/// <summary>
/// Initializes a new instance of the <see cref="DepthImage"/> class.
/// </summary>
/// <param name="bitmapData">Locked bitmap data.</param>
/// <param name="depthValueSemantics">Optional depth value semantics.</param>
/// <param name="depthValueToMetersScaleFactor">Optional scale factor to convert from depth values to meters.</param>
/// <param name="makeCopy">Indicates whether a copy is made (default is false).</param>
/// <remarks>
/// <para>When the <paramref name="makeCopy"/> parameter is false (default), the depth image simply wraps
/// the bitmap data. As such, the bitmap data must stay locked for the duration of using the <see cref="DepthImage"/> object.
/// </para>
/// <para>If the <paramref name="makeCopy"/> parameter is set to true, a copy of the bitmap
/// data is made, and the bitmap data can be released right after the <see cref="DepthImage"/> has been constructed.
/// </para>
/// </remarks>
public DepthImage(BitmapData bitmapData, DepthValueSemantics depthValueSemantics = DepthValueSemantics.DistanceToPlane, double depthValueToMetersScaleFactor = 0.001, bool makeCopy = false)
: base(bitmapData, makeCopy)
{
CheckPixelFormat(bitmapData.PixelFormat);
this.depthValueSemantics = depthValueSemantics;
this.depthValueToMetersScaleFactor = depthValueToMetersScaleFactor;
}
/// <inheritdoc/>
public Point3D[,] GetPixelToCameraSpaceMapping(DepthValueSemantics depthValueSemantics, bool undistort)
{
var result = new Point3D[this.ImageWidth, this.ImageHeight];
for (int i = 0; i < this.ImageWidth; i++)
{
for (int j = 0; j < this.ImageHeight; j++)
{
// Convert from pixel coordinates to NDC
var tmp = new Point3D(i, j, 1.0);
tmp = tmp.TransformBy(this.InvTransform);
// Distort the pixel
var pixelPoint2D = new Point2D(tmp.X, tmp.Y);
if (undistort)
{
this.TryUndistortPoint(pixelPoint2D, out pixelPoint2D);
}
if (depthValueSemantics == DepthValueSemantics.DistanceToPoint)
{
double norm = Math.Sqrt(pixelPoint2D.X * pixelPoint2D.X + pixelPoint2D.Y * pixelPoint2D.Y + 1);
result[i, j] = new Point3D(1 / norm, -pixelPoint2D.X / norm, -pixelPoint2D.Y / norm);
}
else
{
result[i, j] = new Point3D(1, -pixelPoint2D.X, -pixelPoint2D.Y);
}
}
}
return(result);
}
/// <summary>
/// Initializes a new instance of the <see cref="EncodedDepthImage"/> class.
/// </summary>
/// <param name="width">Width of encoded depth image in pixels.</param>
/// <param name="height">Height of encoded depth image in pixels.</param>
/// <param name="depthValueSemantics">Optional depth value semantics.</param>
/// <param name="depthValueToMetersScaleFactor">Optional scale factor to convert from depth values to meters.</param>
public EncodedDepthImage(int width, int height, DepthValueSemantics depthValueSemantics = DepthValueSemantics.DistanceToPlane, double depthValueToMetersScaleFactor = 0.001)
{
this.Width = width;
this.Height = height;
this.depthValueSemantics = depthValueSemantics;
this.depthValueToMetersScaleFactor = depthValueToMetersScaleFactor;
this.PixelFormat = PixelFormat.Gray_16bpp;
this.stream = new MemoryStream();
}
/// <summary>
/// Initializes a new instance of the <see cref="EncodedDepthImage"/> class.
/// </summary>
/// <param name="width">Width of image in pixels.</param>
/// <param name="height">Height of image in pixels.</param>
/// <param name="contents">Byte array used to initialize the image data.</param>
/// <param name="depthValueSemantics">Optional depth value semantics.</param>
/// <param name="depthValueToMetersScaleFactor">Optional scale factor to convert from depth values to meters.</param>
public EncodedDepthImage(int width, int height, byte[] contents, DepthValueSemantics depthValueSemantics = DepthValueSemantics.DistanceToPlane, double depthValueToMetersScaleFactor = 0.001)
{
this.Width = width;
this.Height = height;
this.depthValueSemantics = depthValueSemantics;
this.depthValueToMetersScaleFactor = depthValueToMetersScaleFactor;
this.PixelFormat = PixelFormat.Gray_16bpp;
this.stream = new MemoryStream();
this.stream.Write(contents, 0, contents.Length);
this.stream.Position = 0;
}
/// <summary>
/// Create a new <see cref="DepthImage"/> from a specified bitmap.
/// </summary>
/// <param name="bitmap">A bitmap to create the depth image from.</param>
/// <param name="depthValueSemantics">Optional depth value semantics.</param>
/// <param name="depthValueToMetersScaleFactor">Optional scale factor to convert from depth values to meters.</param>
/// <returns>A new depth image, which contains a copy of the specified bitmap.</returns>
public static DepthImage CreateFrom(Bitmap bitmap, DepthValueSemantics depthValueSemantics = DepthValueSemantics.DistanceToPlane, double depthValueToMetersScaleFactor = 0.001)
{
CheckPixelFormat(bitmap.PixelFormat);
DepthImage depthImage = null;
BitmapData sourceData = bitmap.LockBits(
new Rectangle(0, 0, bitmap.Width, bitmap.Height),
ImageLockMode.ReadOnly,
bitmap.PixelFormat);
try
{
depthImage = new DepthImage(sourceData, depthValueSemantics, depthValueToMetersScaleFactor, true);
}
finally
{
bitmap.UnlockBits(sourceData);
}
return(depthImage);
}
/// <inheritdoc/>
public Point3D GetCameraSpacePosition(Point2D point2D, double depth, DepthValueSemantics depthValueSemantics, bool undistort)
{
// Convert from pixel coordinates to NDC
var tmp = new Point3D(point2D.X, point2D.Y, 1.0);
tmp = tmp.TransformBy(this.InvTransform);
// Distort the pixel
var pixelPoint2D = new Point2D(tmp.X, tmp.Y);
if (undistort)
{
this.TryUndistortPoint(pixelPoint2D, out pixelPoint2D);
}
if (depthValueSemantics == DepthValueSemantics.DistanceToPoint)
{
double norm = Math.Sqrt(pixelPoint2D.X * pixelPoint2D.X + pixelPoint2D.Y * pixelPoint2D.Y + 1);
depth /= norm;
}
// X points in the depth dimension. Y points to the left, and Z points up.
return(new Point3D(depth, -pixelPoint2D.X * depth, -pixelPoint2D.Y * depth));
}
/// <summary>
/// Initializes a new instance of the <see cref="DepthImage"/> class.
/// </summary>
/// <param name="width">Depth image width in pixels.</param>
/// <param name="height">Depth image height in pixels.</param>
/// <param name="stride">Depth image stride (line size in bytes).</param>
/// <param name="depthValueSemantics">Optional depth value semantics.</param>
/// <param name="depthValueToMetersScaleFactor">Optional scale factor to convert from depth values to meters.</param>
/// <remarks><para><note>Using this constructor, make sure all specified image attributes are correct
/// and correspond to unmanaged memory buffer. If some attributes are specified incorrectly,
/// this may lead to exceptions working with the unmanaged memory.</note></para></remarks>
public DepthImage(int width, int height, int stride, DepthValueSemantics depthValueSemantics = DepthValueSemantics.DistanceToPlane, double depthValueToMetersScaleFactor = 0.001)
: base(width, height, stride, PixelFormat.Gray_16bpp)
{
this.depthValueSemantics = depthValueSemantics;
this.depthValueToMetersScaleFactor = depthValueToMetersScaleFactor;
}
