private void Uninitialize()
{
if (senseManager != null)
{
senseManager.Dispose();
senseManager = null;
}
if (segmentation != null)
{
segmentation.Dispose();
segmentation = null;
}
}
private void AcquireThread()
{
// Stream data
while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
if (click == true)
{
Thread.Sleep(500);
click = false;
}
// Retrieve the results
PXCM3DSeg segmentation = senseManager.Query3DSeg();
if (segmentation != null)
{
// Get the segmented image
PXCMImage segmentedImage = segmentation.AcquireSegmentedImage();
if (segmentedImage != null)
{
// Access the segmented image data
PXCMImage.ImageData segmentedImageData;
segmentedImage.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out segmentedImageData);
// Lock the backdrop image bitmap bits into system memory and access its data
// (Reference: https://msdn.microsoft.com/en-us/library/5ey6h79d%28v=vs.110%29.aspx
// (Reference: http://csharpexamples.com/fast-image-processing-c/)
Rectangle imageRect = new Rectangle(0, 0, WIDTH, HEIGHT);
BitmapData backdropBitmapData = backdrop.LockBits(imageRect, ImageLockMode.ReadWrite, backdrop.PixelFormat);
int bytesPerPixel = Bitmap.GetPixelFormatSize(backdropBitmapData.PixelFormat) / 8;
int widthInBytes = WIDTH * bytesPerPixel;
for (int h = 0; h < HEIGHT; h++)
{
// Use unsafe keyword to work with pointers for faster image processing
// (Required setting: Project -> Properties -> Build -> Allow unsafe code)
unsafe
{
byte *segmentedImagePixel = (byte *)segmentedImageData.planes[0] + h * segmentedImageData.pitches[0];
for (int w = 0; w < widthInBytes; w = w + bytesPerPixel)
{
byte *backdropPixel = (byte *)backdropBitmapData.Scan0 + (h * backdropBitmapData.Stride);
// Substitute segmented background pixels (those containing an alpha channel of zero)
// with pixels from the selected backdrop image, if the checkbox is selected
if ((segmentedImagePixel[3] <= 0))
{
segmentedImagePixel[0] = backdropPixel[w];
segmentedImagePixel[1] = backdropPixel[w + 1];
segmentedImagePixel[2] = backdropPixel[w + 2];
}
segmentedImagePixel += 4;
}
}
}
// Unlock the backdrop image bitmap bits
backdrop.UnlockBits(backdropBitmapData);
// Export the image data to a bitmap
Bitmap bitmap = segmentedImageData.ToBitmap(0, segmentedImage.info.width, segmentedImage.info.height);
// Update the UI by delegating work to the Dispatcher associated with the UI thread
this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal, new Action(delegate()
{
imgBackdrop.Source = ImageUtils.ConvertBitmapToWpf(bitmap);
}));
// Optionally save a snapshot of the image (captureSnapshot is set in the Capture button's event handler)
if (captureSnapshot)
{
bitmap.Save(path + "MyPic.jpg", System.Drawing.Imaging.ImageFormat.Jpeg);
captureSnapshot = false;
}
segmentedImage.ReleaseAccess(segmentedImageData);
segmentedImage.Dispose();
segmentation.Dispose();
bitmap.Dispose();
}
}
// Resume next frame processing
senseManager.ReleaseFrame();
}
}
