public override Frame Process(Frame frame, FrameSource frameSource, FramesReleaser releaser)
{
lock (_lock)
{
using (var frameset = FrameSet.FromFrame(frame))
{
using (var depth = frameset.DepthFrame)
{
using (var texture = frameset.FirstOrDefault <VideoFrame>(_textureStream))
{
_videoStreamFilter[depth.Profile.Stream].CopyProfile(depth);
_videoStreamFilter[texture.Profile.Stream].CopyProfile(texture);
if (_currVideoStreamFilter.Count == 0 ||
!_currVideoStreamFilter[depth.Profile.Stream].Equals(_videoStreamFilter[depth.Profile.Stream]) ||
!_currVideoStreamFilter[texture.Profile.Stream].Equals(_videoStreamFilter[texture.Profile.Stream]))
{
ResetProcessingBlock();
_currVideoStreamFilter[depth.Profile.Stream] = new RsVideoStreamRequest(depth);
_currVideoStreamFilter[texture.Profile.Stream] = new RsVideoStreamRequest(texture);
}
var points = _pb.Calculate(depth, releaser);
_pb.MapTexture(texture);
return(frameSource.AllocateCompositeFrame(releaser, depth, points).AsFrame());
}
}
}
}
}
//object l = new object();
private void OnFrames(FrameSet frames)
{
using (var aligned = aligner.Process(frames))
{
using (var colorFrame = aligned.ColorFrame)
using (var depthFrame = aligned.DepthFrame)
{
if (depthFrame == null)
{
Debug.Log("No depth frame in frameset, can't create point cloud");
return;
}
if (!UpdateParticleParams(depthFrame.Width, depthFrame.Height))
{
Debug.Log("Unable to craete point cloud");
return;
}
using (var points = pc.Calculate(depthFrame))
{
setParticals(points, colorFrame);
}
}
}
}
/// <summary>
/// 將深度與彩色影像直接轉換成點雲並輸出.ply檔
/// </summary>
internal void DepthToPLY(VideoFrame color, DepthFrame depth)
{
using (PointCloud pc = new PointCloud())
{
pc.MapTexture(color); // Tell pointcloud object to map to this color frame
using (Points points = pc.Calculate(depth)) // Generate the pointcloud and texture mappings
points.ExportToPLY("C:/Users/EL125/Desktop/testest.ply", color);
}
}
private void OnFrame(Frame frame)
{
if (frame.Profile.Stream != Stream.Depth)
{
return;
}
var depthFrame = frame as DepthFrame;
if (!UpdateParticleParams(depthFrame.Width, depthFrame.Height))
{
Debug.Log("Unable to craete point cloud");
return;
}
using (var points = pc.Calculate(depthFrame))
{
setParticals(points, null);
}
}
private void OnFrame(FrameSet frameset)
{
//Align depth frame to color frame
using (FrameSet aligned = aligner.Process(frameset))
{
//DepthFrame
depthFrame = aligned.Where(f => f.Profile.Stream == Stream.Depth).First() as DepthFrame;
if (depthFrame == null)
{
Debug.Log("depth frame is null");
return;
}
//ColorFrame
vidFrame = aligned.Where(f => f.Profile.Stream == Stream.Color).First() as VideoFrame;
if (vidFrame == null)
{
Debug.Log("color frame is null");
return;
}
UpdateParticleParams(depthFrame.Width, depthFrame.Height, depthFrame.Profile.Format);
//CoordinateData
var points = pc.Calculate(depthFrame);
vertices = vertices ?? new Points.Vertex[points.Count];
points.CopyTo(vertices);
//ColorData
colorData = colorData ?? new byte[vidFrame.Stride * vidFrame.Height];
vidFrame.CopyTo(colorData);
for (int index = 0; index < particleSize; index += skipParticles)
{
var v = vertices[index];
if (v.z > 0)
{
particles[index].position = new Vector3(v.x, v.y, v.z);
particles[index].startSize = pointsSize;
particles[index].startColor = new Color32(colorData[index * 3], colorData[index * 3 + 1], colorData[index * 3 + 2], 255);
}
else
{
particles[index].position = new Vector3(0, 0, 0);
particles[index].startSize = (float)0.0;
particles[index].startColor = new Color32(0, 0, 0, 0);
}
}
}
}
private void OnFrame(FrameSet frameset)
{
using (FrameSet aligned = aligner.Process(frameset))
{
//Depth
depthFrame = aligned.Where(f => f.Profile.Stream == Stream.Depth).First() as DepthFrame;
//Color
vidFrame = aligned.Where(f => f.Profile.Stream == Stream.Color).First() as VideoFrame;
if (depthFrame == null || vidFrame == null)
{
// Debug.Log("Frame is not a depth frame");
return;
}
UpdateParticleParams(depthFrame.Width, depthFrame.Height, depthFrame.Profile.Format);
var points = pc.Calculate(depthFrame);
//Depth
vertices = vertices ?? new Points.Vertex[points.Count];
points.CopyTo(vertices);
//Color
byteColorData = byteColorData ?? new byte[vidFrame.Stride * vidFrame.Height];
vidFrame.CopyTo(byteColorData);
for (int index = 0; index < particleSize; index += skipParticles)
{
var v = vertices[index];
if (v.z > 0)
{
particles[index].position = new Vector3(v.x, v.y, v.z);
particles[index].startSize = pointsSize;
//particles[index].startColor = gradient.Evaluate(v.z);
particles[index].startColor = new Color32(byteColorData[index * 3], byteColorData[index * 3 + 1], byteColorData[index * 3 + 2], 255);
}
/*
* else
* {
* particles[index].position = new Vector3(0, 0, 0);
* particles[index].startSize = (float)0.0;
* particles[index].startColor = new Color32(0, 0, 0, 0);
* }
*/
}
}
}
void onNewSampleSetThreading(FrameSet frameSet)
{
using (FrameSet aligned = aligner.Process(frameSet)){
VideoFrame vidFrame = aligned.Where(x => x.Profile.Stream == Stream.Color).First() as VideoFrame;
Frame depthFrame = aligned.Where(x => x.Profile.Stream == Stream.Depth).First();
byteColorData = byteColorData ?? new byte[vidFrame.Stride * vidFrame.Height];
vidFrame.CopyTo(byteColorData);
uintColorData = Array.ConvertAll(byteColorData, x => (uint)x);
var points = pointCloud.Calculate(depthFrame);
vertices = vertices ?? new Points.Vertex[dataLength];
points.CopyTo(vertices);
}
}
private void OnFrames(FrameSet frames)
{
using (var depthFrame =
holeFilling.ApplyFilter(
temporal.ApplyFilter(
spatial.ApplyFilter(
frames.DepthFrame))))
using (var points = pc.Calculate(depthFrame))
using (var f = frames.FirstOrDefault <VideoFrame>(stream))
{
pc.MapTexture(f);
memcpy(verticesPtr, points.VertexData, points.Count * 3 * sizeof(float));
e.Set();
}
}
private void OnFrames(FrameSet frames)
{
using (var depthFrame = frames.DepthFrame)
using (var points = pc.Calculate(depthFrame))
using (var f = frames.FirstOrDefault <VideoFrame>(stream))
{
pc.MapTexture(f);
memcpy(verticesPtr, points.VertexData, points.Count * 3 * sizeof(float));
frameSize = depthFrame.Width * depthFrame.Height * 2 * sizeof(float);
if (frameData == IntPtr.Zero)
{
frameData = Marshal.AllocHGlobal(frameSize);
}
memcpy(frameData, points.TextureData, frameSize);
e.Set();
}
}
private void OnFrame(Frame frame)
{
if (frame.Profile.Stream == Intel.RealSense.Stream.Depth)
{
var depthFrame = frame as DepthFrame;
if (depthFrame == null)
{
Debug.Log("Frame is not a depth frame");
return;
}
UpdateParticleParams(depthFrame.Width, depthFrame.Height, depthFrame.Profile.Format);
var points = pc.Calculate(frame);
Points.Vertex[] vertices = new Points.Vertex[points.Count];
points.CopyTo(vertices);
for (int index = 0; index < vertices.Length; index += skipParticles)
{
var v = vertices[index];
if (v.z > 0)
{
particles[index].position = new Vector3(v.x, v.y, v.z);
particles[index].startSize = pointsSize;
particles[index].startColor = gradient.Evaluate(v.z);
}
else
{
particles[index].position = new Vector3(0, 0, 0);
particles[index].startSize = (float)0.0;
particles[index].startColor = new Color32(0, 0, 0, 0);
}
}
}
else if (frame.Profile.Stream == Intel.RealSense.Stream.Color)
{
//pc.MapTexture(frame);
}
}
private void OnFrames(FrameSet frames)
{
if (frames.DepthFrame == null)
{
Debug.Log("No depth frame in frameset, can't create point cloud");
return;
}
if (!UpdateParticleParams(frames.DepthFrame.Width, frames.DepthFrame.Height))
{
Debug.Log("Unable to craete point cloud");
return;
}
using (var points = pc.Calculate(frames.DepthFrame))
{
if (frames.ColorFrame != null)
{
if (frames.ColorFrame.BitsPerPixel == 24)
{
pc.MapTexture(frames.ColorFrame);
colorFrameWidth = frames.ColorFrame.Width;
colorFrameHeight = frames.ColorFrame.Height;
var newSize = frames.ColorFrame.Stride * colorFrameHeight;
lock (l)
{
if (lastColorImage == null || lastColorImage.Length != newSize)
{
lastColorImage = new byte[newSize];
}
frames.ColorFrame.CopyTo(lastColorImage);
}
}
}
pointsQueue.Enqueue(points);
}
}
