private Pipeline StartPipeline(VideoStreamProfile depthProfile, Device dev)
{
var cfg = new Config();
cfg.EnableDevice(dev.Info[CameraInfo.SerialNumber]);
cfg.EnableStream(Stream.Depth, depthProfile.Width, depthProfile.Height, depthProfile.Format, depthProfile.Framerate);
var pipeline = new Pipeline();
var pp = pipeline.Start(cfg);
return(pipeline);
}
public CaptureWindow()
{
InitializeComponent();
try
{
Action <VideoFrame> updateDepth;
Action <VideoFrame> updateColor;
// The colorizer processing block will be used to visualize the depth frames.
colorizer = new Colorizer();
// Create and config the pipeline to strem color and depth frames.
pipeline = new Pipeline();
using (var ctx = new Context())
{
var devices = ctx.QueryDevices();
var dev = devices[0];
Console.WriteLine("\nUsing device 0, an {0}", dev.Info[CameraInfo.Name]);
Console.WriteLine(" Serial number: {0}", dev.Info[CameraInfo.SerialNumber]);
Console.WriteLine(" Firmware version: {0}", dev.Info[CameraInfo.FirmwareVersion]);
var sensors = dev.QuerySensors();
var depthSensor = sensors[0];
var colorSensor = sensors[1];
var depthProfile = depthSensor.StreamProfiles
.Where(p => p.Stream == Stream.Depth)
.OrderBy(p => p.Framerate)
.Select(p => p.As <VideoStreamProfile>()).First();
var colorProfile = colorSensor.StreamProfiles
.Where(p => p.Stream == Stream.Color)
.OrderBy(p => p.Framerate)
.Select(p => p.As <VideoStreamProfile>()).First();
if (!testLoadSettingsJson.LoadSettingsJson(dev))
{
return;
}
var cfg = new Config();
cfg.EnableDevice(dev.Info.GetInfo(CameraInfo.SerialNumber));
cfg.EnableStream(Stream.Depth, depthProfile.Width, depthProfile.Height, depthProfile.Format, depthProfile.Framerate);
cfg.EnableStream(Stream.Color, colorProfile.Width, colorProfile.Height, colorProfile.Format, colorProfile.Framerate);
var pp = pipeline.Start(cfg);
SetupWindow(pp, out updateDepth, out updateColor);
// more device info
Console.WriteLine($"--------------------------");
foreach (var item in pp.Device.Info.ToArray())
{
Console.WriteLine($"{item.Key} - {item.Value}");
}
Console.WriteLine($"--------------------------");
}
Task.Factory.StartNew(() =>
{
while (!tokenSource.Token.IsCancellationRequested)
{
// We wait for the next available FrameSet and using it as a releaser object that would track
// all newly allocated .NET frames, and ensure deterministic finalization
// at the end of scope.
using (var frames = pipeline.WaitForFrames())
{
var colorFrame = frames.ColorFrame.DisposeWith(frames);
var depthFrame = frames.DepthFrame.DisposeWith(frames);
// We colorize the depth frame for visualization purposes
var colorizedDepth = colorizer.Process <VideoFrame>(depthFrame).DisposeWith(frames);
// Render the frames.
Dispatcher.Invoke(DispatcherPriority.Render, updateDepth, colorizedDepth);
Dispatcher.Invoke(DispatcherPriority.Render, updateColor, colorFrame);
Dispatcher.Invoke(new Action(() =>
{
String depth_dev_sn = depthFrame.Sensor.Info[CameraInfo.SerialNumber];
txtTimeStamp.Text = depth_dev_sn + " : " + String.Format("{0,-20:0.00}", depthFrame.Timestamp) + "(" + depthFrame.TimestampDomain.ToString() + ")";
}));
}
}
}, tokenSource.Token);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Application.Current.Shutdown();
}
}
public CaptureWindow()
{
InitializeComponent();
try
{
Action <VideoFrame> updateDepth;
Action <VideoFrame> updateColor;
// The colorizer processing block will be used to visualize the depth frames.
colorizer = new Colorizer();
// Create and config the pipeline to strem color and depth frames.
pipeline = new Pipeline();
var cfg = new Config();
using (var ctx = new Context())
{
var devices = ctx.QueryDevices();
if ((devices.Count != 1) || (!ExampleAutocalibrateDevice.IsTheDeviceD400Series(devices[0])))
{
Console.WriteLine("The tutorial {0} requires a single Realsense D400 device to run.\nFix the setup and rerun",
System.Diagnostics.Process.GetCurrentProcess().ProcessName);
Environment.Exit(1);
}
var dev = devices[0];
Console.WriteLine("Using device 0, an {0}", dev.Info[CameraInfo.Name]);
Console.WriteLine(" Serial number: {0}", dev.Info[CameraInfo.SerialNumber]);
Console.WriteLine(" Firmware version: {0}", dev.Info[CameraInfo.FirmwareVersion]);
var sensors = dev.QuerySensors();
var depthProfile = sensors
.SelectMany(s => s.StreamProfiles)
.Where(sp => sp.Stream == Stream.Depth)
.Select(sp => sp.As <VideoStreamProfile>())
.OrderBy(p => p.Framerate)
.First();
var colorProfile = sensors
.SelectMany(s => s.StreamProfiles)
.Where(sp => sp.Stream == Stream.Color)
.Select(sp => sp.As <VideoStreamProfile>())
.OrderBy(p => p.Framerate)
.First();
cfg.EnableDevice(dev.Info[CameraInfo.SerialNumber]);
cfg.EnableStream(Stream.Depth, depthProfile.Width, depthProfile.Height, depthProfile.Format, depthProfile.Framerate);
cfg.EnableStream(Stream.Color, colorProfile.Width, colorProfile.Height, colorProfile.Format, colorProfile.Framerate);
var pp = pipeline.Start(cfg);
SetupWindow(pp, out updateDepth, out updateColor);
}
// Rendering task
var renderingPause = false;
var rendering = Task.Factory.StartNew(() =>
{
while (!tokenSource.Token.IsCancellationRequested)
{
if (renderingPause)
{
continue; //pause the rendering
}
// We wait for the next available FrameSet and using it as a releaser object that would track
// all newly allocated .NET frames, and ensure deterministic finalization
// at the end of scope.
using (var frames = pipeline.WaitForFrames())
{
var colorFrame = frames.ColorFrame.DisposeWith(frames);
var depthFrame = frames.DepthFrame.DisposeWith(frames);
// Render the frames.
if (depthFrame != null)
{
// We colorize the depth frame for visualization purposes
var colorizedDepth = colorizer.Process <VideoFrame>(depthFrame).DisposeWith(frames);
Dispatcher.Invoke(DispatcherPriority.Render, updateDepth, colorizedDepth);
}
if (colorFrame != null)
{
Dispatcher.Invoke(DispatcherPriority.Render, updateColor, colorFrame);
}
if (depthFrame != null)
{
Dispatcher.Invoke(new Action(() =>
{
String depth_dev_sn = depthFrame.Sensor.Info[CameraInfo.SerialNumber];
txtTimeStamp.Text = $"{depth_dev_sn} : {depthFrame.Timestamp,-20:0.00}({depthFrame.TimestampDomain})" +
$"{Environment.NewLine}To start Auto-Calibration flow, switch focus to the application console and press C";
}));
}
}
}
}, tokenSource.Token);
// Input to calibration mode task
Task.Factory.StartNew(() =>
{
while (!tokenSource.Token.IsCancellationRequested)
{
if (ConsoleKey.C == ExampleAutocalibrateDevice.ConsoleGetKey(new[] { ConsoleKey.C },
"To start Auto-Calibration flow, switch focus to the application console and press C"))
{
renderingPause = true;
Console.WriteLine($"{Environment.NewLine}Stopping rendering pipeline...");
pipeline.Stop();
new ExampleAutocalibrateDevice().Start();
Console.WriteLine($"{Environment.NewLine}Starting rendering pipeline...");
pipeline.Start(cfg);
renderingPause = false;
}
}
}, tokenSource.Token);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Application.Current.Shutdown();
}
}
