/**
* @brief Create an instance of the PXCMPhoto interface.
* @return The PXCMImage instance.
*/
public PXCMPhoto CreatePhoto()
{
PXCMPhoto photo = null;
pxcmStatus sts = CreateImpl <PXCMPhoto>(out photo);
return(sts < pxcmStatus.PXCM_STATUS_NO_ERROR?null:photo);
}
/*
* DepthBlend: blend the a foreground 2D image into the background color+depth image. the function rotates and
* scales the foreground 2D image before inserting it at a user specified coordinate and depth value.
*
* sampleBackground: 2D+depth background image. The depth data should be hole-filled
* imgForeground: RGBA 2D foreground image
* insertCoord: (x,y) user-specified location of the 2D image center onto the background image
* insertDepth: user-specified depth value of the 2D image inside the background image.
* rotation[3]: is the Pitch, Yaw, Roll rotations in degrees in the Range: 0-360.
* rotaion[0]: pitch
* rotaion[1]: yaw
* rotaion[2]: roll
* scaleFG: scaling factor. E.g. 2.0 means 2x bigger.
* PXCMImage: he returned blended 2D image foreground + background.
*/
public PXCMPhoto DepthBlend(PXCMPhoto sampleBackground, PXCMImage imgForeground,
PXCMPointI32 insertCoord, Int32 insertDepth, Int32[] rotation, Single scaleFG)
{
IntPtr image = PXCMEnhancedPhoto_DepthBlend(instance, sampleBackground.instance, (imgForeground == null) ? IntPtr.Zero : imgForeground.instance, insertCoord, insertDepth, rotation, scaleFG);
return(image != IntPtr.Zero ? new PXCMPhoto(image, true) : null);
}
/*
* ComputeMaskFromCoordinate: convenience function that creates a mask directly from a depth coordinate.
* depthMap: input depth Map
* coord: input (x,y) coordinates on the depth map.
* Returns a mask in the form of PXCImage for blending with the current sample frame.
* Note: this function simply calls GetDepthThreshold then ComputeMaskFromThreshold in sequence.
*/
public PXCMImage ComputeMaskFromCoordinate(PXCMPhoto sample, PXCMPointI32 coord)
{
IntPtr image = PXCMEnhancedPhoto_ComputeMaskFromCoordinate(instance, sample.instance, coord);
return(image != IntPtr.Zero ? new PXCMImage(image, true) : null);
}
/**
* @brief Copy the content from the source photo
* @param[in] photo The source photo.
* @return PXCM_STATUS_NO_ERROR Successful execution.
*/
public pxcmStatus CopyPhoto(PXCMPhoto photo)
{
return(PXCMPhoto_CopyPhoto(instance, photo.instance));
}
/*
* EnhanceDepth: enhance the depth image quality by filling holes and denoising
* outputs the enhanced depth image
* sample: is the input color & depth sample
* depthQuality: Depth fill Quality: HIGH or LOW for post or realtime processing respectively
* Note: The application must release the returned enhanced depth image
*/
public PXCMPhoto EnhanceDepth(PXCMPhoto sample, DepthFillQuality depthQuality)
{
IntPtr image = PXCMEnhancedPhoto_EnhanceDepth(instance, sample.instance, depthQuality);
return(image != IntPtr.Zero ? new PXCMPhoto(image, true) : null);
}
/**
* InitMotionEffect: the function initializes the 6DoF parallax function with the photo that needs processing.
* sample: 2D+depth input image.
* returns PXCMStatus.
*/
public pxcmStatus InitMotionEffect(PXCMPhoto sample)
{
return(PXCMEnhancedPhoto_InitMotionEffect(instance, sample.instance));
}
/*
* MeasureDistance: measure the distance between 2 points in mm
* sample: is the photo instance
* startPoint, endPoint: are the start pont and end point of the distance that need to be measured.
* Note: Depth data must be availible and accurate at the start and end point selected.
*/
public pxcmStatus MeasureDistance(PXCMPhoto sample, PXCMPointI32 startPoint, PXCMPointI32 endPoint, out MeasureData outData)
{
outData = new MeasureData();
return(PXCMEnhancedPhoto_MeasureDistance(instance, sample.instance, startPoint, endPoint, outData));
}
/**
InitMotionEffect: the function initializes the 6DoF parallax function with the photo that needs processing.
sample: 2D+depth input image.
returns PXCMStatus.
*/
public pxcmStatus InitMotionEffect(PXCMPhoto sample)
{
return PXCMEnhancedPhoto_InitMotionEffect(instance, sample.instance);
}
/*
ObjectSegment: generates an initial mask for any object selected by the bounding box.
The mask can then be refined by hints supplied by the user in RefineMask() function.
photo: input color and depth photo.
topLeftCoord : top left corner of the object to segment.
bottomRightCoord: Bottom right corner of the object to segment.
Returns a mask in the form of PXCImage with detected pixels set to 255 and undetected pixels set to 0.
*/
public PXCMImage ObjectSegment(PXCMPhoto photo, PXCMPointI32 topLeftCoord, PXCMPointI32 bottomRightCoord) {
IntPtr image=PXCMEnhancedPhoto_ObjectSegment(instance, photo.instance, topLeftCoord, bottomRightCoord);
return image == IntPtr.Zero ? null : new PXCMImage(image, true);
}
/*
MeasureDistance: measure the distance between 2 points in mm
sample: is the photo instance
startPoint, endPoint: are the start pont and end point of the distance that need to be measured.
Note: Depth data must be availible and accurate at the start and end point selected.
*/
public pxcmStatus MeasureDistance(PXCMPhoto sample, PXCMPointI32 startPoint, PXCMPointI32 endPoint, out MeasureData outData)
{
outData = new MeasureData();
return PXCMEnhancedPhoto_MeasureDistance(instance, sample.instance, startPoint, endPoint, outData);
}
/*
DepthBlend: blend the a foreground 2D image into the background color+depth image. the function rotates and
scales the foreground 2D image before inserting it at a user specified coordinate and depth value.
sampleBackground: 2D+depth background image. The depth data should be hole-filled
imgForeground: RGBA 2D foreground image
insertCoord: (x,y) user-specified location of the 2D image center onto the background image
insertDepth: user-specified depth value of the 2D image inside the background image.
rotation[3]: is the Pitch, Yaw, Roll rotations in degrees in the Range: 0-360.
rotaion[0]: pitch
rotaion[1]: yaw
rotaion[2]: roll
scaleFG: scaling factor. E.g. 2.0 means 2x bigger.
PXCMImage: he returned blended 2D image foreground + background.
*/
public PXCMPhoto DepthBlend(PXCMPhoto sampleBackground, PXCMImage imgForeground,
PXCMPointI32 insertCoord, Int32 insertDepth, Int32[] rotation, Single scaleFG)
{
IntPtr image = PXCMEnhancedPhoto_DepthBlend(instance, sampleBackground.instance, (imgForeground == null) ? IntPtr.Zero : imgForeground.instance, insertCoord, insertDepth, rotation, scaleFG);
return image != IntPtr.Zero ? new PXCMPhoto(image, true) : null;
}
/*
PasteOnPlane: This function is provided for texturing a smaller 2D image (foreground)
onto a bigger color + depth image (background). The smaller foreground image, is rendered according to a
user-specified position and an auto-detected plane orientation onto the background image.
The auto-oriented foreground image and the color data of the background image are composited together
according to the alpha channal of the foreground image.
imbedIm: the image to imbed in the sample (foreground image)
topLeftCoord, bottomLeftCoord: are the top left corner and the bottom left corner of where the user wants to embed the image.
Returns the imbeded foreground with background image.
*/
public PXCMPhoto PasteOnPlane(PXCMPhoto sample, PXCMImage imbedIm, PXCMPointI32 topLeftCoord, PXCMPointI32 bottomLeftCoord)
{
IntPtr image = PXCMEnhancedPhoto_PasteOnPlane(instance, sample.instance, (imbedIm == null) ? IntPtr.Zero : imbedIm.instance, topLeftCoord, bottomLeftCoord);
return image != IntPtr.Zero ? new PXCMPhoto(image, true) : null;
}
/*
UpScaleDepth: Resize the depth map of a given Sample according to its color image size.
High quality upscaling of depth image based on color image.
sample: input image color+depth
Returns a Depth map that matches the color image resolution.
*/
public PXCMPhoto DepthResize(PXCMPhoto sample, PXCMSizeI32 size)
{
IntPtr image = PXCMEnhancedPhoto_DepthResize(instance, sample.instance, size);
return image != IntPtr.Zero ? new PXCMPhoto(image, true) : null;
}
/*
* UpScaleDepth: Resize the depth map of a given Sample according to its color image size.
* High quality upscaling of depth image based on color image.
* sample: input image color+depth
* Returns a Depth map that matches the color image resolution.
*/
public PXCMPhoto DepthResize(PXCMPhoto sample, PXCMSizeI32 size)
{
IntPtr image = PXCMEnhancedPhoto_DepthResize(instance, sample.instance, size);
return(image != IntPtr.Zero ? new PXCMPhoto(image, true) : null);
}
/*
DepthRefocus: refocus the image at input focusPoint by using depth data refocus
sample: is the color and depth sample
focusPoint: is the selected point foir refocussing.
aperture: Range of the blur area [1-100]
Note: The application must release the returned refocussed image
*/
public PXCMPhoto DepthRefocus(PXCMPhoto sample, PXCMPointI32 focusPoint, Single aperture)
{
IntPtr image = PXCMEnhancedPhoto_DepthRefocus(instance, sample.instance, focusPoint, aperture);
return image != IntPtr.Zero ? new PXCMPhoto(image, true) : null;
}
/*
* PasteOnPlane: This function is provided for texturing a smaller 2D image (foreground)
* onto a bigger color + depth image (background). The smaller foreground image, is rendered according to a
* user-specified position and an auto-detected plane orientation onto the background image.
* The auto-oriented foreground image and the color data of the background image are composited together
* according to the alpha channal of the foreground image.
*
* imbedIm: the image to imbed in the sample (foreground image)
* topLeftCoord, bottomLeftCoord: are the top left corner and the bottom left corner of where the user wants to embed the image.
* Returns the imbeded foreground with background image.
*/
public PXCMPhoto PasteOnPlane(PXCMPhoto sample, PXCMImage imbedIm, PXCMPointI32 topLeftCoord, PXCMPointI32 bottomLeftCoord)
{
IntPtr image = PXCMEnhancedPhoto_PasteOnPlane(instance, sample.instance, (imbedIm == null) ? IntPtr.Zero : imbedIm.instance, topLeftCoord, bottomLeftCoord);
return(image != IntPtr.Zero ? new PXCMPhoto(image, true) : null);
}
/*
DepthRefocus: refocus the image at input focusPoint by using depth data refocus
sample: is the color and depth sample
focusPoint: is the selected point foir refocussing.
Note: The application must release the returned refocussed image
*/
public PXCMPhoto DepthRefocus(PXCMPhoto sample, PXCMPointI32 focusPoint)
{
return DepthRefocus(sample, focusPoint, 50.0F);
}
/*
* ObjectSegment: generates an initial mask for any object selected by the bounding box.
* The mask can then be refined by hints supplied by the user in RefineMask() function.
* photo: input color and depth photo.
* topLeftCoord : top left corner of the object to segment.
* bottomRightCoord: Bottom right corner of the object to segment.
* Returns a mask in the form of PXCImage with detected pixels set to 255 and undetected pixels set to 0.
*/
public PXCMImage ObjectSegment(PXCMPhoto photo, PXCMPointI32 topLeftCoord, PXCMPointI32 bottomRightCoord)
{
IntPtr image = PXCMEnhancedPhoto_ObjectSegment(instance, photo.instance, topLeftCoord, bottomRightCoord);
return(image == IntPtr.Zero ? null : new PXCMImage(image, true));
}
/*
EnhanceDepth: enhance the depth image quality by filling holes and denoising
outputs the enhanced depth image
sample: is the input color & depth sample
depthQuality: Depth fill Quality: HIGH or LOW for post or realtime processing respectively
Note: The application must release the returned enhanced depth image
*/
public PXCMPhoto EnhanceDepth(PXCMPhoto sample, DepthFillQuality depthQuality)
{
IntPtr image = PXCMEnhancedPhoto_EnhanceDepth(instance, sample.instance, depthQuality);
return image != IntPtr.Zero ? new PXCMPhoto(image, true) : null;
}
/*
* DepthRefocus: refocus the image at input focusPoint by using depth data refocus
* sample: is the color and depth sample
* focusPoint: is the selected point foir refocussing.
* aperture: Range of the blur area [1-100]
* Note: The application must release the returned refocussed image
*/
public PXCMPhoto DepthRefocus(PXCMPhoto sample, PXCMPointI32 focusPoint, Single aperture)
{
IntPtr image = PXCMEnhancedPhoto_DepthRefocus(instance, sample.instance, focusPoint, aperture);
return(image != IntPtr.Zero ? new PXCMPhoto(image, true) : null);
}
///*
// GetDepthThreshold: calculates the depth threshold from a depth coordinate
// depthMap: input depth Map
// coord: input (x,y) coordinates on the rgb map.
// Returns a pxcF32 threshold that can be used to compute the mask for 2 layer segmentation
//*/
//public Single GetDepthThreshold(PXCMPhoto sample, PXCMPointI32 coord)
//{
// return PXCMEnhancedPhoto_GetDepthThreshold(instance, sample.instance, coord);
//}
/*
ComputeMaskFromThreshold: calculates a maks from the threshold computed
depthMap: input depth Map
depthThreshold: depth threshold.
Returns a mask in the form of PXCMImage for blending with the current sample frame.
*/
public PXCMImage ComputeMaskFromThreshold(PXCMPhoto sample, Single depthThreshold)
{
IntPtr image = PXCMEnhancedPhoto_ComputeMaskFromThreshold(instance, sample.instance, depthThreshold);
return image != IntPtr.Zero ? new PXCMImage(image, true) : null;
}
/*
* DepthRefocus: refocus the image at input focusPoint by using depth data refocus
* sample: is the color and depth sample
* focusPoint: is the selected point foir refocussing.
* Note: The application must release the returned refocussed image
*/
public PXCMPhoto DepthRefocus(PXCMPhoto sample, PXCMPointI32 focusPoint)
{
return(DepthRefocus(sample, focusPoint, 50.0F));
}
/*
ComputeMaskFromCoordinate: convenience function that creates a mask directly from a depth coordinate.
depthMap: input depth Map
coord: input (x,y) coordinates on the depth map.
Returns a mask in the form of PXCImage for blending with the current sample frame.
Note: this function simply calls GetDepthThreshold then ComputeMaskFromThreshold in sequence.
*/
public PXCMImage ComputeMaskFromCoordinate(PXCMPhoto sample, PXCMPointI32 coord)
{
IntPtr image = PXCMEnhancedPhoto_ComputeMaskFromCoordinate(instance, sample.instance, coord);
return image != IntPtr.Zero ? new PXCMImage(image, true) : null;
}
///*
// GetDepthThreshold: calculates the depth threshold from a depth coordinate
// depthMap: input depth Map
// coord: input (x,y) coordinates on the rgb map.
// Returns a pxcF32 threshold that can be used to compute the mask for 2 layer segmentation
//*/
//public Single GetDepthThreshold(PXCMPhoto sample, PXCMPointI32 coord)
//{
// return PXCMEnhancedPhoto_GetDepthThreshold(instance, sample.instance, coord);
//}
/*
* ComputeMaskFromThreshold: calculates a maks from the threshold computed
* depthMap: input depth Map
* depthThreshold: depth threshold.
* Returns a mask in the form of PXCMImage for blending with the current sample frame.
*/
public PXCMImage ComputeMaskFromThreshold(PXCMPhoto sample, Single depthThreshold)
{
IntPtr image = PXCMEnhancedPhoto_ComputeMaskFromThreshold(instance, sample.instance, depthThreshold);
return(image != IntPtr.Zero ? new PXCMImage(image, true) : null);
}
/**
@brief Copy the content from the source photo
@param[in] photo The source photo.
@return PXCM_STATUS_NO_ERROR Successful execution.
*/
public pxcmStatus CopyPhoto(PXCMPhoto photo)
{
return PXCMPhoto_CopyPhoto(instance, photo.instance);
}
