static void Main(string[] args)
{
Console.WriteLine("------------------------------------------");
Console.WriteLine("MetriCam 2 Minimal Sample.");
Console.WriteLine("Get MetriCam 2 at http://www.metricam.net/");
Console.WriteLine("------------------------------------------");
// Create camera object
Camera camera;
try
{
camera = new Kinect2();
}
catch (Exception e)
{
Console.WriteLine(Environment.NewLine + "Error: Could not create a PrimeSense camera object.");
Console.WriteLine((e.InnerException == null) ? e.Message : e.InnerException.Message);
Console.WriteLine("Press any key to exit.");
Console.ReadKey();
return;
}
// Connect, get one frame, disconnect
Console.WriteLine("Connecting camera");
camera.Connect();
Console.WriteLine("Fetching one frame");
camera.Update();
try
{
Console.WriteLine("Accessing color data");
ColorCameraImage img = (ColorCameraImage)camera.CalcChannel(ChannelNames.Color);
Bitmap rgbBitmapData = img.ToBitmap();
}
catch (ArgumentException ex)
{
Console.WriteLine(String.Format("Error getting channel {0}: {1}.", ChannelNames.Color, ex.Message));
}
try
{
Console.WriteLine("Accessing distance data");
FloatCameraImage distancesData = (FloatCameraImage)camera.CalcChannel(ChannelNames.Distance);
}
catch (ArgumentException ex)
{
Console.WriteLine(String.Format("Error getting channel {0}: {1}.", ChannelNames.Distance, ex.Message));
}
Console.WriteLine("Disconnecting camera");
camera.Disconnect();
Console.WriteLine("Finished. Press any key to exit.");
Console.ReadKey();
}
/// <summary>
/// Device-specific implementation of Update.
/// Updates data buffers of all active channels with data of current frame.
/// </summary>
/// <remarks>This method is implicitely called by <see cref="Camera.Update"/> inside a camera lock.</remarks>
/// <seealso cref="Camera.Update"/>
protected override unsafe void UpdateImpl()
{
bool synced = true;
// Wait until a frame is ready: Synchronized or Asynchronous
pxcmStatus status;
status = pp.AcquireFrame(synced);
if (status < pxcmStatus.PXCM_STATUS_NO_ERROR)
{
log.Error(Name + ": " + status.ToString());
return;
}
// get image
sample = pp.QuerySample();
long imgTS = sample.color.timeStamp;
if (imgTS <= lastTimeStamp)
{
throw new TimeoutException("THIS IS NOT A TIMEOUT!");
}
lastTimeStamp = imgTS;
// color image
PXCMImage.ImageData colorData;
if (sample.color != null)
{
sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
Bitmap bmp = new Bitmap(sample.color.info.width, sample.color.info.height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
var bmpData = bmp.LockBits(new Rectangle(0, 0, sample.color.info.width, sample.color.info.height), System.Drawing.Imaging.ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
memcpy(bmpData.Scan0, colorData.planes[0], new UIntPtr(3 * (uint)sample.color.info.width * (uint)sample.color.info.height));
bmp.UnlockBits(bmpData);
Bitmap bmp32 = bmp.Clone(new Rectangle(0, 0, widthColor, heightColor), System.Drawing.Imaging.PixelFormat.Format32bppPArgb);
colorImage = new ColorCameraImage(bmp32);
sample.color.ReleaseAccess(colorData);
}
// depth
PXCMImage.ImageData depthData;
if (sample.depth != null)
{
sample.depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH_F32, out depthData);
depthImage = new FloatCameraImage(sample.depth.info.width, sample.depth.info.height);
CopyImageWithStride(sample.depth.info.width, sample.depth.info.height, 4, depthData, new IntPtr(depthImage.Data));
sample.depth.ReleaseAccess(depthData);
}
pp.ReleaseFrame();
}
public void ColorImage()
{
if (camera.IsConnected)
{
camera.Update();
ColorCameraImage img = (ColorCameraImage)camera.CalcChannel(MetriCam2.ChannelNames.Color);
img_color = img.ToBitmap();
System.Drawing.Bitmap b = new System.Drawing.Bitmap(img_color);
Texture2D tx = new Texture2D(img_color.Width, img_color.Height, TextureFormat.BGRA32, false);
tx.LoadRawTextureData(imageToByteArray(b));
tx.Apply();
ColorImg.texture = tx;
img.Dispose();
}
}
/// <summary>
/// Calculates the color image for the current frame.
/// </summary>
/// <returns>Color image.</returns>
protected virtual unsafe ColorCameraImage CalcColor()
{
Bitmap bmp = null;
lock (this.colorFrameData)
{
lock (cameraLock)
{
bmp = new Bitmap(ColorWidth, ColorHeight, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
BitmapData bData = bmp.LockBits(new Rectangle(new Point(0, 0), new Size(ColorWidth, ColorHeight)), ImageLockMode.WriteOnly, bmp.PixelFormat);
System.Runtime.InteropServices.Marshal.Copy(this.colorFrameData, 0, bData.Scan0, bData.Width * bData.Height * this.bytesPerPixel);
bmp.UnlockBits(bData);
bmp.RotateFlip(RotateFlipType.RotateNoneFlipX); //Kinect images are flipped in x-direction
}
ColorCameraImage img = new ColorCameraImage(bmp);
img.TimeStamp = timestampColor;
return(img);
}
}
/// <summary>
/// Extracts a bitmap representation from the current raw-data.
/// </summary>
/// <returns>Bitmap representation of the current frame.</returns>
private ColorCameraImage CalcColor()
{
ColorCameraImage result = new ColorCameraImage((int)Width, (int)Height);
result.FrameNumber = FrameNumber;
if (IsMonochrome)
{
FloatCameraImage img = CalcChannelFloat(0);
float factor = (32 == bitsPerPixel) ? 255.0f : 1.0f;
BitmapData bData = result.Data.LockBits(new Rectangle(0, 0, imageWidth, imageHeight), System.Drawing.Imaging.ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
for (int y = 0; y < result.Data.Height; y++)
{
byte *linePtr = (byte *)bData.Scan0 + y * bData.Stride;
for (int x = 0; x < result.Data.Width; x++)
{
byte d = (byte)(img[y, x] * factor);
* linePtr++ = d;
* linePtr++ = d;
* linePtr++ = d;
}
}
result.Data.UnlockBits(bData);
}
else
{
BitmapData bData = result.Data.LockBits(new Rectangle(0, 0, imageWidth, imageHeight), System.Drawing.Imaging.ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
if (bData.Stride != stride)
{
result.Data.UnlockBits(bData);
throw new InvalidOperationException("Stride is incompatible.");
}
CopyMemory((byte *)bData.Scan0, imagePtr, (uint)(stride * imageHeight));
result.Data.UnlockBits(bData);
}
return(result);
}
