public static void Main(string[] args)
{
O3D o3d;
String localIpAdress = "192.168.0.69";
if (0 == O3D.getLocalIPAddress(out localIpAdress))
{
o3d = new O3D("192.168.1.26", localIpAdress,8080);
}
else
{
return;
}
string fwVersion = "null";
string deviceType = "null";
int ret = -1;
ret = o3d.disconnect();
ret = o3d.connect(out fwVersion, out deviceType);
if( 0 == ret )
{
ret = o3d.startLiveImageServer();
}
if(0 == ret )
{
O3D.ImagerData imager_settings = new O3D.ImagerData();
ret = o3d.getFrontendSettings(ref imager_settings);
imager_settings.delayTime = 100;
ret = o3d.setFrontendSettings(imager_settings);
}
if( 0 == ret )
{
O3DImage[] images = new O3DImage[2];
images[0] = new O3DImage(O3DImage.ImageType.AmplitudeImage);
images[1] = new O3DImage(O3DImage.ImageType.DistanceImage);
ret = o3d.getImageData(ref images,true );
Bitmap bmp = images[0].toBitmap(O3DImage.BitmapType.GrayScale);
bmp.Save("mypic_intensity.png",System.Drawing.Imaging.ImageFormat.Png);
bmp = images[1].toBitmap(O3DImage.BitmapType.GrayScale);
bmp.Save("mypic_distance.png",System.Drawing.Imaging.ImageFormat.Png);
}
ret = o3d.stopLiveImageServer();
ret = o3d.disconnect();
}
/// <summary>
/// Retrieve images from the camera you have to provide a arry with
/// image references where which define the image type
/// </summary>
/// <param name="images">
/// A <see cref="O3DImage[]"/>
/// the array which containes the images to retrieve.
/// </param>
/// <param name="synced">
/// A <see cref="System.Boolean"/>
/// This parameter defines if the transfer is synchron which means upper case
/// letters or asynchronous lowercase letters please refer to the "o3d2xx Programmers Guide"
/// </param>
/// <returns>
/// A <see cref="System.Int32"/>
/// Return 0 on success otherwise an error code is returned
/// </returns>
public int getImageData(ref O3DImage[] images, bool synced)
{
int ret = 0;
try
{
if (sock.Connected)
{
string command = "";
for (int idx = 0; idx < images.Length; idx++ )
{
command += commands[images[idx].imageType];
}
if (synced)
{
string start = command.Substring(0, 1);
string rest = command.Remove(0,1);
command = start.ToUpper() + rest;
}
int size = (O3DImage.metaSize + (O3DImage.height * O3DImage.width)) * 4;
Byte[] chunk = new Byte[size];
float[] floatChunk = new float[Convert.ToInt32(chunk.Length / 4)];
Byte[] toSend = Encoding.ASCII.GetBytes(command);
sock.Send(toSend, toSend.Length, SocketFlags.None);
for (int idx = 0; idx < images.Length; idx++)
{
int received = 0;
do
{
received += sock.Receive(chunk, received, size - received, SocketFlags.None);
} while (received < size);
for (int i = 0; i < floatChunk.Length; i++)
{
if (BitConverter.IsLittleEndian)
{
Array.Reverse(chunk, i * 4, 4);
}
floatChunk[i] = BitConverter.ToSingle(chunk, i * 4);
}
System.Console.WriteLine("{0}", floatChunk[(int)O3D.ImageMetaDataIndex.UnambiguousRange]);
Array.Copy(floatChunk, 0, images[idx].metaData, 0, O3DImage.metaSize);
for (int y = 0; y < O3DImage.height; y++)
{
for (int x = 0; x < O3DImage.width; x++)
{
images[idx].imageData[y, x] = floatChunk[O3DImage.metaSize + (y * O3DImage.width) + x];
images[idx].min = Math.Min(images[idx].imageData[y, x], images[idx].min);
images[idx].max = Math.Max(images[idx].imageData[y, x], images[idx].max);
}
}
}
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
return ret;
}
