public void EnableStreamsFromSelection()
{
/* Set Color & Depth Resolution and enable streams */
if (StreamProfileSet != null)
{
/* Optional: Filter the data based on the request */
manager.SenseManager.CaptureManager.FilterByStreamProfiles(StreamProfileSet);
/* Enable raw data streaming for specific stream types */
// Set frame Rate, Height and With for all Sterams
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType st = RS.Capture.StreamTypeFromIndex(s);
RS.StreamProfile info = StreamProfileSet[st];
if (info.imageInfo.format != 0)
{
/* For simple request, you can also use sm.EnableStream(...) */
RS.DataDesc desc = new RS.DataDesc();
desc.streams[st].frameRate.min = desc.streams[st].frameRate.max = info.frameRate.max;
desc.streams[st].sizeMin.height = desc.streams[st].sizeMax.height = info.imageInfo.height;
desc.streams[st].sizeMin.width = desc.streams[st].sizeMax.width = info.imageInfo.width;
desc.streams[st].options = info.options;
desc.receivePartialSample = true;
RS.SampleReader sampleReader = RS.SampleReader.Activate(manager.SenseManager);
sampleReader.EnableStreams(desc);
}
}
}
}
public T GetProfile <T>() where T : StreamProfile
{
object error;
var ptr = NativeMethods.rs2_get_frame_stream_profile(m_instance.Handle, out error);
return(StreamProfile.Create <T>(ptr));
}
// Get names for Drop down Menu
private string ProfileToString(RS.StreamProfile streamProfile)
{
string line = "Unknown ";
if (Enum.IsDefined(typeof(RS.PixelFormat), streamProfile.imageInfo.format))
{
line = streamProfile.imageInfo.format.ToString().Substring(13) + " " + streamProfile.imageInfo.width + "x" + streamProfile.imageInfo.height + "x";
}
else
{
line += streamProfile.imageInfo.width + "x" + streamProfile.imageInfo.height + "x";
}
if (streamProfile.frameRate.min != streamProfile.frameRate.max)
{
line += (float)streamProfile.frameRate.min + "-" +
(float)streamProfile.frameRate.max;
}
else
{
float fps = (streamProfile.frameRate.min != 0) ? streamProfile.frameRate.min : streamProfile.frameRate.max;
line += fps;
}
line += StreamOptionToString(streamProfile.options);
return(line);
}
public MotionStreamProfile AddMotionStream(SoftwareMotionStream profile)
{
object error;
var ptr = NativeMethods.rs2_software_sensor_add_motion_stream(Handle, profile, out error);
return(StreamProfile.Create <MotionStreamProfile>(ptr));
}
private void PopulateProfiles(RS.DeviceInfo dinfo)
{
RS.SenseManager pp = RS.SenseManager.CreateInstance();
RS.Device device = pp.CaptureManager.Device;
if (device == null)
{
pp.Dispose();
}
RS.StreamProfileSet profile = new RS.StreamProfileSet();
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType st = RS.Capture.StreamTypeFromIndex(s);
if (((int)dinfo.streams & (int)st) != 0)
{
int num = device.QueryStreamProfileSetNum(st);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(st, p, out profile) < RS.Status.STATUS_NO_ERROR)
{
break;
}
RS.StreamProfile sprofile = profile[st];
string profNime = ProfileToString(sprofile);
profiles[profile] = sprofile;
cb_Profile.Items.Add(profNime);
}
}
else if (((int)dinfo.streams & (int)st) == 0)
{
}
}
}
public PoseStreamProfile AddMotionStream(SoftwarePoseStream profile)
{
object error;
var ptr = NativeMethods.rs2_software_sensor_add_pose_stream(m_instance, profile, out error);
return(StreamProfile.Create <PoseStreamProfile>(ptr));
}
public VideoFrame AllocateVideoFrame(StreamProfile profile, Frame original, int bpp, int width, int height, int stride, Extension extension = Extension.VideoFrame)
{
object error;
var fref = NativeMethods.rs2_allocate_synthetic_video_frame(m_instance.Handle, profile.m_instance.Handle, original.m_instance.Handle, bpp, width, height, stride, extension, out error);
return(new VideoFrame(fref));
}
public VideoStreamProfile AddVideoStream(SoftwareVideoStream profile)
{
object error;
var ptr = NativeMethods.rs2_software_sensor_add_video_stream(m_instance, profile, out error);
return(StreamProfile.Create <VideoStreamProfile>(ptr));
}
public T AllocateMotionFrame <T>(StreamProfile profile, Frame original, Extension extension = Extension.VideoFrame)
where T : Frame
{
object error;
var fref = NativeMethods.rs2_allocate_synthetic_motion_frame(m_instance.Handle, profile.Handle, original.Handle, extension, out error);
return(Frame.Create <T>(fref));
}
public Extrinsics GetExtrinsicsTo(StreamProfile other)
{
object error;
Extrinsics extrinsics;
NativeMethods.rs2_get_extrinsics(m_instance.Handle, other.m_instance.Handle, out extrinsics, out error);
return(extrinsics);
}
/// <summary>
/// Clone current profile and change the type, index and format to input parameters
/// </summary>
/// <param name="type">will change the stream type from the cloned profile.</param>
/// <param name="index">will change the stream index from the cloned profile.</param>
/// <param name="format">will change the stream format from the cloned profile.</param>
/// <param name="width">will change the width of the profile.</param>
/// <param name="height">will change the height of the profile.</param>
/// <param name="intr">will change the intrinsics of the profile.</param>
/// <returns>the cloned stream profile.</returns>
public StreamProfile Clone(Stream type, int index, Format format, int width, int height, Intrinsics intr)
{
object error;
var ptr = NativeMethods.rs2_clone_video_stream_profile(Handle, type, index, format, width, height, intr, out error);
var p = StreamProfile.Create <VideoStreamProfile>(ptr);
p.clone = new Base.DeleterHandle(ptr, StreamProfileReleaser);
return(p);
}
/// <summary>
/// Clone the current profile and change the type, index and format to input parameters
/// </summary>
/// <param name="type">will change the stream type from the cloned profile.</param>
/// <param name="index">will change the stream index from the cloned profile.</param>
/// <param name="format">will change the stream format from the cloned profile.</param>
/// <returns>the cloned stream profile.</returns>
public StreamProfile Clone(Stream type, int index, Format format)
{
object error;
var ptr = NativeMethods.rs2_clone_stream_profile(Handle, type, index, format, out error);
var p = StreamProfile.Create(ptr);
p.clone = new DeleterHandle(ptr, StreamProfileReleaser);
return(p);
}
public T GetStream <T>(Stream s, int index = -1) where T : StreamProfile
{
using (var streams = Streams)
{
object error;
int count = streams.Count;
for (int i = 0; i < count; i++)
{
var ptr = NativeMethods.rs2_get_stream_profile(streams.m_instance, i, out error);
var t = StreamProfile.Create <T>(ptr);
if (t.Stream == s && (index == -1 || t.Index == index))
{
return(t);
}
t.Dispose();
}
return(null);
}
}
/// <summary>
/// Return the selected stream profile, which are enabled in this profile.
/// </summary>
/// <typeparam name="T"><see cref="StreamProfile"/> type or subclass</typeparam>
/// <param name="s">Stream type of the desired profile</param>
/// <param name="index">Stream index of the desired profile. -1 for any matching.</param>
/// <returns>The first matching stream profile</returns>
/// <exception cref="ArgumentException">Thrown when the <see cref="PipelineProfile"/> does not contain the request stream</exception>
public T GetStream <T>(Stream s, int index = -1)
where T : StreamProfile
{
object error;
using (var streams = new StreamProfileList(NativeMethods.rs2_pipeline_profile_get_streams(Handle, out error)))
{
int count = streams.Count;
for (int i = 0; i < count; i++)
{
var ptr = NativeMethods.rs2_get_stream_profile(streams.Handle, i, out error);
var t = StreamProfile.Create <T>(ptr);
if (t.Stream == s && (index == -1 || t.Index == index))
{
return(t);
}
t.Dispose();
}
throw new ArgumentException("Profile does not contain the requested stream", nameof(s));
}
}
public void StreamColorDepth() /* Stream Color and Depth Synchronously or Asynchronously */
{
try
{
bool sts = true;
/* Create an instance of the RS.SenseManager interface */
RS.SenseManager sm = RS.SenseManager.CreateInstance();
if (sm == null)
{
SetStatus("Failed to create an SDK pipeline object");
return;
}
/* Optional: if playback or recoridng */
if ((Playback || Record) && File != null)
{
sm.CaptureManager.SetFileName(File, Record);
}
/* Optional: Set Input Source */
if (!Playback && DeviceInfo != null)
{
sm.CaptureManager.FilterByDeviceInfo(DeviceInfo);
}
/* Set Color & Depth Resolution and enable streams */
if (StreamProfileSet != null)
{
/* Optional: Filter the data based on the request */
sm.CaptureManager.FilterByStreamProfiles(StreamProfileSet);
/* Enable raw data streaming for specific stream types */
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType st = RS.Capture.StreamTypeFromIndex(s);
RS.StreamProfile info = StreamProfileSet[st];
if (info.imageInfo.format != 0)
{
/* For simple request, you can also use sm.EnableStream(...) */
RS.DataDesc desc = new RS.DataDesc();
desc.streams[st].frameRate.min = desc.streams[st].frameRate.max = info.frameRate.max;
desc.streams[st].sizeMin.height = desc.streams[st].sizeMax.height = info.imageInfo.height;
desc.streams[st].sizeMin.width = desc.streams[st].sizeMax.width = info.imageInfo.width;
desc.streams[st].options = info.options;
desc.receivePartialSample = true;
RS.SampleReader sampleReader = RS.SampleReader.Activate(sm);
sampleReader.EnableStreams(desc);
}
}
}
/* Initialization */
SetStatus("Init Started");
if (sm.Init() >= RS.Status.STATUS_NO_ERROR)
{
/* Reset all properties */
sm.CaptureManager.Device.ResetProperties(RS.StreamType.STREAM_TYPE_ANY);
/* Set mirror mode */
RS.MirrorMode mirror = Mirror ? RS.MirrorMode.MIRROR_MODE_HORIZONTAL : RS.MirrorMode.MIRROR_MODE_DISABLED;
sm.CaptureManager.Device.MirrorMode = mirror;
SetStatus("Streaming");
while (!Stop)
{
/* Wait until a frame is ready: Synchronized or Asynchronous */
if (sm.AcquireFrame(Synced) < RS.Status.STATUS_NO_ERROR)
{
break;
}
/* Display images */
RS.Sample sample = sm.Sample;
/* Render streams */
EventHandler <RenderFrameEventArgs> render = RenderFrame;
RS.Image image = null;
if (MainPanel != RS.StreamType.STREAM_TYPE_ANY && render != null)
{
image = sample[MainPanel];
render(this, new RenderFrameEventArgs(0, image));
}
if (PIPPanel != RS.StreamType.STREAM_TYPE_ANY && render != null)
{
render(this, new RenderFrameEventArgs(1, sample[PIPPanel]));
}
/* Optional: Set Mirror State */
mirror = Mirror ? RS.MirrorMode.MIRROR_MODE_HORIZONTAL : RS.MirrorMode.MIRROR_MODE_DISABLED;
if (mirror != sm.CaptureManager.Device.MirrorMode)
{
sm.CaptureManager.Device.MirrorMode = mirror;
}
/* Optional: Show performance tick */
sm.ReleaseFrame();
}
}
else
{
SetStatus("Init Failed");
sts = false;
}
sm.Dispose();
if (sts)
{
SetStatus("Stopped");
}
}
catch (Exception e)
{
SetStatus(e.GetType().ToString());
}
}
// Get entries for color Streams
private void PopulateColorDepthMenus(ToolStripMenuItem device_item)
{
RS.ImplDesc desc = new RS.ImplDesc();
desc.group = RS.ImplGroup.IMPL_GROUP_SENSOR;
desc.subgroup = RS.ImplSubgroup.IMPL_SUBGROUP_VIDEO_CAPTURE;
desc.iuid = devices_iuid[device_item];
current_device_iuid = desc.iuid;
desc.cuids[0] = RS.Capture.CUID;
profiles.Clear();
foreach (ToolStripMenuItem menu in streamMenue)
{
if (menu != null)
{
menu.DropDownItems.Clear();
}
}
RS.Capture capture;
RS.DeviceInfo dinfo2 = GetCheckedDevice();
if (manager.Session.CreateImpl <RS.Capture>(desc, out capture) >= RS.Status.STATUS_NO_ERROR)
{
RS.Device device = capture.CreateDevice(dinfo2.didx);
if (device != null)
{
RS.StreamProfileSet streamProfileSet = new RS.StreamProfileSet();
for (int s = 0; s < RS.Capture.STREAM_LIMIT; s++)
{
RS.StreamType streamType = RS.Capture.StreamTypeFromIndex(s);
if (((int)dinfo2.streams & (int)streamType) != 0 && streamMenue[s] != null)
{
streamMenue[s].Visible = true;
streamButtons[s].Visible = true;
int num = device.QueryStreamProfileSetNum(streamType);
for (int p = 0; p < num; p++)
{
if (device.QueryStreamProfileSet(streamType, p, out streamProfileSet) < RS.Status.STATUS_NO_ERROR)
{
break;
}
RS.StreamProfile streamProfile = streamProfileSet[streamType];
ToolStripMenuItem sm1 = new ToolStripMenuItem(ProfileToString(streamProfile), null, new EventHandler(Stream_Item_Click));
profiles[sm1] = streamProfile;
streamMenue[s].DropDownItems.Add(sm1);
}
}
else if (((int)dinfo2.streams & (int)streamType) == 0 && streamMenue[s] != null)
{
streamMenue[s].Visible = false;
streamButtons[s].Visible = false;
}
}
device.Dispose();
}
capture.Dispose();
}
for (int i = 0; i < RS.Capture.STREAM_LIMIT; i++)
{
ToolStripMenuItem menu = streamMenue[i];
if (menu != null)
{
streamString[i] = new ToolStripMenuItem("None", null, new EventHandler(Stream_Item_Click));
profiles[streamString[i]] = new RS.StreamProfile();
menu.DropDownItems.Add(streamString[i]);
if (menu == colorMenu)
{
(menu.DropDownItems[0] as ToolStripMenuItem).Checked = true;
}
else
{
streamString[i].Checked = true;
}
}
}
CheckSelection();
}
/// <summary>
/// open subdevice for exclusive access, by commiting to a configuration
/// </summary>
/// <param name="profile"></param>
public void Open(StreamProfile profile)
{
object error;
NativeMethods.rs2_open(m_instance, profile.m_instance.Handle, out error);
}
public void RegisterExtrinsicsTo(StreamProfile other, Extrinsics extrinsics)
{
object error;
NativeMethods.rs2_register_extrinsics(Handle, other.Handle, extrinsics, out error);
}
