public void SetImage(ColorDepthImage image)
{
const float MM_UNITY_CONV = 800.0f;
//Creates the projection and array to populate
imageProj = SMInstance.CaptureManager.Device.CreateProjection();
depthArray = new Point3DF32[image.DepthImage.height * image.DepthImage.width];
//Iterates through each of the pixels and places them in the appropriate array
var dImageArray = image.DepthImage.GetPixels();
for (int i = 0; i < depthArray.Length; i++)
{
depthArray[i].x = i % WIDTH;
depthArray[i].y = i / WIDTH;
depthArray[i].z = dImageArray[i].grayscale;
}
//Performs the conversion
pointArray = new Point3DF32[WIDTH * HEIGHT];
imageProj.ProjectDepthToCamera(depthArray, pointArray);
//Scales the units
for (int i = 0; i < pointArray.Length; i++)
{
pointArray[i].x *= MM_UNITY_CONV;
pointArray[i].y *= MM_UNITY_CONV;
pointArray[i].z *= MM_UNITY_CONV;
}
//Releases resources
imageProj.Dispose();
}
private void ProcessImages()
{
Sample sample = reader.Sample;
Intel.RealSense.Image color = sample.Color;
Intel.RealSense.Image depth = projection.CreateDepthImageMappedToColor(sample.Depth, color); //create depth mapped to color image
ImageData colorData;
ImageData depthData;
color.AcquireAccess(ImageAccess.ACCESS_READ, colorPixelFormat, out colorData);
depth.AcquireAccess(ImageAccess.ACCESS_READ, depthPixelFormat, out depthData);
// Update the user interface
UpdateUI(colorData, color.Info, ImageType.COLOR);
UpdateUI(depthData, depth.Info, ImageType.DEPTH);
if ((captureImage || captureSeries) && !pauseSave)
{
int cwidth = color.Info.width;
int cheight = color.Info.height;
int dwidth = depth.Info.width;
int dheight = depth.Info.height;
float[] depthPixels = ImageToFloatArray(depth);
PointF32[] invuvmap = GetInvUVMap(color, depth);
Point3DF32[] mappedPixels = GetMappedPixels(cwidth, cheight, dwidth, dheight, invuvmap, depthPixels);
Bitmap depthBitmap = depthBitmap = GetDepthF32Bitmap(depth.Info.width, depth.Info.height, mappedPixels, allLandmarks);
Bitmap colorBitmap = colorBitmap = colorData.ToBitmap(0, cwidth, cheight);
//save image
if (captureImage)
{
SaveSingleRgbdToDisk(colorBitmap, depthBitmap, mappedPixels);
}
else if (captureSeries)
{
SaveSeriesRgbdToDisk(dirName, colorBitmap, depthBitmap, mappedPixels);
}
depthBitmap.Dispose();
colorBitmap.Dispose();
}
//release access
color.ReleaseAccess(colorData);
depth.ReleaseAccess(depthData);
color.Dispose();
depth.Dispose();
projection.Dispose();
}
/// <summary>
/// 終了処理
/// </summary>
private void Uninitialize()
{
if (senseManager != null)
{
senseManager.Dispose();
senseManager = null;
}
if (projection != null)
{
projection.Dispose();
projection = null;
}
}
public ColorDepthImage GetImage()
{
//Checks to make sure that the camera has been properly initialized
if (Status == CameraStatus.Stopped)
{
throw new InvalidOperationException("The camera cannot produce data unless it is running");
}
//Acquires the frame
Status acquisitionResult = SMInstance.AcquireFrame(true);
if (acquisitionResult.IsError())
{
throw new Exception("Unable to capture frame: " + acquisitionResult);
}
Texture2D colorTex = new Texture2D(WIDTH, HEIGHT, TextureFormat.RGBA32, false);
Texture2D depthTex = new Texture2D(WIDTH, HEIGHT, TextureFormat.RGBA32, false);
//Extract the color image
Image colorImage = SampleStream.Sample.Color;
ImageData colorImageData;
colorImage.AcquireAccess(ImageAccess.ACCESS_READ, PixelFormat.PIXEL_FORMAT_RGB32, out colorImageData);
colorImageData.ToTexture2D(0, colorTex);
//Extract and map the depth image
Image initialDepthImage = SampleStream.Sample.Depth;
Projection proj = SMInstance.CaptureManager.Device.CreateProjection();
Image depthImage = proj.CreateDepthImageMappedToColor(initialDepthImage, colorImage);
ImageData depthImageData;
depthImage.AcquireAccess(ImageAccess.ACCESS_READ, PixelFormat.PIXEL_FORMAT_RGB32, out depthImageData);
depthImageData.ToTexture2D(0, depthTex);
//Clean up resources
colorImage.Dispose();
depthImage.Dispose();
initialDepthImage.Dispose();
proj.Dispose();
colorImage.ReleaseAccess(colorImageData);
depthImage.ReleaseAccess(depthImageData);
//Release the acquired frame
SMInstance.ReleaseFrame();
return(new ColorDepthImage(colorTex, depthTex));
}