public void UpdateValue()
{
var container = new DataContainer <TestItem>();
var item1 = new TestItem {
Value = 5
};
var item2 = new TestItem {
Value = 6
};
Assert.AreEqual(1, container.Add(item1));
Assert.AreEqual(1, container.Count());
Assert.AreEqual(2, container.Add(new TestItem()));
Assert.AreEqual(2, container.Count());
container.Update(1, item2);
container.TryGet(1, out var item);
Assert.AreEqual(6, item.Value);
container.Remove(1);
Assert.AreEqual(1, container.Count());
}
public void Log(LogLevel logLevel, string message, string memberName = null, int lineNumber = 0, string memberType = null)
{
if (string.IsNullOrWhiteSpace(message))
{
return;
}
LogMessage logMessage = new LogMessage(new LogMessage.CreateOptions
{
CategoryName = CategoryName,
LogLevel = logLevel,
Message = message,
MemberType = memberType,
MemberName = memberName,
LineNumber = lineNumber
});
DataContainer.Add(logMessage);
Guid?httpRequestId = DataContainer.HttpProperties == null ? (Guid?)null : DataContainer.HttpProperties.Request.Id;
InternalHelpers.WrapInTryCatch(() =>
{
NotifyOnMessage.Notify(logMessage, httpRequestId);
});
}
public void AddShapeObject(ShapeObject obj)
{
if (dc.IsExist(obj) == false)
{
dc.Add(obj, obj.Positions);
}
}
public void ConserveIds()
{
var container = new DataContainer <TestItem>(true);
var item1 = new TestItem {
Id = 0
};
var item2 = new TestItem {
Id = 1
};
var item3 = new TestItem {
Id = 2
};
container.Add(new[] { item1, item2, item3 });
Assert.AreEqual(3, item1.Id);
Assert.AreEqual(1, item2.Id);
Assert.AreEqual(2, item3.Id);
}
public void IncrementIds()
{
var container = new DataContainer <TestItem>();
int length = 10;
var a = new TestItem[length];
for (int i = 0; i < length; i++)
{
a[i] = new TestItem();
}
foreach (var item in a)
{
container.Add(item);
}
for (int i = 0; i < length; i++)
{
Assert.AreEqual(i + 1, a[i].Id);
}
}
protected void Push()
{
// Do not publish if staged data is empty
lock (_stagedDataLock)
{
if (!StagedData.Any())
{
return;
}
}
var container = new DataContainer(++_frameId, DateTime.Now);
lock (_stagedDataLock)
{
foreach (var data in StagedData)
{
container.Add(data);
}
StagedData.Clear();
}
Publish(container);
}
private void DoRendering()
{
_isRunning = true;
/* UtilMPipeline works best for synchronous color and depth streaming */
_pp = new UtilMPipeline();
/* Set Input Source */
_pp.capture.SetFilter("DepthSense Device 325V2");
/* Set Color & Depth Resolution */
PXCMCapture.VideoStream.ProfileInfo cinfo = GetConfiguration(PXCMImage.ColorFormat.COLOR_FORMAT_RGB32);
_pp.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_RGB32, cinfo.imageInfo.width, cinfo.imageInfo.height);
_pp.capture.SetFilter(ref cinfo); // only needed to set FPS
PXCMCapture.VideoStream.ProfileInfo dinfo2 = GetConfiguration(PXCMImage.ColorFormat.COLOR_FORMAT_DEPTH);
_pp.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_DEPTH, dinfo2.imageInfo.width, dinfo2.imageInfo.height);
_pp.capture.SetFilter(ref dinfo2); // only needed to set FPS
/* Initialization */
if (!_pp.Init())
{
LogFormat("Could not initialize Senz3D hardware");
HasErrorState = true;
return;
}
var capture = _pp.capture;
_device = capture.device;
_device.SetProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_CONFIDENCE_THRESHOLD, DepthConfidenceThreshold);
_device.QueryProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, out EmguExtensions.LowConfidence);
_device.QueryProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_SATURATION_VALUE, out EmguExtensions.Saturation);
while (_isRunning)
{
/* If raw depth is needed, disable smoothing */
_pp.capture.device.SetProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_SMOOTHING, DepthSmoothing ? 1 : 0);
/* Wait until a frame is ready */
if (!_pp.AcquireFrame(true)) break;
if (_pp.IsDisconnected()) break;
/* Get RGB color image */
Stopwatch sw = Stopwatch.StartNew();
var color = _pp.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_COLOR);
var colorBitmap = Senz3DUtils.GetRgb32Pixels(color);
var colorImage = new Image<Rgb, byte>(colorBitmap);
var colorImageCopy = colorImage.Copy();
ColorImageFrameTime = sw.ElapsedMilliseconds;
/* Get depth image */
sw.Restart();
var depth = _pp.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_DEPTH);
var depthImageAndConfidence = Senz3DUtils.GetHighPrecisionDepthImage(depth, MinDepthValue, MaxDepthValue);
var depthImage = (Image<Gray, float>)depthImageAndConfidence[0];
var depthImageCopy = depthImage.Copy();
var confidenceMapImage = (Image<Rgb, Byte>)depthImageAndConfidence[1];
var confidenceMapImageCopy = confidenceMapImage.Copy();
DepthImageFrameTime = sw.ElapsedMilliseconds;
ConfidenceMapImageFrameTime = 0;
bool getRgbInDepthROI = false;
/* if rgbInDepthROI is undefined get uvmap and rgbofdepth and rgbInDepthROI */
if (_rgbInDepthROI.Left == 0 && _rgbInDepthROI.Right == 0 && _rgbInDepthROI.Width == 0 &&
_rgbInDepthROI.Height == 0)
{
getRgbInDepthROI = true;
}
/* Get UV map */
Image<Rgb, float> uvMapImage, uvMapImageCopy;
if (UvMapChecked || getRgbInDepthROI)
{
sw.Restart();
uvMapImage = Senz3DUtils.GetDepthUvMap(depth);
uvMapImageCopy = uvMapImage.Copy();
UVMapImageFrameTime = sw.ElapsedMilliseconds;
}
else
{
uvMapImage = null;
uvMapImageCopy = null;
UVMapImageFrameTime = -1;
}
/* Get RgbOfDepth */
Image<Rgb, byte> rgbOfDepthImage, rgbOfDepthImageCopy;
if ((RgbOfDepthChecked && uvMapImage != null) || getRgbInDepthROI)
{
sw.Restart();
if (getRgbInDepthROI)
{
rgbOfDepthImage = Senz3DUtils.GetRgbOfDepthPixels(depthImage, colorImage, uvMapImage, true, ref _rgbInDepthROI);
Stage(new ROI(this, "rgbInDepthROI")
{
RoiRectangle = _rgbInDepthROI
});
Push();
LogFormat("Identified rgbInDepthROI as {0}", _rgbInDepthROI);
}
else
{
rgbOfDepthImage = Senz3DUtils.GetRgbOfDepthPixels(depthImage, colorImage, uvMapImage);
}
rgbOfDepthImageCopy = rgbOfDepthImage.Copy();
RgbOfDepthImageFrameTime = sw.ElapsedMilliseconds;
}
else
{
rgbOfDepthImage = null;
rgbOfDepthImageCopy = null;
RgbOfDepthImageFrameTime = -1;
}
/* Get DepthOfRGB */
Image<Gray, float> depthOfRgbImage, depthOfRgbImageCopy;
if (DepthOfRgbChecked && uvMapImage != null)
{
sw.Restart();
depthOfRgbImage = Senz3DUtils.GetDepthOfRGBPixels(depthImage, colorImage, uvMapImage);
depthOfRgbImageCopy = depthOfRgbImage.Copy();
DepthOfRgbImageFrameTime = sw.ElapsedMilliseconds;
}
else
{
depthOfRgbImage = null;
depthOfRgbImageCopy = null;
DepthOfRgbImageFrameTime = -1;
}
_pp.ReleaseFrame();
if (IsRenderContent)
{
Task.Factory.StartNew(() =>
{
var bitmap = colorImageCopy.ToBitmapSource(true);
colorImageCopy.Dispose();
return bitmap;
}).ContinueWith(s => ColorImageSource = s.Result);
Task.Factory.StartNew(() =>
{
var bitmap = depthImageCopy.ToGradientBitmapSource(true, EmguExtensions.LowConfidence, EmguExtensions.Saturation);
depthImageCopy.Dispose();
return bitmap;
}).ContinueWith(s => DepthImageSource = s.Result);
Task.Factory.StartNew(() =>
{
var bitmap = confidenceMapImageCopy.ToBitmapSource(true);
confidenceMapImageCopy.Dispose();
return bitmap;
}).ContinueWith(s => ConfidenceMapImageSource = s.Result);
/* draw uvmap */
if (uvMapImage != null)
Task.Factory.StartNew(() =>
{
var bitmap = uvMapImageCopy.ToBitmapSource(true);
uvMapImageCopy.Dispose();
return bitmap;
}).ContinueWith(s => UVMapImageSource = s.Result);
/* draw rgbofdepth */
if (rgbOfDepthImage != null)
{
Task.Factory.StartNew(() =>
{
var bitmap = rgbOfDepthImageCopy.ToBitmapSource(true);
rgbOfDepthImageCopy.Dispose();
return bitmap;
}).ContinueWith(s => RgbOfDepthImageSource = s.Result);
}
/* draw depthofrgb */
if (depthOfRgbImage != null)
Task.Factory.StartNew(() =>
{
var bitmap = depthOfRgbImageCopy.ToGradientBitmapSource(true, EmguExtensions.LowConfidence, EmguExtensions.Saturation);
depthOfRgbImageCopy.Dispose();
return bitmap;
}).ContinueWith(s => DepthOfRgbImageSource = s.Result);
}
var dc = new DataContainer(++_frameId, DateTime.Now)
{
new RgbImageData(this, "color", colorImage),
new GrayFloatImage(this, "depth", depthImage),
new RgbImageData(this, "confidence", confidenceMapImage),
};
if (uvMapImage != null) dc.Add(new RgbFloatImage(this, "uvmap", uvMapImage));
if (rgbOfDepthImage != null) dc.Add(new RgbImageData(this, "rgbofdepth", rgbOfDepthImage));
if (depthOfRgbImage != null) dc.Add(new GrayFloatImage(this, "depthofrgb", depthOfRgbImage));
Publish(dc);
}
_pp.Close();
_pp.Dispose();
}
protected override void CREATE_ENTRY(string key, AbstractControlStateObject stateObject)
{
DataContainer.Add(ACTUAL_KEY(key), SERIALIZE(stateObject));
}
private void DoRendering()
{
_isRunning = true;
/* UtilMPipeline works best for synchronous color and depth streaming */
_pp = new UtilMPipeline();
/* Set Input Source */
_pp.capture.SetFilter("DepthSense Device 325V2");
/* Set Color & Depth Resolution */
PXCMCapture.VideoStream.ProfileInfo cinfo = GetConfiguration(PXCMImage.ColorFormat.COLOR_FORMAT_RGB32);
_pp.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_RGB32, cinfo.imageInfo.width, cinfo.imageInfo.height);
_pp.capture.SetFilter(ref cinfo); // only needed to set FPS
PXCMCapture.VideoStream.ProfileInfo dinfo2 = GetConfiguration(PXCMImage.ColorFormat.COLOR_FORMAT_DEPTH);
_pp.EnableImage(PXCMImage.ColorFormat.COLOR_FORMAT_DEPTH, dinfo2.imageInfo.width, dinfo2.imageInfo.height);
_pp.capture.SetFilter(ref dinfo2); // only needed to set FPS
/* Initialization */
if (!_pp.Init())
{
LogFormat("Could not initialize Senz3D hardware");
HasErrorState = true;
return;
}
var capture = _pp.capture;
_device = capture.device;
_device.SetProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_CONFIDENCE_THRESHOLD, DepthConfidenceThreshold);
_device.QueryProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, out EmguExtensions.LowConfidence);
_device.QueryProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_SATURATION_VALUE, out EmguExtensions.Saturation);
while (_isRunning)
{
/* If raw depth is needed, disable smoothing */
_pp.capture.device.SetProperty(PXCMCapture.Device.Property.PROPERTY_DEPTH_SMOOTHING, DepthSmoothing ? 1 : 0);
/* Wait until a frame is ready */
if (!_pp.AcquireFrame(true))
{
break;
}
if (_pp.IsDisconnected())
{
break;
}
/* Get RGB color image */
Stopwatch sw = Stopwatch.StartNew();
var color = _pp.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_COLOR);
var colorBitmap = Senz3DUtils.GetRgb32Pixels(color);
var colorImage = new Image <Rgb, byte>(colorBitmap);
var colorImageCopy = colorImage.Copy();
ColorImageFrameTime = sw.ElapsedMilliseconds;
/* Get depth image */
sw.Restart();
var depth = _pp.QueryImage(PXCMImage.ImageType.IMAGE_TYPE_DEPTH);
var depthImageAndConfidence = Senz3DUtils.GetHighPrecisionDepthImage(depth, MinDepthValue, MaxDepthValue);
var depthImage = (Image <Gray, float>)depthImageAndConfidence[0];
var depthImageCopy = depthImage.Copy();
var confidenceMapImage = (Image <Rgb, Byte>)depthImageAndConfidence[1];
var confidenceMapImageCopy = confidenceMapImage.Copy();
DepthImageFrameTime = sw.ElapsedMilliseconds;
ConfidenceMapImageFrameTime = 0;
bool getRgbInDepthROI = false;
/* if rgbInDepthROI is undefined get uvmap and rgbofdepth and rgbInDepthROI */
if (_rgbInDepthROI.Left == 0 && _rgbInDepthROI.Right == 0 && _rgbInDepthROI.Width == 0 &&
_rgbInDepthROI.Height == 0)
{
getRgbInDepthROI = true;
}
/* Get UV map */
Image <Rgb, float> uvMapImage, uvMapImageCopy;
if (UvMapChecked || getRgbInDepthROI)
{
sw.Restart();
uvMapImage = Senz3DUtils.GetDepthUvMap(depth);
uvMapImageCopy = uvMapImage.Copy();
UVMapImageFrameTime = sw.ElapsedMilliseconds;
}
else
{
uvMapImage = null;
uvMapImageCopy = null;
UVMapImageFrameTime = -1;
}
/* Get RgbOfDepth */
Image <Rgb, byte> rgbOfDepthImage, rgbOfDepthImageCopy;
if ((RgbOfDepthChecked && uvMapImage != null) || getRgbInDepthROI)
{
sw.Restart();
if (getRgbInDepthROI)
{
rgbOfDepthImage = Senz3DUtils.GetRgbOfDepthPixels(depthImage, colorImage, uvMapImage, true, ref _rgbInDepthROI);
Stage(new ROI(this, "rgbInDepthROI")
{
RoiRectangle = _rgbInDepthROI
});
Push();
LogFormat("Identified rgbInDepthROI as {0}", _rgbInDepthROI);
}
else
{
rgbOfDepthImage = Senz3DUtils.GetRgbOfDepthPixels(depthImage, colorImage, uvMapImage);
}
rgbOfDepthImageCopy = rgbOfDepthImage.Copy();
RgbOfDepthImageFrameTime = sw.ElapsedMilliseconds;
}
else
{
rgbOfDepthImage = null;
rgbOfDepthImageCopy = null;
RgbOfDepthImageFrameTime = -1;
}
/* Get DepthOfRGB */
Image <Gray, float> depthOfRgbImage, depthOfRgbImageCopy;
if (DepthOfRgbChecked && uvMapImage != null)
{
sw.Restart();
depthOfRgbImage = Senz3DUtils.GetDepthOfRGBPixels(depthImage, colorImage, uvMapImage);
depthOfRgbImageCopy = depthOfRgbImage.Copy();
DepthOfRgbImageFrameTime = sw.ElapsedMilliseconds;
}
else
{
depthOfRgbImage = null;
depthOfRgbImageCopy = null;
DepthOfRgbImageFrameTime = -1;
}
_pp.ReleaseFrame();
if (IsRenderContent)
{
Task.Factory.StartNew(() =>
{
var bitmap = colorImageCopy.ToBitmapSource(true);
colorImageCopy.Dispose();
return(bitmap);
}).ContinueWith(s => ColorImageSource = s.Result);
Task.Factory.StartNew(() =>
{
var bitmap = depthImageCopy.ToGradientBitmapSource(true, EmguExtensions.LowConfidence, EmguExtensions.Saturation);
depthImageCopy.Dispose();
return(bitmap);
}).ContinueWith(s => DepthImageSource = s.Result);
Task.Factory.StartNew(() =>
{
var bitmap = confidenceMapImageCopy.ToBitmapSource(true);
confidenceMapImageCopy.Dispose();
return(bitmap);
}).ContinueWith(s => ConfidenceMapImageSource = s.Result);
/* draw uvmap */
if (uvMapImage != null)
{
Task.Factory.StartNew(() =>
{
var bitmap = uvMapImageCopy.ToBitmapSource(true);
uvMapImageCopy.Dispose();
return(bitmap);
}).ContinueWith(s => UVMapImageSource = s.Result);
}
/* draw rgbofdepth */
if (rgbOfDepthImage != null)
{
Task.Factory.StartNew(() =>
{
var bitmap = rgbOfDepthImageCopy.ToBitmapSource(true);
rgbOfDepthImageCopy.Dispose();
return(bitmap);
}).ContinueWith(s => RgbOfDepthImageSource = s.Result);
}
/* draw depthofrgb */
if (depthOfRgbImage != null)
{
Task.Factory.StartNew(() =>
{
var bitmap = depthOfRgbImageCopy.ToGradientBitmapSource(true, EmguExtensions.LowConfidence, EmguExtensions.Saturation);
depthOfRgbImageCopy.Dispose();
return(bitmap);
}).ContinueWith(s => DepthOfRgbImageSource = s.Result);
}
}
var dc = new DataContainer(++_frameId, DateTime.Now)
{
new RgbImageData(this, "color", colorImage),
new GrayFloatImage(this, "depth", depthImage),
new RgbImageData(this, "confidence", confidenceMapImage),
};
if (uvMapImage != null)
{
dc.Add(new RgbFloatImage(this, "uvmap", uvMapImage));
}
if (rgbOfDepthImage != null)
{
dc.Add(new RgbImageData(this, "rgbofdepth", rgbOfDepthImage));
}
if (depthOfRgbImage != null)
{
dc.Add(new GrayFloatImage(this, "depthofrgb", depthOfRgbImage));
}
Publish(dc);
}
_pp.Close();
_pp.Dispose();
}
protected void Push()
{
// Do not publish if staged data is empty
lock (_stagedDataLock)
{
if (!StagedData.Any())
return;
}
var container = new DataContainer(++_frameId, DateTime.Now);
lock (_stagedDataLock)
{
foreach (var data in StagedData)
container.Add(data);
StagedData.Clear();
}
Publish(container);
}
