public FrameReader(ObjectPool <MemoryFrame> pool, SmithersLogger logger)
{
#if DSAPI
_dsAPI = new DSAPIManaged();
_dsAPI.initializeDevice();
#else
_pool = pool;
_logger = logger;
//Directory.SetCurrentDirectory("")
// TODO Inject this instead of creating it
_session = PXCMSession.CreateInstance();
if (_session == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("No valid plugged-in DS4 sensor found.");
}
_senseManager = PXCMSenseManager.CreateInstance();
if (_senseManager == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Failed to create an SDK pipeline object");
}
_session.SetCoordinateSystem(PXCMSession.CoordinateSystem.COORDINATE_SYSTEM_REAR_OPENCV);
#endif
this.Synced = true;
this.Mirrored = false;
this.Record = false;
this.Playback = false;
this.RealTime = true;
}
public FrameReader(ObjectPool<MemoryFrame> pool, SmithersLogger logger)
{
#if DSAPI
_dsAPI = new DSAPIManaged();
_dsAPI.initializeDevice();
#else
_pool = pool;
_logger = logger;
//Directory.SetCurrentDirectory("")
// TODO Inject this instead of creating it
_session = PXCMSession.CreateInstance();
if (_session == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("No valid plugged-in DS4 sensor found.");
}
_senseManager = PXCMSenseManager.CreateInstance();
if (_senseManager == null)
{
throw new Smithers.Reading.FrameData.ScannerNotFoundException("Failed to create an SDK pipeline object");
}
_session.SetCoordinateSystem(PXCMSession.CoordinateSystem.COORDINATE_SYSTEM_REAR_OPENCV);
#endif
this.Synced = true;
this.Mirrored = false;
this.Record = false;
this.Playback = false;
this.RealTime = true;
}
private static DS4CalibrationRecord Calibrate(DSAPIManaged dsAPI)
{
DS4Calibration calibration;
int iSize = Marshal.SizeOf(typeof(DS4Calibration));
// Allocate memory (in the Global Heap) for the unmanaged
// representation of a TestStruct struct.
IntPtr calibrationPtr = Marshal.AllocHGlobal(iSize);
// Call the IntPtr version API.
unsafe
{
dsAPI.loadCalibartionInfo(calibrationPtr.ToPointer());
}
// Copy the modified contents of the unmanaged representation
// of test_struct back to the members of the managed test_struct.
calibration = (DS4Calibration)(Marshal.PtrToStructure(calibrationPtr, typeof(DS4Calibration)));
// Free the unmanaged representation of test_struct.
Marshal.FreeHGlobal(calibrationPtr);
DS4Calibration.DSCalibIntrinsicsRectified calibRectDepth = calibration.calib_rect_lr;
DS4Calibration.DSCalibIntrinsicsRectified calibRectColor = calibration.calib_rect_color;
DS4CalibrationRecord record = new DS4CalibrationRecord
{
DeviceCapture = new DS4CalibrationRecordInternal
{
ColorFocalLength = new float[] { calibRectColor.rfx, calibRectColor.rfy },
DepthFocalLength = new float[] { calibRectDepth.rfx, calibRectDepth.rfy },
ColorPrincipalPoint = new float[] { calibRectColor.rpx, calibRectColor.rpy },
DepthPrincipalPoint = new float[] { calibRectDepth.rpx, calibRectDepth.rpy },
ColorWidth = Frame.COLOR_WIDTH,
ColorHeight = Frame.COLOR_HEIGHT,
DepthWidth = Frame.DEPTH_WIDTH,
DepthHeight = Frame.DEPTH_HEIGHT,
DepthStride = Frame.DEPTH_STRIDE,
//LowConfValue = device.QueryDepthLowConfidenceValue(),
Extrinsics = new float[] { 1.0f,
0.0f,
0.0f,
(float)calibration.color_translation[0],
0.0f,
1.0f,
0.0f,
(float)calibration.color_translation[1],
0.0f,
0.0f,
1.0f,
(float)calibration.color_translation[2],
0.0f,
0.0f,
0.0f,
1.0f }
},
API = "DSAPI"
};
return(record);
}
private static DS4CalibrationRecord Calibrate(DSAPIManaged dsAPI)
{
DS4Calibration calibration;
int iSize = Marshal.SizeOf(typeof(DS4Calibration));
// Allocate memory (in the Global Heap) for the unmanaged
// representation of a TestStruct struct.
IntPtr calibrationPtr = Marshal.AllocHGlobal(iSize);
// Call the IntPtr version API.
unsafe
{
dsAPI.loadCalibartionInfo(calibrationPtr.ToPointer());
}
// Copy the modified contents of the unmanaged representation
// of test_struct back to the members of the managed test_struct.
calibration = (DS4Calibration)(Marshal.PtrToStructure(calibrationPtr, typeof(DS4Calibration)));
// Free the unmanaged representation of test_struct.
Marshal.FreeHGlobal(calibrationPtr);
DS4Calibration.DSCalibIntrinsicsRectified calibRectDepth = calibration.calib_rect_lr;
DS4Calibration.DSCalibIntrinsicsRectified calibRectColor = calibration.calib_rect_color;
DS4CalibrationRecord record = new DS4CalibrationRecord
{
DeviceCapture = new DS4CalibrationRecordInternal
{
ColorFocalLength = new float[] { calibRectColor.rfx, calibRectColor.rfy },
DepthFocalLength = new float[] { calibRectDepth.rfx, calibRectDepth.rfy },
ColorPrincipalPoint = new float[] { calibRectColor.rpx, calibRectColor.rpy },
DepthPrincipalPoint = new float[] { calibRectDepth.rpx, calibRectDepth.rpy },
ColorWidth = Frame.COLOR_WIDTH,
ColorHeight = Frame.COLOR_HEIGHT,
DepthWidth = Frame.DEPTH_WIDTH,
DepthHeight = Frame.DEPTH_HEIGHT,
DepthStride = Frame.DEPTH_STRIDE,
//LowConfValue = device.QueryDepthLowConfidenceValue(),
Extrinsics = new float[] { 1.0f,
0.0f,
0.0f,
(float)calibration.color_translation[0],
0.0f,
1.0f,
0.0f,
(float)calibration.color_translation[1],
0.0f,
0.0f,
1.0f,
(float)calibration.color_translation[2],
0.0f,
0.0f,
0.0f,
1.0f}
},
API = "DSAPI"
};
return record;
}
