| private cvRetrieveFrame ( IntPtr capture, int streamIdx ) : IntPtr | ||
| capture | IntPtr | |
| streamIdx | int | |
| return | IntPtr | |
/// <summary>
/// Retrieve all the points (x, y, z position in meters) from Kinect, row by row.
/// </summary>
/// <returns>All the points (x, y, z position in meters) from Kinect, row by row.</returns>
public MCvPoint3D32f[] RetrievePointCloudMap()
{
IntPtr img = CvInvoke.cvRetrieveFrame(Ptr, (int)OpenNIDataType.PointCloudMap);
if (img == IntPtr.Zero)
{
return(null);
}
if (FlipType != Emgu.CV.CvEnum.FLIP.NONE)
{
CvInvoke.cvFlip(img, img, FlipType);
}
MIplImage iplImage = (MIplImage)Marshal.PtrToStructure(img, typeof(MIplImage));
MCvPoint3D32f[] points = new MCvPoint3D32f[iplImage.width * iplImage.height];
GCHandle handle = GCHandle.Alloc(points, GCHandleType.Pinned);
using (Matrix <float> m = new Matrix <float>(iplImage.height, iplImage.width, handle.AddrOfPinnedObject()))
{
CvInvoke.cvCopy(img, m, IntPtr.Zero);
}
handle.Free();
return(points);
}
/// <summary>
/// Retrieve a Bgr image frame after Grab()
/// </summary>
/// <param name="streamIndex">Stream index</param>
/// <returns> A Bgr image frame</returns>
public virtual Image <Bgr, Byte> RetrieveBgrFrame(int streamIndex)
{
IntPtr img = CvInvoke.cvRetrieveFrame(Ptr, streamIndex);
if (img == IntPtr.Zero)
{
return(null);
}
MIplImage iplImage = (MIplImage)Marshal.PtrToStructure(img, typeof(MIplImage));
Image <Bgr, Byte> res;
if (iplImage.nChannels == 1)
{ //if the image captured is Grayscale, convert it to BGR
res = new Image <Bgr, Byte>(iplImage.width, iplImage.height);
CvInvoke.cvCvtColor(img, res.Ptr, Emgu.CV.CvEnum.COLOR_CONVERSION.GRAY2BGR);
}
else
{
res = new Image <Bgr, byte>(iplImage.width, iplImage.height, iplImage.widthStep, iplImage.imageData);
}
//inplace flip the image if necessary
res._Flip(FlipType);
return(res);
}
/// <summary>
/// Retrieve the depth map from Kinect (in mm)
/// </summary>
/// <returns>The depth map from Kinect (in mm)</returns>
public Image <Gray, int> RetrieveDepthMap()
{
IntPtr img = CvInvoke.cvRetrieveFrame(Ptr, (int)OpenNIDataType.DepthMap);
if (img == IntPtr.Zero)
{
return(null);
}
MIplImage iplImage = (MIplImage)Marshal.PtrToStructure(img, typeof(MIplImage));
Image <Gray, int> res = new Image <Gray, int>(iplImage.width, iplImage.height, iplImage.widthStep, iplImage.imageData);
//inplace flip the image if necessary
res._Flip(FlipType);
return(res);
}
/// <summary>
/// Retrieve a Gray image frame after Grab()
/// </summary>
/// <param name="streamIdx">Stream index. Use 0 for default.</param>
/// <returns> A Gray image frame</returns>
public virtual Image <Gray, Byte> RetrieveGrayFrame(int streamIdx)
{
IntPtr img = /*(_captureModuleType == CaptureModuleType.FFMPEG) ? CvInvoke.cvRetrieveFrame_FFMPEG(Ptr, streamIdx) :*/ CvInvoke.cvRetrieveFrame(Ptr, streamIdx);
if (img == IntPtr.Zero)
{
return(null);
}
MIplImage iplImage = (MIplImage)Marshal.PtrToStructure(img, typeof(MIplImage));
Image <Gray, Byte> res;
if (iplImage.nChannels == 3)
{ //if the image captured is Bgr, convert it to Grayscale
res = new Image <Gray, Byte>(iplImage.width, iplImage.height);
CvInvoke.cvCvtColor(img, res.Ptr, Emgu.CV.CvEnum.COLOR_CONVERSION.CV_BGR2GRAY);
}
else
{
res = new Image <Gray, byte>(iplImage.width, iplImage.height, iplImage.widthStep, iplImage.imageData);
}
//inplace flip the image if necessary
res._Flip(FlipType);
return(res);
}
