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);
}
}
}
}
private void PopulateProfiles(RS.DeviceInfo dinfo)
{
RS.SenseManager pp = RS.SenseManager.CreateInstance();
RS.Device device = pp.CaptureManager.Device;
if (device == null)
{
pp.Dispose();
}
RS.StreamProfileSet profile = new RS.StreamProfileSet();
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType st = RS.Capture.StreamTypeFromIndex(s);
if (((int)dinfo.streams & (int)st) != 0)
{
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < RS.Status.STATUS_NO_ERROR)
{
break;
}
RS.StreamProfile sprofile = profile[st];
string profNime = ProfileToString(sprofile);
profiles[profile] = sprofile;
cb_Profile.Items.Add(profNime);
}
}
else if (((int)dinfo.streams & (int)st) == 0)
{
}
}
}
private void StreamButton_Click(object sender, EventArgs e)
{
RS.StreamType selected_stream = GetSelectedStream();
if (selected_stream != streams.StreamType)
{
streams.StreamType = selected_stream;
}
}
// The SetStreamProfileSet function configures the streams parameters.
// All streams must be configured. The device streaming starts after a successful configuration.
private RS.StreamProfileSet GetStreamSetConfiguration()
{
RS.StreamProfileSet streamingProfile = new RS.StreamProfileSet();
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType st = RS.Capture.StreamTypeFromIndex(s);
streamingProfile[st] = GetStreamConfiguration(st);
}
return(streamingProfile);
}
private RS.StreamProfile GetStreamConfiguration(RS.StreamType st)
{
ToolStripMenuItem menu = streamMenue[RS.Capture.StreamTypeToIndex(st)];
if (menu != null)
{
return(GetStreamProfileConfiguration(menu));
}
else
{
return(new RS.StreamProfile());
}
}
// Check if Radio Buttons and Menu Selection fit
private void CheckSelection()
{
int sumEnabled = 0;
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
if (streamButtons[s] != null && streamString[s] != null)
{
streamButtons[s].Enabled = !streamString[s].Checked;
sumEnabled += streamButtons[s].Enabled ? 1 : 0;
}
}
RS.StreamType selectedStream = GetSelectedStream();
if (selectedStream != RS.StreamType.STREAM_TYPE_ANY && !streamButtons[RS.Capture.StreamTypeToIndex(selectedStream)].Enabled)
{
RS.StreamType st = GetUnselectedStream();
streamButtons[RS.Capture.StreamTypeToIndex(st)].Checked = true;
streams.StreamType = st;
}
}
private void ResetStreamTypes()
{
StreamType = RS.StreamType.STREAM_TYPE_ANY;
}
public Streams(Manager mngr)
{
StreamProfileSet = null;
StreamType = RS.StreamType.STREAM_TYPE_ANY;
manager = mngr;
}
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());
}
}
// Get entries for color Streams
private void PopulateColorDepthMenus(ToolStripMenuItem device_item)
{
RS.ImplDesc desc = new RS.ImplDesc();
desc.group = RS.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = RS.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
current_device_iuid = desc.iuid;
desc.cuids[0] = RS.Capture.CUID;
profiles.Clear();
foreach (ToolStripMenuItem menu in streamMenue)
{
if (menu != null)
{
menu.DropDownItems.Clear();
}
}
RS.Capture capture;
RS.DeviceInfo dinfo2 = GetCheckedDevice();
if (manager.Session.CreateImpl <RS.Capture>(desc, out capture) >= RS.Status.STATUS_NO_ERROR)
{
RS.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
RS.StreamProfileSet streamProfileSet = new RS.StreamProfileSet();
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType streamType = RS.Capture.StreamTypeFromIndex(s);
if (((int)dinfo2.streams & (int)streamType) != 0 && streamMenue[s] != null)
{
streamMenue[s].Visible = true;
streamButtons[s].Visible = true;
int num = device.QueryStreamProfileSetNum(streamType);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(streamType, p, out streamProfileSet) < RS.Status.STATUS_NO_ERROR)
{
break;
}
RS.StreamProfile streamProfile = streamProfileSet[streamType];
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(streamProfile), null, new EventHandler(Stream_Item_Click));
profiles[sm1] = streamProfile;
streamMenue[s].DropDownItems.Add(sm1);
}
}
else if (((int)dinfo2.streams & (int)streamType) == 0 && streamMenue[s] != null)
{
streamMenue[s].Visible = false;
streamButtons[s].Visible = false;
}
}
device.Dispose();
}
capture.Dispose();
}
for (int i = 0; i < RS.Capture.STREAM_LIMIT; i++)
{
ToolStripMenuItem menu = streamMenue[i];
if (menu != null)
{
streamString[i] = new ToolStripMenuItem("None", null, new EventHandler(Stream_Item_Click));
profiles[streamString[i]] = new RS.StreamProfile();
menu.DropDownItems.Add(streamString[i]);
if (menu == colorMenu)
{
(menu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
}
else
{
streamString[i].Checked = true;
}
}
}
CheckSelection();
}
public void ResetStreamTypes()
{
StreamType = RS.StreamType.STREAM_TYPE_ANY;
}
