/// <summary>
/// See adapter documentation in the Myro 3 developer manual.
/// http://wiki.roboteducation.org/Myro_3.0_Developer_Manual
/// </summary>
public void QueryFrame(MyroImageType type, out int Width, out int Height, out byte[] Image)
{
var r = RSUtils.ReceiveSync(queue,
opPort.QueryFrame(new webcam.QueryFrameRequest() { Format = type.Guid }),
Params.DefaultRecieveTimeout);
Width = r.Size.Width;
Height = r.Size.Height;
Image = r.Frame;
}
public static Bitmap TakeBitmap(MyroImageType type)
{
if (webcamAdapter != null)
{
var r = takePicture(type);
Bitmap ret;
System.Drawing.Imaging.BitmapData bitmapData;
ret = new Bitmap(r.Width, r.Height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
if (r.Image.Length != 3 * ret.Width * ret.Height)
throw new Exception("Image returned from QueryFrame in TakeBitmap is the wrong size");
// Get bitmap data
bitmapData = ret.LockBits(
new Rectangle(0, 0, ret.Width, ret.Height),
System.Drawing.Imaging.ImageLockMode.WriteOnly,
System.Drawing.Imaging.PixelFormat.Format24bppRgb);
// Copy frame
System.Runtime.InteropServices.Marshal.Copy(
r.Image, 0, bitmapData.Scan0, 3 * ret.Width * ret.Height);
ret.UnlockBits(bitmapData);
return ret;
}
else
throw new MyroNotInitializedException();
}
private void OnImageTypeChange(object sender, SelectionChangedEventArgs e)
{
ComboBoxItem item = ImageTypesBox.SelectedItem as ComboBoxItem;
// This could be null because nothing is selected, or because
// of a casting error (the latter should never happen).
if (item != null)
{
curType = (MyroImageType)item.Tag;
}
}
public static MyroImage takePicture(MyroImageType type)
{
if (webcamAdapter != null)
{
int width, height;
byte[] image;
webcamAdapter.Adapter.QueryFrame(type, out width, out height, out image);
return new MyroImage()
{
Width = width,
Height = height,
Image = image
};
}
else
throw new MyroNotInitializedException();
}
