private void CaptureThread()
{
int n_frames = 60;
int fps = 25;
string result = "NG";
dmcam.init(null);
dmcam.log_cfg(log_level_e.LOG_LEVEL_WARN, log_level_e.LOG_LEVEL_DEBUG,
log_level_e.LOG_LEVEL_NONE);
var devs = new dmcamDevArray(16);
var cnt = dmcam.dev_list(devs.cast(), 16);
Log(string.Format("found {0} device", cnt));
if (cnt == 0)
{
goto FINAL;
}
/* open device */
Log(" Open dmcam device ..");
var dev = dmcam.dev_open(null);
if (dev == null)
{
Log(" Open device failed");
goto FINAL;
}
Log(string.Format(" Set fps to {0} ..", fps));
{
param_item_t pFps = new param_item_t {
param_id = dev_param_e.PARAM_FRAME_RATE
};
pFps.param_val.frame_rate.fps = (uint)fps;
dmcamParamArray param = new dmcamParamArray(1);
param.setitem(0, pFps);
if (!dmcam.param_batch_set(dev, param.cast(), 1))
{
Log("set fps failed");
goto FINAL;
}
param.setitem(0, new param_item_t {
param_id = dev_param_e.PARAM_FRAME_RATE
});
if (!dmcam.param_batch_get(dev, param.cast(), 1))
{
Log("get fps failed");
goto FINAL;
}
Log(string.Format(" Get fps : {0} ..", param.getitem(0).param_val.frame_rate.fps));
}
cap_cfg_t cfg = new cap_cfg_t
{
cache_frames_cnt = 10,
on_error = null,
on_frame_ready = null,
en_save_replay = 0,
en_save_dist_u16 = 0,
en_save_gray_u16 = 0,
fname_replay = null
};
dmcam.cap_config_set(dev, cfg);
//dmcam.cap_set_frame_buffer(dev, null, 10 * 320 * 240 * 4);
Log(" Start capture ...");
dmcam.cap_start(dev);
var f = new byte[640 * 480 * 4 * 3];
Log(string.Format(" sampling {0} frames ...", n_frames));
var count = 0;
while (true)
{
// get one frame
var finfo = new frame_t();
var ret = dmcam.cap_get_frames(dev, 1, f, (uint)f.Length, finfo);
if (ret > 0)
{
var imgW = (int)finfo.frame_info.width;
var imgH = (int)finfo.frame_info.height;
Console.Write(@" frame @ {0}x{1}, {2} [",
finfo.frame_info.width,
finfo.frame_info.height,
finfo.frame_info.frame_idx);
for (var n = 0; n < 16; n++)
{
Console.Write(@"{0:X2}, ", f[n]);
}
Console.WriteLine(@"]");
var dist = new ushort[imgW * imgH];
var gray = new ushort[imgW * imgH];
/* calc distance */
dmcam.frame_get_dist_u16(dev, dist, dist.Length, f, f.Length, finfo.frame_info);
dmcam.frame_get_gray_u16(dev, gray, gray.Length, f, f.Length, finfo.frame_info);
for (var n = 0; n < 16; n++)
{
Console.Write(@"{0:F},", dist[n]);
}
/* convert depth to pseudo color image */
var distRgb = new byte[3 * imgW * imgH];
dmcam.cmap_dist_u16_to_RGB(distRgb, distRgb.Length, dist, dist.Length,
cmap_outfmt_e.DMCAM_CMAP_OUTFMT_BGR, 0, 5000, null);
/* convert gray to IR image */
var grayU8 = new byte[imgW * imgH];
dmcam.cmap_gray_u16_to_IR(grayU8, grayU8.Length, gray, gray.Length, 0);
{
var imgDepth = new Bitmap(imgW, imgH, PixelFormat.Format24bppRgb);
var imgIR = new Bitmap(imgW, imgH, PixelFormat.Format24bppRgb);
BitmapData bmData = imgDepth.LockBits(new Rectangle(0, 0, imgDepth.Width, imgDepth.Height),
ImageLockMode.ReadWrite, imgDepth.PixelFormat);
IntPtr pNative = bmData.Scan0;
Marshal.Copy(distRgb, 0, pNative, distRgb.Length);
imgDepth.UnlockBits(bmData);
// bmData = img_ir.LockBits(new Rectangle(0, 0, img_ir.Width, img_ir.Height),
// ImageLockMode.ReadWrite, img_ir.PixelFormat);
// pNative = bmData.Scan0;
// Marshal.Copy(gray_u8, 0, pNative, gray_u8.Length);
// img_depth.UnlockBits(bmData);
var w = imgW;
var h = imgH;
for (int y = 0; y < h; y++)
{
for (int x = 0; x < w; x++)
{
int r = grayU8[(y * w + x)] & 0xff;
int g = grayU8[(y * w + x)] & 0xff;
int b = grayU8[(y * w + x)] & 0xff;
imgIR.SetPixel(x, y, Color.FromArgb(0, r, g, b));
}
}
RefreshUi(imgDepth, imgIR);
}
Console.WriteLine(@"]");
count += 1;
if (count >= n_frames)
{
break;
}
}
}
Log(" Stop capture ...");
dmcam.cap_stop(dev);
Log(" Close dmcam device ..");
dmcam.dev_close(dev);
dmcam.uninit();
result = "OK";
FINAL:
if (_testMode)
{
Log(" Loop test " + result);
Application.Exit();
}
}
public static void Main(string[] argv)
{
dmcam.init(null);
dmcam.log_cfg(log_level_e.LOG_LEVEL_WARN, log_level_e.LOG_LEVEL_DEBUG,
log_level_e.LOG_LEVEL_NONE);
dmcamDevArray devs = new dmcamDevArray(16);
int cnt = dmcam.dev_list(devs.cast(), 16);
Console.Write("found {0} device\n", cnt);
if (cnt == 0)
{
return;
}
Console.WriteLine(" Open dmcam device ..");
dev_t dev = dmcam.dev_open(null);
if (dev == null)
{
Console.WriteLine(" Open device failed");
return;
}
/* get info */
dev_info_t dev_info = new dev_info_t();
dmcam.dev_get_info(dev, dev_info);
dm_u32_p freq_list = dm_u32_p.frompointer(dev_info.calib.freq_list);
Console.WriteLine("calibrated freq: n={0}, f0={1}", dev_info.calib.n_freq, freq_list.getitem(0));
/* set param */
param_item_t p_fps = new param_item_t();
p_fps.param_id = dev_param_e.PARAM_FRAME_RATE;
p_fps.param_val.frame_rate.fps = 10;
param_item_t p_intg = new param_item_t();
p_intg.param_id = dev_param_e.PARAM_INTG_TIME;
p_intg.param_val.intg.intg_us = 1000;
dmcamParamArray wparams = new dmcamParamArray(2);
wparams.setitem(0, p_fps);
wparams.setitem(1, p_intg);
if (!dmcam.param_batch_set(dev, wparams.cast(), 2))
{
Console.WriteLine(" set param failed\n");
}
/* get param */
param_item_t r_fps = new param_item_t();
r_fps.param_id = dev_param_e.PARAM_FRAME_RATE;
param_item_t r_intg = new param_item_t();
r_intg.param_id = dev_param_e.PARAM_INTG_TIME;
dmcamParamArray rparams = new dmcamParamArray(2);
rparams.setitem(0, r_fps);
rparams.setitem(1, r_intg);
if (!dmcam.param_batch_get(dev, rparams.cast(), 2))
{
Console.WriteLine(" get param failed\n");
}
else
{
Console.WriteLine("fps = {0}, intg = {1}",
(int)rparams.getitem(0).param_val.frame_rate.fps,
(int)rparams.getitem(1).param_val.intg.intg_us);
}
cap_cfg_t cfg = new cap_cfg_t();
cfg.cache_frames_cnt = 10;
cfg.on_error = null;
cfg.on_frame_ready = null;
cfg.en_save_replay = 0;
cfg.en_save_dist_u16 = 0;
cfg.en_save_gray_u16 = 0;
cfg.fname_replay = null;
dmcam.cap_config_set(dev, cfg);
//dmcam.cap_set_frame_buffer(dev, null, 10 * 320 * 240 * 4);
// dmcam.cap_set_callback_on_error(dev, null);
Console.WriteLine(" Start capture ...");
dmcam.cap_start(dev);
byte[] f = new byte[640 * 480 * 4 * 3];
//ByteBuffer f = ByteBuffer.allocateDirect(1920 * 1080 * 3); [> should be large enough to have one frame <]
Console.WriteLine(" sampling 100 frames ...");
int count = 0;
bool run = true;
while (run)
{
// get one frame
frame_t finfo = new frame_t();
int ret = dmcam.cap_get_frames(dev, 1, f, (uint)f.Length, finfo);
if (ret > 0)
{
int img_w = (int)finfo.frame_info.width;
int img_h = (int)finfo.frame_info.height;
Console.Write(" frame @ {0}x{1}, {2} [",
finfo.frame_info.width,
finfo.frame_info.height,
finfo.frame_info.frame_idx);
//byte[] first_seg = new byte[16];
//f.get(first_seg, 0, 16);
for (int n = 0; n < 16; n++)
{
Console.Write("{0:X2}, ", f[n]);
}
Console.Write("]\n");
ushort[] dist = new ushort[img_w * img_h];
//dmcam.raw2dist(dist, dist.length, f, f.capacity());
dmcam.frame_get_dist_u16(dev, dist, dist.Length, f, f.Length, finfo.frame_info);
for (int n = 0; n < 16; n++)
{
Console.Write("{0},", dist[n]);
}
Console.Write("]\n");
count += 1;
if (count >= 30)
{
break;
}
}
// print(" frame @ %d, %d, %d" %
// (finfo.frame_fbpos, finfo.frame_count, finfo.frame_size))
// # print the first 16bytes of the frame
// # print([hex(n) for n in f][:16])
}
Console.WriteLine(" Stop capture ...");
dmcam.cap_stop(dev);
Console.WriteLine(" Close dmcam device ..");
dmcam.dev_close(dev);
// Console.WriteLine("hello world " + cnt);
dmcam.uninit();
}