public void Start(FrameQueue queue)
{
Options[Option.FramesQueueSize].Value = 0;
object error;
NativeMethods.rs2_start_queue(m_instance, queue.m_instance.Handle, out error);
}
/// <summary>
/// stops streaming from specified configured device
/// </summary>
public void Stop()
{
object error;
NativeMethods.rs2_stop(Handle, out error);
m_callback = null;
m_queue = null;
}
public Colorizer()
{
object error;
m_instance = new HandleRef(this, NativeMethods.rs2_create_colorizer(out error));
queue = new FrameQueue();
NativeMethods.rs2_start_processing_queue(m_instance.Handle, queue.m_instance.Handle, out error);
}
public Align(Stream align_to)
{
object error;
m_instance = new HandleRef(this, NativeMethods.rs2_create_align(align_to, out error));
queue = new FrameQueue();
NativeMethods.rs2_start_processing_queue(m_instance.Handle, queue.m_instance.Handle, out error);
}
public TemporalFilter()
{
object error;
m_instance = new HandleRef(this, NativeMethods.rs2_create_temporal_filter_block(out error));
queue = new FrameQueue();
NativeMethods.rs2_start_processing_queue(m_instance.Handle, queue.m_instance.Handle, out error);
}
public PointCloud()
{
object error;
m_instance = new HandleRef(this, NativeMethods.rs2_create_pointcloud(out error));
queue = new FrameQueue();
NativeMethods.rs2_start_processing_queue(m_instance.Handle, queue.m_instance.Handle, out error);
}
public byte[] RunUVMapCalibration(FrameQueue left, FrameQueue color, FrameQueue depth, int px_py_only, out float ratio, out float angle)
{
object error;
IntPtr rawDataBuffer = NativeMethods.rs2_run_uv_map_calibration(Handle, left.Handle, color.Handle, depth.Handle,
px_py_only, out ratio, out angle, null, out error);
return(GetByteArrayFromRawDataObject(rawDataBuffer));
}
public void Start(FrameQueue queue)
{
object error;
NativeMethods.rs2_start_queue(m_instance, queue.m_instance.Handle, out error);
m_queue = queue;
m_callback = null;
}
public byte[] RunFocalLengthCalibration(FrameQueue left, FrameQueue right, float target_width_mm, float target_height_mm, int adjust_both_sides, out float ratio, out float angle)
{
object error;
IntPtr rawDataBuffer = NativeMethods.rs2_run_focal_length_calibration(Handle, left.Handle, right.Handle,
target_width_mm, target_height_mm, adjust_both_sides, out ratio, out angle, null, out error);
return(GetByteArrayFromRawDataObject(rawDataBuffer));
}
public DisparityTransform(bool transform_to_disparity = true)
{
object error;
byte transform_direction = transform_to_disparity ? (byte)1 : (byte)0;
m_instance = new HandleRef(this, NativeMethods.rs2_create_disparity_transform_block(transform_direction, out error));
queue = new FrameQueue();
NativeMethods.rs2_start_processing_queue(m_instance.Handle, queue.m_instance.Handle, out error);
}
public float CalculateTargetZ(FrameQueue frame_queue1, FrameQueue frame_queue2, FrameQueue frame_queue3, float target_width_mm, float target_height_mm, ProgressCallback cb)
{
object error;
rs2_update_progress_callback cb2 = (float progress, IntPtr u) =>
{
cb((IntPtr)progress);
};
return(NativeMethods.rs2_calculate_target_z(Handle, frame_queue1.Handle, frame_queue2.Handle, frame_queue3.Handle, target_width_mm, target_height_mm, cb2, out error));
}
public byte[] RunUVMapCalibration(FrameQueue left, FrameQueue color, FrameQueue depth, int px_py_only, out float ratio, out float angle, ProgressCallback cb)
{
object error;
rs2_update_progress_callback cb2 = (float progress, IntPtr u) =>
{
cb((IntPtr)progress);
};
IntPtr rawDataBuffer = NativeMethods.rs2_run_uv_map_calibration(Handle, left.Handle, color.Handle, depth.Handle,
px_py_only, out ratio, out angle, cb2, out error);
return(GetByteArrayFromRawDataObject(rawDataBuffer));
}
public byte[] RunFocalLengthCalibration(FrameQueue left, FrameQueue right, float target_width_mm, float target_height_mm, int adjust_both_sides, out float ratio, out float angle, ProgressCallback cb)
{
object error;
rs2_update_progress_callback cb2 = (float progress, IntPtr u) =>
{
cb((IntPtr)progress);
};
IntPtr rawDataBuffer = NativeMethods.rs2_run_focal_length_calibration(Handle, left.Handle, right.Handle,
target_width_mm, target_height_mm, adjust_both_sides, out ratio, out angle, cb2, out error);
return(GetByteArrayFromRawDataObject(rawDataBuffer));
}
/// <summary>start streaming from specified configured sensor</summary>
/// <param name="cb">delegate to register as per-frame callback</param>
// TODO: overload with state object and Action<Frame, object> callback to avoid allocations
public void Start(FrameCallback cb)
{
object error;
frame_callback cb2 = (IntPtr f, IntPtr u) =>
{
using (var frame = Frame.Create(f))
{
cb(frame);
}
};
m_callback = cb2;
m_queue = null;
NativeMethods.rs2_start(Handle, cb2, IntPtr.Zero, out error);
}
static void Main(string[] args)
{
FrameQueue q = new FrameQueue();
using (var ctx = new Context())
{
var devices = ctx.QueryDevices();
Console.WriteLine("There are " + devices.Count + " connected RealSense devices.");
if (devices.Count == 0)
{
return;
}
var dev = devices[0];
Console.WriteLine("\nUsing device 0, an {0}", dev.Info[CameraInfo.Name]);
Console.WriteLine(" Serial number: {0}", dev.Info[CameraInfo.SerialNumber]);
Console.WriteLine(" Firmware version: {0}", dev.Info[CameraInfo.FirmwareVersion]);
var depthSensor = dev.Sensors[0];
var sp = depthSensor.VideoStreamProfiles
.Where(p => p.Stream == Stream.Depth)
.OrderByDescending(p => p.Framerate)
.Where(p => p.Width == 640 && p.Height == 480)
.First();
depthSensor.Open(sp);
depthSensor.Start(q);
int one_meter = (int)(1f / depthSensor.DepthScale);
var run = true;
Console.CancelKeyPress += (s, e) =>
{
e.Cancel = true;
run = false;
};
ushort[] depth = new ushort[sp.Width * sp.Height];
while (run)
{
using (var f = q.WaitForFrame() as VideoFrame)
{
f.CopyTo(depth);
}
var buffer = new char[(640 / 10 + 1) * (480 / 20)];
var coverage = new int[64];
int b = 0;
for (int y = 0; y < 480; ++y)
{
for (int x = 0; x < 640; ++x)
{
ushort d = depth[x + y * 640];
if (d > 0 && d < one_meter)
{
++coverage[x / 10];
}
}
if (y % 20 == 19)
{
for (int i = 0; i < coverage.Length; i++)
{
int c = coverage[i];
buffer[b++] = " .:nhBXWW"[c / 25];
coverage[i] = 0;
}
buffer[b++] = '\n';
}
}
Console.SetCursorPosition(0, 0);
Console.WriteLine();
Console.Write(buffer);
}
depthSensor.Stop();
depthSensor.Close();
}
}
/// <summary>
/// Start the processing block, delivering frames to external queue
/// </summary>
/// <param name="queue"></param>
public void Start(FrameQueue queue)
{
object error;
NativeMethods.rs2_start_processing_queue(m_instance.Handle, queue.m_instance.Handle, out error);
}
public float CalculateTargetZ(FrameQueue frame_queue1, FrameQueue frame_queue2, FrameQueue frame_queue3, float target_width_mm, float target_height_mm)
{
object error;
return(NativeMethods.rs2_calculate_target_z(Handle, frame_queue1.Handle, frame_queue2.Handle, frame_queue3.Handle, target_width_mm, target_height_mm, null, out error));
}
