public double[,] captureRGBCloud()
{
Mmind.Response reply = sendRequest(CaptureGratingImage, 4, "");
Mat depthC3 = read32FC3Mat(reply.ImageGrating);
Mat color = captureColorImg();
int nums = color.Rows * color.Cols;
double[,] xyzbgr = new double[nums, 6];
int count = 0;
for (int i = 0; i < depthC3.Rows; i++)
{
for (int j = 0; j < depthC3.Cols; j++)
{
xyzbgr[count, 0] = (double)depthC3.At <Vec3f>(i, j)[0] * 0.001;
xyzbgr[count, 1] = (double)depthC3.At <Vec3f>(i, j)[1] * 0.001;
xyzbgr[count, 2] = (double)depthC3.At <Vec3f>(i, j)[2] * 0.001;
xyzbgr[count, 3] = color.At <Vec3b>(i, j)[0];
xyzbgr[count, 4] = color.At <Vec3b>(i, j)[1];
xyzbgr[count, 5] = color.At <Vec3b>(i, j)[2];
count++;
}
}
return(xyzbgr);
}
public double[] getCameraIntri()
{
Mmind.Response reply = sendRequest(GetCameraIntri, 0.0, "");
string intri_original = reply.CamIntri;
int start = intri_original.LastIndexOf('[');
int end = intri_original.LastIndexOf(']');
int length = intri_original.Length;
if (start == -1 || end == -1 || end < start)
{
Console.WriteLine("Wrong camera intrinsics");
return(null);
}
string intri_str = intri_original.Remove(0, start + 1).Substring(0, end - start - 1);
string[] intrivalue_str = intri_str.Split(',');
if (intrivalue_str.Length != 4)
{
Console.WriteLine("Wrong intrinscis value");
return(null);
}
CameraIntri intri = new CameraIntri();
intri.setValue(double.Parse(intrivalue_str[0]),
double.Parse(intrivalue_str[1]),
double.Parse(intrivalue_str[2]),
double.Parse(intrivalue_str[3])
);
double[] rel = intri.getValue();
//Console.WriteLine("fx = " + rel[0].ToString());
//Console.WriteLine("fy = " + rel[1].ToString());
//Console.WriteLine("u = " + rel[2].ToString());
//Console.WriteLine("v = " + rel[3].ToString());
return(rel);
}
public Mmind.Response sendReq(Mmind.Request req)
{
reqbuf = new byte[req.CalculateSize()];
Serialize(reqbuf, req);
client.SendFrame(reqbuf);
resbuf = client.ReceiveFrameBytes();
Mmind.Response rel = Mmind.Response.Parser.ParseFrom(resbuf);
return(rel);
}
Mmind.Response sendRequest(int command, double value_num, string value_str)
{
Mmind.Request Request = new Mmind.Request();
Request.Command = command;
Request.ValueDouble = value_num;
Request.ValueString = value_str;
Mmind.Response reply = sendReq(Request);
return(reply);
}
Mmind.CameraStatus getCameraStatus()
{
Mmind.Response reply = sendRequest(GetCameraStatus, 0.0, "");
string StatusUnicode = reply.CameraStatus;
byte[] StatusBytes = Encoding.UTF8.GetBytes(StatusUnicode);
Mmind.CameraStatus cmstatus = new CameraStatus();
cmstatus = Mmind.CameraStatus.Parser.ParseFrom(StatusBytes);
return(cmstatus);
}
public Mat captureDepthImg()
{
Mmind.Response reply = sendRequest(CaptureImage, DEPTH, "");
if (reply.ImageDepth.Length == 0)
{
Console.WriteLine("Client depth image is empty!");
return(null);
}
Console.WriteLine("Depth image captured!");
return(read32FC1Mat(reply.ImageDepth, 2));
}
public Mat captureColorImg()
{
Mmind.Response reply = sendRequest(CaptureImage, COLOR, "");
if (reply.ImageRGB.Length == 0)
{
Console.WriteLine("Client depth image is empty!");
return(null);
}
Console.WriteLine("Color image captured!");
Mat img = asMat(reply.ImageRGB);
return(Cv2.ImDecode(img, ImreadModes.Color));
}
public string setParameter(string paraname, double value)
{
Mmind.Response error = sendRequest(SetCameraParameter, value, paraname);
return(error.Error);
}
public double getParameter(string paraname)
{
Mmind.Response reply = sendRequest(GetCameraParameter, 0.0, paraname);
return(double.Parse(reply.ParameterValue));
}
