public Points Calculate(Frame original)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(queue.WaitForFrame() as Points);
}
public Points Calculate(Frame original, FramesReleaser releaser = null)
{
object error;
NativeMethods.rs2_frame_add_ref(original.m_instance.Handle, out error);
NativeMethods.rs2_process_frame(m_instance.Handle, original.m_instance.Handle, out error);
return(FramesReleaser.ScopedReturn(releaser, queue.WaitForFrame() as Points));
}
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();
}
}
