private void UpdateRGBPose()
{
Thread.Sleep(0);
while (IsRealsensePipelineOn)
{
var marix3DElement = RealsenseControl.GetPoseFrame();
if (marix3DElement != null)
{
IsT265TrackingConfidence3 = true;
CurrentPose = new Matrix3D(marix3DElement[0], marix3DElement[1], marix3DElement[2], marix3DElement[3],
marix3DElement[4], marix3DElement[5], marix3DElement[6], marix3DElement[7],
marix3DElement[8], marix3DElement[9], marix3DElement[10], marix3DElement[11],
marix3DElement[12], marix3DElement[13], marix3DElement[14], marix3DElement[15]);
}
else
{
IsT265TrackingConfidence3 = false;
CurrentPose = new Matrix3D(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
}
Bitmap tempBitmap = new Bitmap(1, 1);
RealsenseControl.GetRealTimeRGB(ref tempBitmap);
//tempBitmap.Save("E:\\OneDrive - 한양대학교\\01.Hurel\\01.현재작업\\20201203 Comtpon GUI\\Compton GUI Main\\HUREL Compton\\RealsensWrapperTest\\bin\\Debug\\net5.0-windows\\test.png");
// Bitmap 담을 메모리스트림
if (tempBitmap == null || tempBitmap.Width == 1)
{
continue;
}
MemoryStream ms = new MemoryStream();
tempBitmap.Save(ms, System.Drawing.Imaging.ImageFormat.Bmp);
BitmapImage img = new BitmapImage();
img.BeginInit();
ms.Seek(0, SeekOrigin.Begin);
img.StreamSource = ms;
img.CacheOption = BitmapCacheOption.OnLoad;
img.EndInit();
img.Freeze();
//Debug.WriteLine("Img Update");
RealtimeRGB = img;
tempBitmap.Dispose();
}
}
private void UpdateRGBPose()
{
int tmpT265TrackingConfidence = 0;
Thread.Sleep(0);
while (IsRealsensePipelineOn)
{
var marix3DElement = RealsenseControl.GetPoseFrame(ref tmpT265TrackingConfidence);
if (marix3DElement != null)
{
CurrentSystemTranformation = new Matrix3D(marix3DElement[0], marix3DElement[1], marix3DElement[2], marix3DElement[3],
marix3DElement[4], marix3DElement[5], marix3DElement[6], marix3DElement[7],
marix3DElement[8], marix3DElement[9], marix3DElement[10], marix3DElement[11],
marix3DElement[12], marix3DElement[13], marix3DElement[14], marix3DElement[15]);
}
else
{
CurrentSystemTranformation = new Matrix3D(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
}
T265TrackingConfidence = tmpT265TrackingConfidence;
if (tmpT265TrackingConfidence == 3)
{
IsT265TrackingConfidence3 = true;
}
else
{
IsT265TrackingConfidence3 = false;
}
Bitmap tempBitmap = new Bitmap(1, 1);
int width = 1;
int height = 1;
int stride = 1;
IntPtr data = IntPtr.Zero;
RealsenseControl.GetRealTimeRGB(ref width, ref height, ref stride, ref data);
//tempBitmap.Save("E:\\OneDrive - 한양대학교\\01.Hurel\\01.현재작업\\20201203 Comtpon GUI\\Compton GUI Main\\HUREL Compton\\RealsensWrapperTest\\bin\\Debug\\net5.0-windows\\test.png");
// Bitmap 담을 메모리스트림
if (data == IntPtr.Zero)
{
continue;
}
tempBitmap = new Bitmap(width, height, stride, System.Drawing.Imaging.PixelFormat.Format24bppRgb, data);
//tempBitmap = new Bitmap(width, height, stride, System.Drawing.Imaging.PixelFormat.Format16bppGrayScale, data);
//for (int x = 0; x < tempBitmap.Width; ++x)
//{
// for (int y = 0; y < tempBitmap.Height; ++y)
// {
// System.Drawing.Color tmpColor = tempBitmap.GetPixel(x, y);
// int brightness = (int)(0.299 * tmpColor.R + 0.587 * tmpColor.G + 0.114 * tmpColor.B);
// System.Drawing.Color grey = System.Drawing.Color.FromArgb(brightness, brightness, brightness);
// tempBitmap.SetPixel(x, y, grey);
// }
//}
if (tempBitmap.Width == 1)
{
continue;
}
//to gray scale
//tempBitmap = MakeGrayscale3(tempBitmap);
MemoryStream ms = new MemoryStream();
//System.Windows.Forms.ToolStripRenderer.CreateDisabledImage(tempBitmap)
tempBitmap.Save(ms, System.Drawing.Imaging.ImageFormat.Bmp);
BitmapImage img = new BitmapImage();
img.BeginInit();
ms.Seek(0, SeekOrigin.Begin);
img.StreamSource = ms;
img.CacheOption = BitmapCacheOption.OnLoad;
img.EndInit();
img.Freeze();
//Debug.WriteLine("Img Update");
RealtimeRGB = img;
tempBitmap.Dispose();
}
}
