public static CameraSettings ReadFrom(PXCMCapture.Device device)
{
CameraSettings result = new CameraSettings();
result.DepthConfidenceThreshold = device.QueryDepthConfidenceThreshold();
result.IVCAMAccuracy = (int)device.QueryIVCAMAccuracy();
result.IVCAMFilterOption = device.QueryIVCAMFilterOption();
result.IVCAMLaserPower = device.QueryIVCAMLaserPower();
result.IVCAMMotionRangeTradeOff = device.QueryIVCAMMotionRangeTradeOff();
result.changed = false;
return result;
}
public static CameraSettings ReadDefaultFrom(PXCMCapture.Device device)
{
CameraSettings result = new CameraSettings();
result.DepthConfidenceThreshold = (ushort)device.QueryDepthConfidenceThresholdInfo().defaultValue;
result.IVCAMAccuracy = (int)device.QueryIVCAMAccuracyDefaultValue();
result.IVCAMFilterOption = (int)device.QueryIVCAMFilterOptionInfo().defaultValue;
result.IVCAMLaserPower = (int)device.QueryIVCAMLaserPowerInfo().defaultValue;
result.IVCAMMotionRangeTradeOff = (int)device.QueryIVCAMMotionRangeTradeOffInfo().defaultValue;
result.changed = true;
return result;
}
public void WriteTo(PXCMCapture.Device device, CameraSettings oldSettings)
{
if (oldSettings.DepthConfidenceThreshold != DepthConfidenceThreshold)
device.SetDepthConfidenceThreshold(DepthConfidenceThreshold);
if (oldSettings.IVCAMAccuracy != IVCAMAccuracy)
device.SetIVCAMAccuracy((PXCMCapture.Device.IVCAMAccuracy)IVCAMAccuracy);
if (oldSettings.IVCAMFilterOption != IVCAMFilterOption)
device.SetIVCAMFilterOption(IVCAMFilterOption);
if (oldSettings.IVCAMLaserPower != IVCAMLaserPower)
device.SetIVCAMLaserPower(IVCAMLaserPower);
if (oldSettings.IVCAMMotionRangeTradeOff != IVCAMMotionRangeTradeOff)
device.SetIVCAMMotionRangeTradeOff(IVCAMMotionRangeTradeOff);
this.changed = false;
}
internal void SetCameraSettings(CameraSettings cs, PXCMCapture.Device.PropertyInfo[] propInfo)
{
this.cameraSettings = cs;
this.Invoke(
new UpdateFromOtherThreadDelegate(
delegate()
{
cameraSettings.SetupTrackBars(this.cameraSettingsTrackBars, propInfo);
}
)
);
}
public void ShowStream()
{
bool sts = true;
/* Create an instance of the PXCSenseManager interface */
using (PXCMSenseManager pp = PXCMSenseManager.CreateInstance())
{
if (pp == null)
{
form.UpdateStatus("Failed to create an SDK pipeline object");
return;
}
/* Set Input Source */
PXCMCapture.DeviceInfo dinfo2 = form.GetCheckedDevice();
if (form.IsModeLive() || form.IsModeRecorded())
{
pp.captureManager.FilterByDeviceInfo(dinfo2);
}
/* Set Depth Resolution */
PXCMCapture.Device.StreamProfile dinfo = form.GetDepthConfiguration();
if (dinfo.imageInfo.format != 0)
{
Single dfps = dinfo.frameRate.max;
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, dinfo.imageInfo.width, dinfo.imageInfo.height, dfps);
//: enable also rgb and ir streams:
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, dinfo.imageInfo.width, dinfo.imageInfo.height, dfps);
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, dinfo.imageInfo.width, dinfo.imageInfo.height, dfps);
}
/* Initialization */
FPSTimer timer = new FPSTimer(form);
form.UpdateStatus("Init Started");
if (pp.Init() >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/* Configure the camera to return a non-mirrored image */
pp.captureManager.device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
appliedCameraSettings = CameraSettings.ReadFrom(pp.captureManager.device);
form.SetCameraSettings(appliedCameraSettings, CameraSettings.ReadPropInfo(pp.captureManager.device));
/* For UV Mapping & Projection only: Save certain properties */
using (Projection projection = new Projection(pp.session, pp.captureManager.device, dinfo.imageInfo))
{
form.UpdateStatus("Streaming");
int bitmap_width = dinfo.imageInfo.width;
int bitmap_height = dinfo.imageInfo.height;
while (!form.GetStopState())
{
CameraSettings newCameraSettings = form.CameraSettings;
if (newCameraSettings.changed)
{//: apply new camera settings:
newCameraSettings.WriteTo(pp.captureManager.device, this.appliedCameraSettings);
this.appliedCameraSettings = newCameraSettings;
}
//: acquire frame:
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
break;
}
//: process frame:
GuiParams guiParams = form.GetParams();
PXCMCapture.Sample sample = pp.QuerySample();
projection.SearchForObject(sample, guiParams.processParams);
pp.ReleaseFrame();
byte[] bitmap_data = projection.GetPixelColors();
form.SetPicture(bitmap_width, bitmap_height, bitmap_data);
form.UpdatePicture();
timer.Tick("Streaming.");
}
}
}
else
{
form.UpdateStatus("Init Failed");
sts = false;
}
pp.Close();
}
if (sts)
{
form.UpdateStatus("Stopped");
}
}
public void ShowStream()
{
bool sts = true;
/* Create an instance of the PXCSenseManager interface */
using (PXCMSenseManager pp = PXCMSenseManager.CreateInstance())
{
if (pp == null)
{
form.UpdateStatus("Failed to create an SDK pipeline object");
return;
}
/* Set Input Source */
PXCMCapture.DeviceInfo dinfo2 = form.GetCheckedDevice();
if (form.IsModeLive() || form.IsModeRecorded())
pp.captureManager.FilterByDeviceInfo(dinfo2);
/* Set Depth Resolution */
PXCMCapture.Device.StreamProfile dinfo = form.GetDepthConfiguration();
if (dinfo.imageInfo.format != 0)
{
Single dfps = dinfo.frameRate.max;
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_DEPTH, dinfo.imageInfo.width, dinfo.imageInfo.height, dfps);
//: enable also rgb and ir streams:
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, dinfo.imageInfo.width, dinfo.imageInfo.height, dfps);
pp.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_IR, dinfo.imageInfo.width, dinfo.imageInfo.height, dfps);
}
/* Initialization */
FPSTimer timer = new FPSTimer(form);
form.UpdateStatus("Init Started");
if (pp.Init() >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
/* Configure the camera to return a non-mirrored image */
pp.captureManager.device.SetMirrorMode(PXCMCapture.Device.MirrorMode.MIRROR_MODE_DISABLED);
appliedCameraSettings = CameraSettings.ReadFrom(pp.captureManager.device);
form.SetCameraSettings(appliedCameraSettings, CameraSettings.ReadPropInfo(pp.captureManager.device));
/* For UV Mapping & Projection only: Save certain properties */
using (Projection projection = new Projection(pp.session, pp.captureManager.device, dinfo.imageInfo))
{
form.UpdateStatus("Streaming");
int bitmap_width = dinfo.imageInfo.width;
int bitmap_height = dinfo.imageInfo.height;
while (!form.GetStopState())
{
CameraSettings newCameraSettings = form.CameraSettings;
if (newCameraSettings.changed)
{//: apply new camera settings:
newCameraSettings.WriteTo(pp.captureManager.device, this.appliedCameraSettings);
this.appliedCameraSettings = newCameraSettings;
}
//: acquire frame:
if (pp.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR)
break;
//: process frame:
GuiParams guiParams = form.GetParams();
PXCMCapture.Sample sample = pp.QuerySample();
projection.SearchForObject(sample, guiParams.processParams);
pp.ReleaseFrame();
byte[] bitmap_data = projection.GetPixelColors();
form.SetPicture(bitmap_width, bitmap_height, bitmap_data);
form.UpdatePicture();
timer.Tick("Streaming.");
}
}
}
else
{
form.UpdateStatus("Init Failed");
sts = false;
}
pp.Close();
}
if (sts)
form.UpdateStatus("Stopped");
}
