CameraState CamState = CameraState.Disconnected; // 初始狀態設為斷線
/// <summary>
/// 初始化設定並連接RealSense相機
/// </summary>
internal void Connect()
{
DeviceList DeviceList = new Context().QueryDevices(); // Get a snapshot of currently connected devices
if (DeviceList.Count == 0)
{
throw new Exception("No device detected. Is it plugged in?");
}
else if (CamState == CameraState.Disconnected)
{
for (int i = 0; i < DeviceList.Count; i++)
{
adev = AdvancedDevice.FromDevice(DeviceList[i]);
cfg.EnableStream(Intel.RealSense.Stream.Depth, 1280, 720, Format.Z16, 30);
cfg.EnableStream(Intel.RealSense.Stream.Color, 1280, 720, Format.Bgr8);
Console.WriteLine("相機型號為：" + adev.Info[CameraInfo.Name] + "\n目前傳輸介面：" + adev.Info[CameraInfo.UsbTypeDescriptor], "相機連接成功！");
CamState = CameraState.Connected;
using (StreamReader sr = new StreamReader(@"D:\project\C#\LeaderWithRealSense\LeaderWithRealSense\setting.json"))
////using (StreamReader sr = new StreamReader(@"C:\Users\EL404\Desktop\LabData\Realsense物件3D重建與模型訓練\Pre-Processing.json"))
////using (StreamReader sr = new StreamReader(@"C:\Users\EL404\Desktop\LabData\Realsense物件3D重建與模型訓練\NewPreProcessing.json"))
{
string line = sr.ReadToEnd();
adev.JsonConfiguration = line;
}
}
}
}
public MainWindow()
{
var args = Environment.GetCommandLineArgs();
var dir = System.IO.Directory.CreateDirectory(args[1] + FolderName);
InitializeComponent();
try
{
Action <VideoFrame> updateDepth;
Action <VideoFrame> updateColor;
// The colorizer processing block will be used to visualize the depth frames.
colorizer = new Colorizer();
this.Closing += control_Closing;
string stringConfig = ConfigLoader.LoadConfig(args[2]);
#region Record
pipeline = new Pipeline();
//var cfg = new Config();
//cfg.EnableStream(Stream.Depth, 640, 480);
//cfg.EnableStream(Stream.Color, 640, 480);
var pp = pipeline.Start();
SetupWindow(pp, out updateDepth, out updateColor);
var selected_device = pp.Device;
var config = AdvancedDevice.FromDevice(selected_device);
config.JsonConfiguration = stringConfig;
var depth_sensor = selected_device.Sensors[0];
if (depth_sensor.Options.Supports(Option.LaserPower))
{
var laserPower = depth_sensor.Options[Option.LaserPower];
laserPower.Value = laserPower.Max; // Set max power
}
bool disposed = true;
Task.Factory.StartNew(() =>
{
while (!tokenSource.Token.IsCancellationRequested)
{
using (var frames = pipeline.WaitForFrames())
{
var colorFrame = frames.ColorFrame.DisposeWith(frames);
var depthFrame = frames.DepthFrame.DisposeWith(frames);
var colorizedDepth = colorizer.Process <VideoFrame>(depthFrame).DisposeWith(frames);
Dispatcher.Invoke(DispatcherPriority.Render, updateDepth, colorizedDepth);
Dispatcher.Invoke(DispatcherPriority.Render, updateColor, colorFrame);
Dispatcher.Invoke(() => { txtTimeStamp.Text = "Frames: " + tick++; });
}
if (disposed)
{
Task.Factory.StartNew(() =>
{
disposed = false;
var path = dir.FullName + "\\" + DateTime.Now.Ticks + ".bag";
using (new WaitAndDispose(1000, new RecordDevice(selected_device, path))) //$"log\\ros{tick++}.bag"
{
disposed = true;
Console.WriteLine("recorded " + path);
};
});
}
}
}, tokenSource.Token);
#endregion
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Application.Current.Shutdown();
}
}
void Init()
{
try
{
#region FILTERS
spatialFilter = new SpatialFilter();
spatialFilter.Options[Option.FilterMagnitude].Value = 5.0F;
spatialFilter.Options[Option.FilterSmoothAlpha].Value = 0.25F;
spatialFilter.Options[Option.FilterSmoothDelta].Value = 50.0F;
decimationFilter = new DecimationFilter();
decimationFilter.Options[Option.FilterMagnitude].Value = 2.0F;
holeFilter = new HoleFillingFilter();
thresholdFilter = new ThresholdFilter();
//thresholdFilter.Options[Option.MinDistance].Value = 0.73F;
//thresholdFilter.Options[Option.MaxDistance].Value = 0.81F;
#endregion
align_to = new Align(Intel.RealSense.Stream.Depth);
colorizer = new Colorizer();
pipeline = new Pipeline();
//CONFIG SETTINGS
var cfg = new Config();
cfg.EnableStream(Intel.RealSense.Stream.Depth, resolutionW, resolutionH, Format.Z16, FPS); //depth resolution manuel change
cfg.EnableStream(Intel.RealSense.Stream.Color, 640, 480, Format.Rgb8, 30);
pipelineProfile = pipeline.Start(cfg); //stream starting with user config
var advancedDevice = AdvancedDevice.FromDevice(pipelineProfile.Device); //connected device
//read device's configuration settings from json file
advancedDevice.JsonConfiguration = File.ReadAllText(@"CustomConfig.json");
selectedDevice = pipelineProfile.Device;
#region Field Of View Info
float[] dfov, cfov, irfov;
var depth_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Depth);
Intrinsics depthIntr = depth_stream.GetIntrinsics();
dfov = depthIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
var color_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Color);
Intrinsics colorIntr = color_stream.GetIntrinsics();
cfov = colorIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
var ir_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Infrared);
Intrinsics irIntr = ir_stream.GetIntrinsics();
irfov = irIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
lblDepthFov.Text = "Depth FOV : " + "H = " + Convert.ToInt32(dfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(dfov[1]).ToString() + "°";
lblColorFov.Text = "RGB FOV : " + "H = " + Convert.ToInt32(cfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(cfov[1]).ToString() + "°";
lblInfraredFov.Text = "IR FOV : " + "H = " + Convert.ToInt32(irfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(irfov[1]).ToString() + "°";
#endregion
//get primary screen resolutions
screenWidth = Convert.ToInt32(System.Windows.SystemParameters.PrimaryScreenWidth.ToString());
screenHeight = Convert.ToInt32(System.Windows.SystemParameters.PrimaryScreenHeight.ToString());
//camera started working. transfer image to interface
SetupWindow(pipelineProfile, out updateDepth, out updateColor, out updateIR1, out updateIR2);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
