public CameraSource(ref RosConnector rosConnector, CameraHandler handler, string name, double publishPeriod) : base()
{
string topic = "/hololens/" + name;
publisher = new RosSharp.RosBridgeClient.NonMono.Publisher <RosSharp.RosBridgeClient.Messages.Sensor.Image>(ref rosConnector, topic);
CameraHandler_ = handler;
CameraHandler_.FrameReadyToPublish += PublishFrame;
Debug.WriteLine("Publishing a new topic: " + topic);
StartReader();
}
public async Task GetDataSources()
{
// If pose is supported and selected add pose source
//var ver = Windows.System.Profile.AnalyticsInfo.VersionInfo.DeviceFamily;
//if (ver == "Windows.Holographic")
//{
// bool isSelected;
// Config.SourceSelectionDictionary.TryGetValue(Config.Pose, out isSelected);
// if (isSelected)
// {
// DataSources.Add(new PoseSource(ref RosConnector, ref SharedTimer)
// {
// SourceName = Config.Pose,
// PublishPeriod = 1 / Config.HololensPoseFPS
// });
// }
//}
// Check for any available cameras
var possibleSourceKinds = new MediaFrameSourceKind[] { MediaFrameSourceKind.Depth, MediaFrameSourceKind.Infrared, MediaFrameSourceKind.Color };
var groups = await MediaFrameSourceGroup.FindAllAsync();
// Find the group that exposes all of the sensors for streaming
foreach (var g in groups)
{
if (g.DisplayName == "Sensor Streaming")
{
Debug.WriteLine("Found Sensor Streaming Source Group");
var mediaCapture = new MediaCapture();
await mediaCapture.InitializeAsync(
new MediaCaptureInitializationSettings()
{
SourceGroup = g,
MemoryPreference = MediaCaptureMemoryPreference.Cpu,
StreamingCaptureMode = StreamingCaptureMode.Video
}
);
var sources = mediaCapture.FrameSources.Where(fs => possibleSourceKinds.Contains(fs.Value.Info.SourceKind)).Select(fs => fs.Value);
foreach (var source in sources)
{
string originalSourceName = source.Info.Id.Substring(source.Info.Id.IndexOf("Source#"), 8);
string assignedSourceName;
Config.DataSourceDictionary.TryGetValue(originalSourceName, out assignedSourceName);
bool isSelected;
Config.SourceSelectionDictionary.TryGetValue(assignedSourceName, out isSelected);
if (isSelected)
{
double assignedFrameRate;
Config.FrameRateDictionary.TryGetValue(assignedSourceName, out assignedFrameRate);
double assignedPublishPeriod = 1.0 / (double)assignedFrameRate;
int originalFPS = (int)source.Info.VideoProfileMediaDescription[0].FrameRate;
CameraHandler handler = new CameraHandler(source.Info, mediaCapture, assignedPublishPeriod);
await handler.SetupReaderAsync();
DataSources.Add(new CameraSource(ref RosConnector, handler, assignedSourceName, assignedPublishPeriod)
{
Resolution = $"{ source.Info.VideoProfileMediaDescription[0].Width } x { source.Info.VideoProfileMediaDescription[0].Height }",
OriginalFPS = originalFPS,
SourceName = assignedSourceName
});
}
}
break;
}
}
}