/**对当前帧进行对齐（在任何计算之前进行这一步操作）
* **/
public void Aligin(ModuleStream module = ModuleStream.Color)
{
using (Align align = new Align(Module.GetRsStream(module)))
{
CurrentFrameset = align.Process(CurrentFrameset);
}
}
private void ReleaseResources()
{
if (!_leaveOpen)
{
ModuleReader.Dispose();
ModuleWriter.Dispose();
ModuleStream.Dispose();
}
}
private IEnumerable <VbModule> CreateModuleInfos()
{
foreach (var kvp in m_Storage.ModuleStreams)
{
string module_name = kvp.Key;
ModuleStream module_stream = kvp.Value;
string module_code = module_stream.GetUncompressedSourceCodeAsString();
VbModule moduleInfo = new VbModule(module_name, module_code);
yield return(moduleInfo);
}
}
/**从当前帧数据获取图像数据
* **/
public RealsenseImage GetImage(ModuleStream moduleStream, int index = -1)
{
switch (moduleStream)
{
case ModuleStream.Color:
return(GetRgbImage());
case ModuleStream.Depth:
return(GetDepthImage());
case ModuleStream.Infrared:
return(GetInfraredImage(index));
default:
throw new Exception("预期之外的ModuleStream：" + moduleStream);
}
}
/**构造函数
* ModuleType : 模块类型
* 参数都是默认值(依据来源于 Intel RealSense Viewer)
* **/
public Module(ModuleStream module)
{
if (ModuleStream.Infrared == module)
{
throw new Exception("构建红外模组需要使用带Index的构造函数！");
}
moduleType = module;
switch (module)
{
case ModuleStream.Color:
DefaultRGBCamera();
break;
case ModuleStream.Depth:
DefaultDepthCamera();
break;
}
}
/**index默认为-1，
* **/
public Module(ModuleStream module, int index)
{
this.index = -1;
switch (module)
{
case ModuleStream.Color:
DefaultRGBCamera();
break;
case ModuleStream.Depth:
DefaultDepthCamera();
break;
case ModuleStream.Infrared:
DefaultInfraredCamera();
this.index = index;
break;
}
}
/***自己定义的枚举与Realsense自带枚举的转换
* ModuleStream-》Intel.RealSense.Stream
* **/
public static Intel.RealSense.Stream GetRsStream(ModuleStream module)
{
Intel.RealSense.Stream rsStream = (Intel.RealSense.Stream)module;
return(rsStream);
}
/**如果不想要默认的format，则用这个构造函数
* **/
public Module(ModuleStream module, ModuleFormat format)
{
moduleType = module;
this.format = format;
}
public ModuleStream_tests()
{
Console.WriteLine("STARTING: ModuleStream");
moduleStream = new ModuleStream();
}
