public RealsenseManager(bool isDataOnly)
{
sm = RS.SenseManager.CreateInstance();
if (!isDataOnly)
{
rgbReader = RS.SampleReader.Activate(sm);
depthReader = RS.SampleReader.Activate(sm);
rgbReader.EnableStream(RS.StreamType.STREAM_TYPE_COLOR);
depthReader.EnableStream(RS.StreamType.STREAM_TYPE_DEPTH);
rgbReader.SampleArrived += RgbReader_SampleArrived;
depthReader.SampleArrived += DepthReader_SampleArrived;
}
// config hand
handModule = HandModule.Activate(sm);
handConfig = handModule.CreateActiveConfiguration();
handConfig.TrackedJointsEnabled = true;
handConfig.StabilizerEnabled = true;
handConfig.TrackingMode = TrackingModeType.TRACKING_MODE_FULL_HAND;
handConfig.ApplyChanges();
handData = handModule.CreateOutput();
handModule.FrameProcessed += HandModule_FrameProcessed;
}
public void EnableStreamsFromSelection()
{
/* Set Color & Depth Resolution and enable streams */
if (StreamProfileSet != null)
{
/* Optional: Filter the data based on the request */
manager.SenseManager.CaptureManager.FilterByStreamProfiles(StreamProfileSet);
/* Enable raw data streaming for specific stream types */
// Set frame Rate, Height and With for all Sterams
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType st = RS.Capture.StreamTypeFromIndex(s);
RS.StreamProfile info = StreamProfileSet[st];
if (info.imageInfo.format != 0)
{
/* For simple request, you can also use sm.EnableStream(...) */
RS.DataDesc desc = new RS.DataDesc();
desc.streams[st].frameRate.min = desc.streams[st].frameRate.max = info.frameRate.max;
desc.streams[st].sizeMin.height = desc.streams[st].sizeMax.height = info.imageInfo.height;
desc.streams[st].sizeMin.width = desc.streams[st].sizeMax.width = info.imageInfo.width;
desc.streams[st].options = info.options;
desc.receivePartialSample = true;
RS.SampleReader sampleReader = RS.SampleReader.Activate(manager.SenseManager);
sampleReader.EnableStreams(desc);
}
}
}
}
public void ConfigureStreams()
{
RS.SampleReader sampleReader = RS.SampleReader.Activate(manager.SenseManager);
sampleReader.EnableStream(RS.StreamType.STREAM_TYPE_COLOR, 1920, 1080, 30);
sampleReader.EnableStream(RS.StreamType.STREAM_TYPE_DEPTH, 640, 480, 60);
sampleReader.EnableStream(RS.StreamType.STREAM_TYPE_IR, 640, 480, 60);
}
public void StreamColorDepth() /* Stream Color and Depth Synchronously or Asynchronously */
{
try
{
bool sts = true;
/* Create an instance of the RS.SenseManager interface */
RS.SenseManager sm = RS.SenseManager.CreateInstance();
if (sm == null)
{
SetStatus("Failed to create an SDK pipeline object");
return;
}
/* Optional: if playback or recoridng */
if ((Playback || Record) && File != null)
{
sm.CaptureManager.SetFileName(File, Record);
}
/* Optional: Set Input Source */
if (!Playback && DeviceInfo != null)
{
sm.CaptureManager.FilterByDeviceInfo(DeviceInfo);
}
/* Set Color & Depth Resolution and enable streams */
if (StreamProfileSet != null)
{
/* Optional: Filter the data based on the request */
sm.CaptureManager.FilterByStreamProfiles(StreamProfileSet);
/* Enable raw data streaming for specific stream types */
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType st = RS.Capture.StreamTypeFromIndex(s);
RS.StreamProfile info = StreamProfileSet[st];
if (info.imageInfo.format != 0)
{
/* For simple request, you can also use sm.EnableStream(...) */
RS.DataDesc desc = new RS.DataDesc();
desc.streams[st].frameRate.min = desc.streams[st].frameRate.max = info.frameRate.max;
desc.streams[st].sizeMin.height = desc.streams[st].sizeMax.height = info.imageInfo.height;
desc.streams[st].sizeMin.width = desc.streams[st].sizeMax.width = info.imageInfo.width;
desc.streams[st].options = info.options;
desc.receivePartialSample = true;
RS.SampleReader sampleReader = RS.SampleReader.Activate(sm);
sampleReader.EnableStreams(desc);
}
}
}
/* Initialization */
SetStatus("Init Started");
if (sm.Init() >= RS.Status.STATUS_NO_ERROR)
{
/* Reset all properties */
sm.CaptureManager.Device.ResetProperties(RS.StreamType.STREAM_TYPE_ANY);
/* Set mirror mode */
RS.MirrorMode mirror = Mirror ? RS.MirrorMode.MIRROR_MODE_HORIZONTAL : RS.MirrorMode.MIRROR_MODE_DISABLED;
sm.CaptureManager.Device.MirrorMode = mirror;
SetStatus("Streaming");
while (!Stop)
{
/* Wait until a frame is ready: Synchronized or Asynchronous */
if (sm.AcquireFrame(Synced) < RS.Status.STATUS_NO_ERROR)
{
break;
}
/* Display images */
RS.Sample sample = sm.Sample;
/* Render streams */
EventHandler <RenderFrameEventArgs> render = RenderFrame;
RS.Image image = null;
if (MainPanel != RS.StreamType.STREAM_TYPE_ANY && render != null)
{
image = sample[MainPanel];
render(this, new RenderFrameEventArgs(0, image));
}
if (PIPPanel != RS.StreamType.STREAM_TYPE_ANY && render != null)
{
render(this, new RenderFrameEventArgs(1, sample[PIPPanel]));
}
/* Optional: Set Mirror State */
mirror = Mirror ? RS.MirrorMode.MIRROR_MODE_HORIZONTAL : RS.MirrorMode.MIRROR_MODE_DISABLED;
if (mirror != sm.CaptureManager.Device.MirrorMode)
{
sm.CaptureManager.Device.MirrorMode = mirror;
}
/* Optional: Show performance tick */
sm.ReleaseFrame();
}
}
else
{
SetStatus("Init Failed");
sts = false;
}
sm.Dispose();
if (sts)
{
SetStatus("Stopped");
}
}
catch (Exception e)
{
SetStatus(e.GetType().ToString());
}
}