protected override void OnStartStreaming(PipelineProfile activeProfile)
{
InitializePostProcessingFilter();
aligner = new Align(alignTo);
StreamProfile profile = null;
for (int i = 0; i < activeProfile.Streams.Count; i++)
{
if (activeProfile.Streams[i].Stream == alignTo)
{
profile = activeProfile.Streams[i];
}
}
if (profile == null)
{
Debug.LogWarningFormat("Stream {0} not in active profile", sourceStreamType);
return;
}
var videoProfile = profile as VideoStreamProfile;
//Decimation = 2
texture = new Texture2D(videoProfile.Width / decimationAmount, videoProfile.Height / decimationAmount, textureFormat, false, true)
{
wrapMode = TextureWrapMode.Clamp,
filterMode = filterMode
};
texture.Apply();
textureBinding.Invoke(texture);
realSenseDevice.onNewSampleSet += OnFrameSet;
}
/// <summary>
/// 開啟RealSense相機並進行取像
/// </summary>
internal void Open(out Image <Bgr, byte> ColorImg,
out Image <Rgb, byte> DepthImg,
out Image <Rgb, byte> FilteredImg,
out VideoFrame color,
out DepthFrame depth,
out Frame filtered)
{
DepthImg = null; ColorImg = null; FilteredImg = null; color = null; depth = null; filtered = null;
if (CamState != CameraState.Opened)
{
PipelineProfile = Camera.Start(cfg); // 以cfg設定並開始串流
vsp = PipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Depth); // 取得內部參數
intrinsics = vsp.GetIntrinsics();
sp = PipelineProfile.GetStream(Intel.RealSense.Stream.Color); // 取得外部參數
extrinsics = vsp.GetExtrinsicsTo(sp);
CamState = CameraState.Opened; // 更新相機狀態
}
else
{
try
{
FrameSet frames = Camera.WaitForFrames();
depth = frames.DepthFrame.DisposeWith(frames);
color = frames.ColorFrame.DisposeWith(frames);
filtered = depth;
if (depth != null)
{
//Thres_Filter.Options[Option.MinDistance].Value = float.Parse(form1.textBox2.Text);
//Thres_Filter.Options[Option.MaxDistance].Value = float.Parse(form1.textBox1.Text);
//filtered = Thres_Filter.Process(filtered);
//Spa_Filter.Options[Option.FilterMagnitude].Value = 1;
//Spa_Filter.Options[Option.FilterSmoothAlpha].Value = 0.6f;
//Spa_Filter.Options[Option.FilterSmoothDelta].Value = 8;
//filtered = Spa_Filter.Process(filtered);
Temp_Filter.Options[Option.FilterSmoothAlpha].Value = 0.5f;
Temp_Filter.Options[Option.FilterSmoothDelta].Value = 20;
Temp_Filter.Options[Option.HolesFill].Value = 2;
filtered = Temp_Filter.Process(filtered);
depColor = colorizer.Colorize(depth);
filteredColor = colorizer.Colorize(filtered);
ColorImg = new Image <Bgr, byte>(color.Width, color.Height, color.Stride, color.Data);
DepthImg = new Image <Rgb, byte>(depColor.Width, depColor.Height, depColor.Stride, depColor.Data);
FilteredImg = new Image <Rgb, byte>(filteredColor.Width, filteredColor.Height, filteredColor.Stride, filteredColor.Data);
}
}
catch (Exception ex)
{
throw ex;
}
}
}
public static RsVideoStreamRequest FromProfile(StreamProfile p)
{
return(new RsVideoStreamRequest(
p.Stream,
p.Format,
p.Framerate,
p.Index,
p is VideoStreamProfile ? (p as VideoStreamProfile).Width : 0,
p is VideoStreamProfile ? (p as VideoStreamProfile).Height : 0
));
}
public static RsVideoStreamRequest FromProfile(StreamProfile p)
{
var isVideo = p.Is(Extension.VideoProfile);
using (p)
using (var v = isVideo ? p.As <VideoStreamProfile>() : null)
return(new RsVideoStreamRequest(
p.Stream,
p.Format,
p.Framerate,
p.Index,
isVideo ? v.Width : 0,
isVideo ? v.Height : 0
));
}
/// <summary>
/// Creates a new coordinate mapper for the specified pipeline.
/// </summary>
/// <param name="pipeline">The specified pipeline.</param>
/// <param name="colorWidth">The desired color frame width.</param>
/// <param name="colorHeight">The desired color frame height.</param>
/// <param name="depthWidth">The desired depth frame width.</param>
/// <param name="depthHeight">The desired depth frame height.</param>
/// <returns>The color/depth coordinate mapper of the current pipline, if all of the supported streams were found. Null otherwise.</returns>
public static CoordinateMapper Create(PipelineProfile pipeline, int colorWidth, int colorHeight, int depthWidth, int depthHeight)
{
if (pipeline == null)
{
return(null);
}
if (pipeline.Streams == null)
{
return(null);
}
if (pipeline.Streams.Count == 0)
{
return(null);
}
StreamProfile colorProfile = null;
StreamProfile depthProfile = null;
foreach (StreamProfile profile in pipeline.Streams)
{
VideoStreamProfile videoProfile = profile as VideoStreamProfile;
if (profile.Stream == Stream.Color && videoProfile.Width == colorWidth && videoProfile.Height == colorHeight)
{
colorProfile = profile;
}
else if (profile.Stream == Stream.Depth && videoProfile.Width == depthWidth && videoProfile.Height == depthHeight)
{
depthProfile = profile;
}
}
if (colorProfile == null)
{
return(null);
}
if (depthProfile == null)
{
return(null);
}
Intrinsics colorIntrinsics = (colorProfile as VideoStreamProfile).GetIntrinsics();
Extrinsics colorExtrinsics = colorProfile.GetExtrinsicsTo(depthProfile);
Intrinsics depthIntrinsics = (depthProfile as VideoStreamProfile).GetIntrinsics();
Extrinsics depthExtrinsics = depthProfile.GetExtrinsicsTo(colorProfile);
return(Create(colorIntrinsics, colorExtrinsics, depthIntrinsics, depthExtrinsics));
}
internal StreamProfile[] ToStreamProfileArray()
{
StreamProfile[] streams = new StreamProfile[PXCMCapture.STREAM_LIMIT];
streams[0] = color;
streams[1] = depth;
streams[2] = ir;
streams[3] = left;
streams[4] = right;
streams[5] = reserved1;
streams[6] = reserved2;
streams[7] = reserved3;
return streams;
}
internal StreamProfileSet(StreamProfile[] streams)
{
color = streams[0];
depth = streams[1];
ir = streams[2];
left = streams[3];
right = streams[4];
reserved1 = streams[5];
reserved2 = streams[6];
reserved3 = streams[7];
}
public StreamProfileSet()
{
color = new StreamProfile();
depth = new StreamProfile();
ir = new StreamProfile();
left = new StreamProfile();
right = new StreamProfile();
reserved1 = new StreamProfile();
reserved2 = new StreamProfile();
reserved3 = new StreamProfile();
}
/**
@brief Access the configuration parameters by the stream type.
@param[in] type The stream type.
@return The StreamProfile instance.
*/
public StreamProfile this[StreamType type]
{
get
{
if (type == StreamType.STREAM_TYPE_COLOR) return color;
if (type == StreamType.STREAM_TYPE_DEPTH) return depth;
if (type == StreamType.STREAM_TYPE_IR) return ir;
if (type == StreamType.STREAM_TYPE_LEFT) return left;
if (type == StreamType.STREAM_TYPE_RIGHT) return right;
if (type == StreamTypeFromIndex(5)) return reserved1;
if (type == StreamTypeFromIndex(6)) return reserved2;
if (type == StreamTypeFromIndex(7)) return reserved3;
return null;
}
set
{
if (type == StreamType.STREAM_TYPE_COLOR) color = value;
if (type == StreamType.STREAM_TYPE_DEPTH) depth = value;
if (type == StreamType.STREAM_TYPE_IR) ir = value;
if (type == StreamType.STREAM_TYPE_LEFT) left = value;
if (type == StreamType.STREAM_TYPE_RIGHT) right = value;
if (type == StreamTypeFromIndex(5)) reserved1 = value;
if (type == StreamTypeFromIndex(6)) reserved2 = value;
if (type == StreamTypeFromIndex(7)) reserved3 = value;
}
}
