public Projection(PXCMSession session, PXCMCapture.Device device, PXCMImage.ImageInfo dinfo, PXCMImage.ImageInfo cinfo)
{
/* retrieve the invalid depth pixel values */
invalid_value = device.QueryDepthLowConfidenceValue();
/* Create the projection instance */
projection = device.CreateProjection();
uvmap = new PXCMPointF32[dinfo.width * dinfo.height];
invuvmap = new PXCMPointF32[cinfo.width * cinfo.height];
}
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 static DS4CalibrationRecord Calibrate(PXCMCapture.Device device)
{
PXCMProjection projection = device.CreateProjection();
/* Get a calibration instance */
PXCMCalibration calib = projection.QueryInstance<PXCMCalibration>();
PXCMCalibration.StreamCalibration calibration;
PXCMCalibration.StreamTransform transformation;
calib.QueryStreamProjectionParameters(PXCMCapture.StreamType.STREAM_TYPE_COLOR, out calibration, out transformation);
float[] translation = transformation.translation;
DS4CalibrationRecord record = new DS4CalibrationRecord
{
DeviceCapture = new DS4CalibrationRecordInternal
{
ColorFocalLength = device.QueryColorFocalLength().toFloatArray(),
DepthFocalLength = device.QueryDepthFocalLength().toFloatArray(),
ColorFOV = device.QueryColorFieldOfView().toFloatArray(),
DepthFOV = device.QueryDepthFieldOfView().toFloatArray(),
ColorPrincipalPoint = device.QueryColorPrincipalPoint().toFloatArray(),
DepthPrincipalPoint = device.QueryDepthPrincipalPoint().toFloatArray(),
ColorWidth = Frame.COLOR_WIDTH,
ColorHeight = Frame.COLOR_HEIGHT,
DepthWidth = Frame.DEPTH_WIDTH,
DepthHeight = Frame.DEPTH_HEIGHT,
DepthStride = Frame.DEPTH_STRIDE,
LowConfValue = device.QueryDepthLowConfidenceValue(),
Extrinsics = new float[] { 1.0f,
0.0f,
0.0f,
translation[0],
0.0f,
1.0f,
0.0f,
translation[1],
0.0f,
0.0f,
1.0f,
translation[2],
0.0f,
0.0f,
0.0f,
1.0f}
},
API = "RSSDK"
};
return record;
}