/// <summary>
/// カラーイメージが更新された時の処理
/// </summary>
/// <param name="color"></param>
private void UpdateColorImage(Intel.RealSense.Image colorFrame)
{
if (colorFrame == null)
{
return;
}
//データの取得
ImageData data;
//アクセス権の取得
Status ret = colorFrame.AcquireAccess(ImageAccess.ACCESS_READ, Intel.RealSense.PixelFormat.PIXEL_FORMAT_RGB32, out data);
if (ret < Status.STATUS_NO_ERROR)
{
throw new Exception("カラー画像の取得に失敗");
}
//ビットマップに変換する
//画像の幅と高さ，フォーマットを取得
var info = colorFrame.Info;
//1ライン当たりのバイト数を取得し(pitches[0]) 高さをかける (1pxel 3byte)
var length = data.pitches[0] * info.height;
//画素の色データの取得
//ToByteArrayでは色データのバイト列を取得する．
var buffer = data.ToByteArray(0, length);
//バイト列をビットマップに変換
imageColor.Source = BitmapSource.Create(info.width, info.height, 96, 96, PixelFormats.Bgr32, null, buffer, data.pitches[0]);
//データを解放する
colorFrame.ReleaseAccess(data);
}
private void ProcessImages()
{
Sample sample = reader.Sample;
Intel.RealSense.Image color = sample.Color;
Intel.RealSense.Image depth = projection.CreateDepthImageMappedToColor(sample.Depth, color); //create depth mapped to color image
ImageData colorData;
ImageData depthData;
color.AcquireAccess(ImageAccess.ACCESS_READ, colorPixelFormat, out colorData);
depth.AcquireAccess(ImageAccess.ACCESS_READ, depthPixelFormat, out depthData);
// Update the user interface
UpdateUI(colorData, color.Info, ImageType.COLOR);
UpdateUI(depthData, depth.Info, ImageType.DEPTH);
if ((captureImage || captureSeries) && !pauseSave)
{
int cwidth = color.Info.width;
int cheight = color.Info.height;
int dwidth = depth.Info.width;
int dheight = depth.Info.height;
float[] depthPixels = ImageToFloatArray(depth);
PointF32[] invuvmap = GetInvUVMap(color, depth);
Point3DF32[] mappedPixels = GetMappedPixels(cwidth, cheight, dwidth, dheight, invuvmap, depthPixels);
Bitmap depthBitmap = depthBitmap = GetDepthF32Bitmap(depth.Info.width, depth.Info.height, mappedPixels, allLandmarks);
Bitmap colorBitmap = colorBitmap = colorData.ToBitmap(0, cwidth, cheight);
//save image
if (captureImage)
{
SaveSingleRgbdToDisk(colorBitmap, depthBitmap, mappedPixels);
}
else if (captureSeries)
{
SaveSeriesRgbdToDisk(dirName, colorBitmap, depthBitmap, mappedPixels);
}
depthBitmap.Dispose();
colorBitmap.Dispose();
}
//release access
color.ReleaseAccess(colorData);
depth.ReleaseAccess(depthData);
color.Dispose();
depth.Dispose();
projection.Dispose();
}
private float[] ImageToFloatArray(Intel.RealSense.Image depth)
{
ImageData ddata;
depth.AcquireAccess(ImageAccess.ACCESS_READ, Intel.RealSense.PixelFormat.PIXEL_FORMAT_DEPTH_F32, out ddata);
var dwidth = depth.Info.width;
var dheight = depth.Info.height;
var dPixels = ddata.ToFloatArray(0, dwidth * dheight);
depth.ReleaseAccess(ddata);
return(dPixels);
}
