static void FetchFrameLoop(IntPtr handle)
{
IntPtr color_isp_handle = new IntPtr();
uint cal_size = calib_inf.CSize();
SDK.TYGetStruct(handle, SDK.TY_COMPONENT_DEPTH_CAM, SDK.TY_STRUCT_CAM_CALIB_DATA, calib_inf.getCPtr(), cal_size);
Console.WriteLine(string.Format("Depth calib inf width:{0} height:{1}", calib_inf.intrinsicWidth, calib_inf.intrinsicHeight));
Console.WriteLine(string.Format("Depth intrinsic:{0} {1} {2} {3} {4} {5} {6} {7} {8}",
calib_inf.intrinsic.data[0], calib_inf.intrinsic.data[1], calib_inf.intrinsic.data[2],
calib_inf.intrinsic.data[3], calib_inf.intrinsic.data[4], calib_inf.intrinsic.data[5],
calib_inf.intrinsic.data[6], calib_inf.intrinsic.data[7], calib_inf.intrinsic.data[8]));
SDK.TYEnableComponents(handle, SDK.TY_COMPONENT_DEPTH_CAM);
SDK.TYEnableComponents(handle, SDK.TY_COMPONENT_RGB_CAM);
//set depth cam resolution
SDK.TYSetEnum(handle, SDK.TY_COMPONENT_DEPTH_CAM, SDK.TY_ENUM_IMAGE_MODE, (int)(SDK.TY_RESOLUTION_MODE_640x480 | SDK.TY_PIXEL_FORMAT_DEPTH16));
SDK.TYISPCreate(ref color_isp_handle);
SDK_ISP.ColorIspInitSetting(color_isp_handle, handle);
uint buff_sz;
SDK.TYGetFrameBufferSize(handle, out buff_sz);
int width, height;
SDK.TYGetInt(handle, SDK.TY_COMPONENT_RGB_CAM, SDK.TY_INT_WIDTH, out width);
SDK.TYGetInt(handle, SDK.TY_COMPONENT_RGB_CAM, SDK.TY_INT_HEIGHT, out height);
Console.WriteLine(string.Format("RGB Image size:{0} {1}", width, height));
int color_size = width * height * 3;
buffer[0] = new uint8_t_ARRAY((int)buff_sz);
buffer[1] = new uint8_t_ARRAY((int)buff_sz);
color_data = new uint8_t_ARRAY(color_size);
SDK.TYEnqueueBuffer(handle, buffer[0].VoidPtr(), buff_sz);
SDK.TYEnqueueBuffer(handle, buffer[1].VoidPtr(), buff_sz);
SDK.TYStartCapture(handle);
int img_index = 0;
while (true)
{
TY_FRAME_DATA frame = new TY_FRAME_DATA();
try
{
SDK.TYFetchFrame(handle, frame, -1);
Console.WriteLine(string.Format("capture {0} ", img_index));
var images = frame.image;
for (int idx = 0; idx < frame.validCount; idx++)
{
var img = images[idx];
if (img.componentID == SDK.TY_COMPONENT_DEPTH_CAM)
{
var pixel_arr = uint16_t_ARRAY.FromVoidPtr(img.buffer);
IntPtr pt = pixel_arr.VoidPtr2();
int offset = img.width * img.height / 2 + img.width / 2;
ushort distance = pixel_arr[offset];
TY_PIXEL_DESC pix = new TY_PIXEL_DESC();
TY_VECT_3F p3d = new TY_VECT_3F();
pix.x = (short)(img.width / 2);
pix.y = (short)(img.height / 2);
pix.depth = distance;
SDK.TYMapDepthToPoint3d(calib_inf, (uint)img.width, (uint)img.height, pix, 1, p3d);
Console.WriteLine(string.Format("Depth Image Center Pixel Distance:{0}", distance));
Console.WriteLine(string.Format("Point Cloud Center Data:(x:{0} y:{1} z:{2})", p3d.x, p3d.y, p3d.z));
}
else if (img.componentID == SDK.TY_COMPONENT_RGB_CAM)
{
if (img.pixelFormat == SDK.TY_PIXEL_FORMAT_YVYU)
{
var pixel_arr = uint8_t_ARRAY.FromVoidPtr(img.buffer);
SDK_ISP.ConvertYVYU2RGB(pixel_arr, color_data, img.width, img.height);
int offset = 3 * (img.width * img.height / 2 + img.width / 2);
byte b = color_data[offset];
byte g = color_data[offset + 1];
byte r = color_data[offset + 2];
Console.WriteLine(string.Format("Color Image Center Pixel value(YVYU):{0} {1} {2}", r, g, b));
}
else if (img.pixelFormat == SDK.TY_PIXEL_FORMAT_YUYV)
{
var pixel_arr = uint8_t_ARRAY.FromVoidPtr(img.buffer);
SDK_ISP.ConvertYUYV2RGB(pixel_arr, color_data, img.width, img.height);
int offset = 3 * (img.width * img.height / 2 + img.width / 2);
byte b = color_data[offset];
byte g = color_data[offset + 1];
byte r = color_data[offset + 2];
Console.WriteLine(string.Format("Color Image Center Pixel value(YUYV):{0} {1} {2}", r, g, b));
}
else if (img.pixelFormat == SDK.TY_PIXEL_FORMAT_BAYER8GB)
{
var pixel_arr = uint8_t_ARRAY.FromVoidPtr(img.buffer);
SWIGTYPE_p_void pointer = (SWIGTYPE_p_void)color_data.VoidPtr();
TY_IMAGE_DATA out_buff = SDK.TYInitImageData((uint)color_size, pointer, (uint)(img.width), (uint)(img.height));
out_buff.pixelFormat = (int)SDK.TY_PIXEL_FORMAT_BGR;
SDK.TYISPProcessImage(color_isp_handle, img, out_buff);
SDK.TYISPUpdateDevice(color_isp_handle);
var color_pixel_arr = uint8_t_ARRAY.FromVoidPtr(out_buff.buffer);
int offset = 3 * (img.width * img.height / 2 + img.width / 2);
byte b = color_pixel_arr[offset];
byte g = color_pixel_arr[offset + 1];
byte r = color_pixel_arr[offset + 2];
Console.WriteLine(string.Format("Color Image Center Pixel value(Bayer):{0} {1} {2}", r, g, b));
}
else
{
Console.WriteLine(string.Format("Color Image Type:{0}", img.pixelFormat));
}
}
}
SDK.TYEnqueueBuffer(handle, frame.userBuffer, (uint)frame.bufferSize);
img_index++;
}
catch (System.ComponentModel.Win32Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
}
static void FetchFrameLoop(IntPtr handle)
{
uint cal_size1 = depth_calib.CSize();
SDK.TYGetStruct(handle, SDK.TY_COMPONENT_DEPTH_CAM, SDK.TY_STRUCT_CAM_CALIB_DATA, depth_calib.getCPtr(), cal_size1);
uint cal_size2 = color_calib.CSize();
SDK.TYGetStruct(handle, SDK.TY_COMPONENT_RGB_CAM, SDK.TY_STRUCT_CAM_CALIB_DATA, color_calib.getCPtr(), cal_size2);
IntPtr color_isp_handle = new IntPtr();
SDK.TYEnableComponents(handle, SDK.TY_COMPONENT_DEPTH_CAM);
SDK.TYEnableComponents(handle, SDK.TY_COMPONENT_RGB_CAM);
SDK.TYISPCreate(ref color_isp_handle);
SDK_ISP.ColorIspInitSetting(color_isp_handle, handle);
uint buff_sz;
SDK.TYGetFrameBufferSize(handle, out buff_sz);
int depth_width, depth_height;
SDK.TYGetInt(handle, SDK.TY_COMPONENT_DEPTH_CAM, SDK.TY_INT_WIDTH, out depth_width);
SDK.TYGetInt(handle, SDK.TY_COMPONENT_DEPTH_CAM, SDK.TY_INT_HEIGHT, out depth_height);
Console.WriteLine(string.Format("Depth Image size:{0} {1}", depth_width, depth_height));
int color_width, color_height;
SDK.TYGetInt(handle, SDK.TY_COMPONENT_RGB_CAM, SDK.TY_INT_WIDTH, out color_width);
SDK.TYGetInt(handle, SDK.TY_COMPONENT_RGB_CAM, SDK.TY_INT_HEIGHT, out color_height);
Console.WriteLine(string.Format("RGB Image size:{0} {1}", color_width, color_height));
int color_size = color_width * color_height * 3;
buffer[0] = new uint8_t_ARRAY((int)buff_sz);
buffer[1] = new uint8_t_ARRAY((int)buff_sz);
color_data = new uint8_t_ARRAY(color_size);
undistort_color_data = new uint8_t_ARRAY(color_size);
registration_depth_data = new uint16_t_ARRAY(color_size);
src.width = color_width;
src.height = color_height;
src.size = 3 * color_width * color_height;
src.pixelFormat = (int)SDK.TY_PIXEL_FORMAT_RGB;
src.buffer = color_data.VoidPtr();
dst.width = color_width;
dst.height = color_height;
dst.size = 3 * color_width * color_height;
dst.pixelFormat = (int)SDK.TY_PIXEL_FORMAT_RGB;
dst.buffer = undistort_color_data.VoidPtr();
SDK.TYEnqueueBuffer(handle, buffer[0].VoidPtr(), buff_sz);
SDK.TYEnqueueBuffer(handle, buffer[1].VoidPtr(), buff_sz);
SDK.TYStartCapture(handle);
int img_index = 0;
while (true)
{
TY_FRAME_DATA frame = new TY_FRAME_DATA();
try
{
SDK.TYFetchFrame(handle, frame, -1);
Console.WriteLine(string.Format("capture {0} ", img_index));
bool depth_enable = false;
bool color_enable = false;
uint16_t_ARRAY depth_pixel_arr = null;
var images = frame.image;
for (int idx = 0; idx < frame.validCount; idx++)
{
var img = images[idx];
if (img.componentID == SDK.TY_COMPONENT_DEPTH_CAM)
{
depth_pixel_arr = uint16_t_ARRAY.FromVoidPtr(img.buffer);
depth_enable = true;
}
else if (img.componentID == SDK.TY_COMPONENT_RGB_CAM)
{
if (img.pixelFormat == SDK.TY_PIXEL_FORMAT_YVYU)
{
var pixel_arr = uint8_t_ARRAY.FromVoidPtr(img.buffer);
SDK_ISP.ConvertYVYU2RGB(pixel_arr, color_data, img.width, img.height);
color_enable = true;
}
else if (img.pixelFormat == SDK.TY_PIXEL_FORMAT_YUYV)
{
var pixel_arr = uint8_t_ARRAY.FromVoidPtr(img.buffer);
SDK_ISP.ConvertYUYV2RGB(pixel_arr, color_data, img.width, img.height);
color_enable = true;
}
else if (img.pixelFormat == SDK.TY_PIXEL_FORMAT_BAYER8GB)
{
var pixel_arr = uint8_t_ARRAY.FromVoidPtr(img.buffer);
SWIGTYPE_p_void pointer = (SWIGTYPE_p_void)color_data.VoidPtr();
TY_IMAGE_DATA out_buff = SDK.TYInitImageData((uint)color_size, pointer, (uint)(img.width), (uint)(img.height));
out_buff.pixelFormat = (int)SDK.TY_PIXEL_FORMAT_BGR;
SDK.TYISPProcessImage(color_isp_handle, img, out_buff);
SDK.TYISPUpdateDevice(color_isp_handle);
var color_pixel_arr = uint8_t_ARRAY.FromVoidPtr(out_buff.buffer);
color_enable = true;
}
else
{
Console.WriteLine(string.Format("Color Image Type:{0}", img.pixelFormat));
}
}
}
if ((depth_enable) && (color_enable))
{
SDK.TYUndistortImage(color_calib, src, color_calib.intrinsic, dst);
int offset = color_width * color_height / 2 + color_width / 2;
byte b = undistort_color_data[3 * offset];
byte g = undistort_color_data[3 * offset + 1];
byte r = undistort_color_data[3 * offset + 2];
SDK.TYMapDepthImageToColorCoordinate(depth_calib, (uint)depth_width, (uint)depth_height, depth_pixel_arr.cast(), color_calib,
(uint)color_width, (uint)color_height, registration_depth_data.cast());
ushort distance = registration_depth_data[offset];
Console.WriteLine(string.Format("The rgbd value of the center position of the image :R.{0} G.{1} B.{2} D.{3}", r, g, b, distance));
}
SDK.TYEnqueueBuffer(handle, frame.userBuffer, (uint)frame.bufferSize);
img_index++;
}
catch (System.ComponentModel.Win32Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
}
