public Projection(PXCMSession session, PXCMCapture.Device device, PXCMImage.ImageInfo dinfo)
{
//: start ros serial node:
// rosPublisher.start("192.168.0.10");
/* Create the projection instance */
projection = device.CreateProjection();
height = dinfo.height;
width = dinfo.width;
numOfPixels = dinfo.width * dinfo.height;
UInt16 invalid_value = device.QueryDepthLowConfidenceValue();
obj_detector = new managed_obj_detector.ObjDetector(dinfo.width, dinfo.height, invalid_value);
coords = new PXCMPoint3DF32[numOfPixels];
rgb_ir_d_xyz_points = new managed_obj_detector.RgbIrDXyzPoint[numOfPixels];
}
public Projection(PXCMSession session, PXCMCapture.Device device, PXCMImage.ImageInfo dinfo)
{
//: start ros serial node:
// rosPublisher.start("192.168.0.10");
/* Create the projection instance */
projection = device.CreateProjection();
height = dinfo.height;
width = dinfo.width;
numOfPixels = dinfo.width * dinfo.height;
UInt16 invalid_value = device.QueryDepthLowConfidenceValue();
obj_detector = new managed_obj_detector.ObjDetector(dinfo.width, dinfo.height, invalid_value);
coords = new PXCMPoint3DF32[numOfPixels];
rgb_ir_d_xyz_points = new managed_obj_detector.RgbIrDXyzPoint[numOfPixels];
}
public void Dispose()
{
if (rosPublisher != null)
{
rosPublisher.Dispose();
rosPublisher = null;
}
if (projection != null)
{
projection.Dispose();
projection = null;
}
if (obj_detector != null)
{
obj_detector.Dispose();
obj_detector = null;
}
}
public void Dispose()
{
if (rosPublisher != null)
{
rosPublisher.Dispose();
rosPublisher = null;
}
if (projection != null)
{
projection.Dispose();
projection = null;
}
if (obj_detector != null)
{
obj_detector.Dispose();
obj_detector = null;
}
}
