public RealsenseImage GetDepthImage()
{
if (CurrentFrameset.DepthFrame == null)
{
throw new Exception("在获取图像时，ColorFrame值为空,可能Depth未启用");
}
RealsenseImage image = new RealsenseImage(
CurrentFrameset.DepthFrame.Width,
CurrentFrameset.DepthFrame.Height,
CurrentFrameset.DepthFrame.Stride,
CurrentFrameset.DepthFrame.BitsPerPixel);
CurrentFrameset.DepthFrame.CopyTo <byte>(image.Data);
return(image);
}
public RealsenseImage GetInfraredImage(int index)
{
RealsenseImage image;
switch (index)
{
case 1:
if (CurrentFrameset.InfraredFrame == null)
{
throw new Exception("在获取图像时，InfraredFrame值为空,可能Infrared未启用");
}
image = new RealsenseImage(
CurrentFrameset.InfraredFrame.Width,
CurrentFrameset.InfraredFrame.Height,
CurrentFrameset.InfraredFrame.Stride,
CurrentFrameset.InfraredFrame.BitsPerPixel);
CurrentFrameset.InfraredFrame.CopyTo <byte>(image.Data);
return(image);
case 2:
if (CurrentFrameset.FishEyeFrame == null)
{
throw new Exception("在获取图像时，FishEyeFrame值为空,可能Depth未启用");
}
image = new RealsenseImage(
CurrentFrameset.FishEyeFrame.Width,
CurrentFrameset.FishEyeFrame.Height,
CurrentFrameset.FishEyeFrame.Stride,
CurrentFrameset.FishEyeFrame.BitsPerPixel);
CurrentFrameset.FishEyeFrame.CopyTo <byte>(image.Data);
return(image);
default:
throw new Exception("当前Index定义为1或2");
}
}
/**图像数据转换 RealsenseImage-》Bitmap
* **/
public Bitmap GetBitmap(RealsenseImage realsenseImage)
{
return(realsenseImage.GetBitmap());
}
