public static void CopyToByteArray(this PXCMImage image, byte[] data, bool for_preview = false)
{
PXCMImage.ImageData cdata;
PXCMImage.PixelFormat pixelFormat = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32;
if (!for_preview && (image.streamType == PXCMCapture.StreamType.STREAM_TYPE_DEPTH))
{
pixelFormat = PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH;
}
else if (image.streamType == PXCMCapture.StreamType.STREAM_TYPE_LEFT || image.streamType == PXCMCapture.StreamType.STREAM_TYPE_RIGHT)
{
pixelFormat = PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH;
}
pxcmStatus status = image.AcquireAccess(PXCMImage.Access.ACCESS_READ, pixelFormat, out cdata);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new InvalidOperationException("AcquireAccess failed");
}
//cdata.ToByteArray(0, data);
//Pitches is the real stride width the sensor returns. it's 640 for the current resolution
byte[] rawData = cdata.ToByteArray(0, cdata.pitches[0] * image.info.height);
Buffer.BlockCopy(rawData, 0, data, 0, rawData.Length);
image.ReleaseAccess(cdata);
}
public void PopulateColorResolutionMenu(string deviceName)
{
bool foundDefaultResolution = false;
var sm = new ToolStripMenuItem("Color");
foreach (var resolution in ColorResolutions[deviceName])
{
var resText = PixelFormat2String(resolution.Item1.format) + " " + resolution.Item1.width + "x"
+ resolution.Item1.height + " " + resolution.Item2.max + " fps";
var sm1 = new ToolStripMenuItem(resText, null);
var selectedResolution = resolution;
sm1.Click += (sender, eventArgs) =>
{
m_selectedColorResolution = selectedResolution;
ColorResolution_Item_Click(sender);
};
sm.DropDownItems.Add(sm1);
int width = selectedResolution.Item1.width;
int height = selectedResolution.Item1.height;
PXCMImage.PixelFormat format = selectedResolution.Item1.format;
float fps = selectedResolution.Item2.min;
if (DefaultCameraConfig.IsDefaultDeviceConfig(deviceName, width, height, format, fps))
{
foundDefaultResolution = true;
sm1.Checked = true;
sm1.PerformClick();
}
}
if (!foundDefaultResolution && sm.DropDownItems.Count > 0)
{
((ToolStripMenuItem)sm.DropDownItems[0]).Checked = true;
((ToolStripMenuItem)sm.DropDownItems[0]).PerformClick();
}
try
{
MainMenu.Items.RemoveAt(1);
}
catch (NotSupportedException)
{
sm.Dispose();
throw;
}
MainMenu.Items.Insert(1, sm);
}
/*
* Colorメニュー関連
* いったんスルー
*/
private static string PixelFormat2String(PXCMImage.PixelFormat format)
{
switch (format)
{
case PXCMImage.PixelFormat.PIXEL_FORMAT_YUY2:
return("YUY2");
case PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32:
return("RGB32");
case PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24:
return("RGB24");
}
return("NA");
}
/// <summary>
/// Gets the raw frame.
/// </summary>
/// <param name="image">The image.</param>
/// <returns>System.Byte[].</returns>
public byte[] GetRawFrame(object image)
{
const PXCMImage.PixelFormat format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32;
var frame = image as PXCMImage;
if (frame == null)
{
throw new ResearchException("Frame type is unexpected.");
}
PXCMImage.ImageData data;
frame.AcquireAccess(PXCMImage.Access.ACCESS_READ, format, out data);
byte[] bytes = data.ToByteArray(0, StreamSetting.Width * StreamSetting.Height * 4);
frame.ReleaseAccess(data);
return(bytes);
}
public static bool IsDefaultDeviceConfig(string deviceName, int width, int height, PXCMImage.PixelFormat format, float fps)
{
if (deviceName.Contains("R200"))
{
return(width == DefaultDs4Width && height == DefaultDs4Height && format == DefaultDs4PixelFormat && fps == DefaultDs4Fps);
}
if (deviceName.Contains("F200") || deviceName.Contains("SR300"))
{
return(width == DefaultIvcamWidth && height == DefaultIvcamHeight && format == DefaultIvcamPixelFormat && fps == DefaultIvcamFps);
}
return(false);
}
public static string ToString(this PXCMImage.PixelFormat format)
{
return(PXCMImage.PixelFormatToString(format));
}
private void PopulateColorMenus(ToolStripMenuItem device_item)
{
OperatingSystem os_version = Environment.OSVersion;
PXCMSession.ImplDesc desc = new PXCMSession.ImplDesc();
desc.group = PXCMSession.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = PXCMSession.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
desc.cuids[0] = PXCMCapture.CUID;
profiles.Clear();
ColorMenu.DropDownItems.Clear();
PXCMCapture capture;
PXCMCapture.DeviceInfo dinfo2 = GetCheckedDevice();
PXCMSenseManager pp = session.CreateSenseManager();
if (pp == null)
{
return;
}
if (pp.Enable3DScan() < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
return;
}
PXCM3DScan s = pp.Query3DScan();
if (s == null)
{
return;
}
PXCMVideoModule m = s.QueryInstance <PXCMVideoModule>();
if (m == null)
{
return;
}
int count = 0;
if (session.CreateImpl <PXCMCapture>(desc, out capture) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
PXCMCapture.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
PXCMCapture.Device.StreamProfileSet profile = new PXCMCapture.Device.StreamProfileSet();;
if (dinfo2.streams.HasFlag(PXCMCapture.StreamType.STREAM_TYPE_COLOR))
{
for (int p = 0; ; p++)
{
if (device.QueryStreamProfileSet(PXCMCapture.StreamType.STREAM_TYPE_COLOR, p, out profile) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
PXCMCapture.Device.StreamProfile sprofile = profile[PXCMCapture.StreamType.STREAM_TYPE_COLOR];
// Only populate profiles which are supported by the module
bool bFound = false;
int i = 0;
PXCMVideoModule.DataDesc inputs;
PXCMImage.PixelFormat format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32;
if (dinfo2.orientation != PXCMCapture.DeviceOrientation.DEVICE_ORIENTATION_REAR_FACING)
{
format = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24;
}
while ((m.QueryCaptureProfile(i++, out inputs) >= pxcmStatus.PXCM_STATUS_NO_ERROR))
{
if ((sprofile.imageInfo.height == inputs.streams.color.sizeMax.height) &&
(sprofile.imageInfo.width == inputs.streams.color.sizeMax.width) &&
(sprofile.frameRate.max == inputs.streams.color.frameRate.max) &&
(sprofile.imageInfo.format == format) &&
(0 == (sprofile.options & PXCMCapture.Device.StreamOption.STREAM_OPTION_UNRECTIFIED)))
{
bFound = true;
if (dinfo2.orientation != PXCMCapture.DeviceOrientation.DEVICE_ORIENTATION_REAR_FACING)
{ // Hide rear facing resolutions when the front facing camera is connected...
if (sprofile.imageInfo.width == 640)
{
bFound = false;
}
}
// On Windows 7, filter non-functional 30 fps modes
if (Environment.OSVersion.Version.Major == 6 && Environment.OSVersion.Version.Minor == 1)
{
if (sprofile.frameRate.max == 30)
{
bFound = false;
}
}
}
}
if (bFound)
{
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(sprofile), null, new EventHandler(Color_Item_Click));
profiles[sm1] = sprofile;
ColorMenu.DropDownItems.Add(sm1);
count++;
}
}
}
device.Dispose();
}
capture.Dispose();
}
m.Dispose();
pp.Dispose();
if (count > 0)
{
(ColorMenu.DropDownItems[ColorMenu.DropDownItems.Count - 1] as ToolStripMenuItem).Checked = true;
}
}
