public static void CopyToByteArray(this PXCMImage image, byte[] data, bool for_preview=false)
{
PXCMImage.ImageData cdata;
PXCMImage.PixelFormat pixelFormat = PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32;
if (!for_preview && (image.streamType == PXCMCapture.StreamType.STREAM_TYPE_DEPTH))
{
pixelFormat = PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH;
}
else if(image.streamType == PXCMCapture.StreamType.STREAM_TYPE_LEFT || image.streamType == PXCMCapture.StreamType.STREAM_TYPE_RIGHT)
{
pixelFormat = PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH;
}
pxcmStatus status = image.AcquireAccess(PXCMImage.Access.ACCESS_READ, pixelFormat, out cdata);
if (status != pxcmStatus.PXCM_STATUS_NO_ERROR)
{
throw new InvalidOperationException("AcquireAccess failed");
}
//cdata.ToByteArray(0, data);
//Pitches is the real stride width the sensor returns. it's 640 for the current resolution
byte[] rawData= cdata.ToByteArray(0, cdata.pitches[0] * image.info.height);
Buffer.BlockCopy(rawData, 0, data, 0, rawData.Length);
image.ReleaseAccess(cdata);
}
public static byte[] GetRGB32Pixels(this PXCMImage image, out int cwidth, out int cheight)
{
PXCMImage.ImageData cdata;
byte[] cpixels = null;
cwidth = cheight = 0;
if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out cdata) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
cwidth = (int)cdata.pitches[0] / sizeof(Int32);
cheight = (int)image.info.height;
cpixels = cdata.ToByteArray(0, (int)cdata.pitches[0] * cheight);
image.ReleaseAccess(cdata);
}
return cpixels;
}
public static byte[] GetDepthRawPixels(this PXCMImage image)
{
PXCMImage.ImageData cdata;
byte[] cpixels = null;
int cwidth, cheight = 0;
if (image.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH_RAW, out cdata) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
cwidth = (int)cdata.pitches[0] / sizeof(ushort);
cheight = (int)image.info.height;
cpixels = cdata.ToByteArray(0, (int)cdata.pitches[0] * cheight);
image.ReleaseAccess(cdata);
image.info.format = PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH_RAW;
}
return cpixels;
}
