green, blue);
        }

        public DepthImage getDepthImage() {
            Image<Gray, Int16> image = new Image<Gray, Int16>(width, height);
            for (int i = 0; i < depthData.Length; ++i)
            {
                image.Data[i / width, i % width, 0] = depthData[i];
            }
            return new DepthImage(width, height, image);
        }
    }
}