public void initEnsensoCapturing()
{
//Init NxLib
int result;
NxLib.Initialize(out result, true);
NxLib.CheckReturnCode(result);
//do stuff
NxLibItem root = new NxLibItem();
NxLibItem cameras = root[NxLib.itmCameras][NxLib.itmBySerialNo];
for (int i = 0; i < cameras.Count(); i++)
{
NxLibItem camera = cameras[i];
if (camera.Exists() && (camera[NxLib.itmType].Compare(NxLib.valStereo) == 0) && (camera[NxLib.itmStatus].Compare(NxLib.valAvailable) == 0))
{
m_EnsensoCamera = cameras[camera[NxLib.itmSerialNumber].AsString()];
NxLibCommand open = new NxLibCommand(NxLib.cmdOpen);
open.Parameters()[NxLib.itmCameras].Set(m_EnsensoCamera[NxLib.itmSerialNumber].AsString());
open.Execute();
// read parameters from JSON
if (File.Exists(ENSENSOSETTINGS))
{
String jsonSettings = File.ReadAllText(ENSENSOSETTINGS);
jsonSettings = Regex.Replace(jsonSettings, @"\t|\n|\r", "");
m_EnsensoCamera[NxLib.itmParameters].SetJson(jsonSettings, true);
}
// setup thread
this.m_IsEnsensoCapturing = true;
m_BackgroundThread = new Thread(new ThreadStart(backgroundWorkerDoWork));
m_BackgroundThread.Start();
break;
}
}
}
private void backgroundWorkerDoWork()
{
Thread.Sleep(1500);
NxLibCommand capture = new NxLibCommand(NxLib.cmdCapture);
NxLibCommand computeDisparityMap = new NxLibCommand(NxLib.cmdComputeDisparityMap);
try
{
while (m_IsEnsensoCapturing)
{
capture.Execute();
// compute disparity
computeDisparityMap.Execute();
int minDisp = m_EnsensoCamera[NxLib.itmParameters][NxLib.itmDisparityMap][NxLib.itmStereoMatching][NxLib.itmMinimumDisparity].AsInt();
int numDisp = m_EnsensoCamera[NxLib.itmParameters][NxLib.itmDisparityMap][NxLib.itmStereoMatching][NxLib.itmNumberOfDisparities].AsInt();
double timestamp;
int nboc;
short[] binaryData;
int width, height, channels, bpe;
bool isFloat;
m_EnsensoCamera[NxLib.itmImages][NxLib.itmDisparityMap].GetBinaryDataInfo(out width, out height, out channels, out bpe, out isFloat, out timestamp);
m_EnsensoCamera[NxLib.itmImages][NxLib.itmDisparityMap].GetBinaryData(out binaryData, out nboc, out timestamp);
int disparityScale = 16;
int scaledMinDisp = disparityScale * minDisp;
int scaledNumDisp = disparityScale * numDisp;
m_Bitmap = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
ColorPalette ncp = m_Bitmap.Palette;
for (int i = 0; i < 256; i++)
{
ncp.Entries[i] = Color.FromArgb(255, i, i, i);
}
m_Bitmap.Palette = ncp;
BitmapData bmpData = m_Bitmap.LockBits(new Rectangle(0, 0, m_Bitmap.Width, m_Bitmap.Height), ImageLockMode.WriteOnly, m_Bitmap.PixelFormat);
int numBytes = bmpData.Height * bmpData.Stride;
var data = new byte[numBytes];
for (int i = 0; i < bmpData.Height; i++)
{
for (int j = 0; j < bmpData.Width; j++)
{
int d = binaryData[i * bmpData.Width + j];
int o = i * bmpData.Stride + j;
if (d < scaledMinDisp)
{
data[o] = (byte)255;
}
else if (d > scaledMinDisp + scaledNumDisp)
{
data[o] = (byte)0;
}
else
{
data[o] = (byte)(255.0 - ((d - scaledMinDisp) * (255.0 / scaledNumDisp)) + 0.5);
}
}
}
Marshal.Copy(data, 0, bmpData.Scan0, numBytes);
m_Bitmap.UnlockBits(bmpData);
Image <Bgra, Byte> colorFrame = new Image <Bgra, Byte>(m_Bitmap);
Image <Gray, Int32> xFrame = new Image <Gray, float>(m_Bitmap).Convert <Gray, Int32>();
Image <Gray, Byte> grayImage = (new Image <Gray, float>(m_Bitmap)).Convert <Gray, Byte>();
//grayImage = grayImage.SmoothMedian(15);
colorFrame = grayImage.Convert <Bgra, Byte>();
// event driven update
CameraManager.Instance.SetImages(colorFrame, colorFrame, xFrame, xFrame);
}
}
catch (NxLibException exception)
{
Console.WriteLine("A NxLibException occured: " + exception.GetErrorText());
Console.WriteLine(exception.StackTrace);
Console.WriteLine("Error code: " + exception.GetErrorCode());
NxLibItem captureResult = capture.Result()[NxLib.itmErrorText];
Console.WriteLine(captureResult.AsString());
}
catch (Exception exception)
{
Console.WriteLine("An exception in the EnsensoManager occured: " + exception.Message);
}
}
