/// <summary>
/// 開啟RealSense相機並進行取像
/// </summary>
internal void Open(out Image <Bgr, byte> ColorImg,
out Image <Rgb, byte> DepthImg,
out Image <Rgb, byte> FilteredImg,
out VideoFrame color,
out DepthFrame depth,
out Frame filtered)
{
DepthImg = null; ColorImg = null; FilteredImg = null; color = null; depth = null; filtered = null;
if (CamState != CameraState.Opened)
{
PipelineProfile = Camera.Start(cfg); // 以cfg設定並開始串流
vsp = PipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Depth); // 取得內部參數
intrinsics = vsp.GetIntrinsics();
sp = PipelineProfile.GetStream(Intel.RealSense.Stream.Color); // 取得外部參數
extrinsics = vsp.GetExtrinsicsTo(sp);
CamState = CameraState.Opened; // 更新相機狀態
}
else
{
try
{
FrameSet frames = Camera.WaitForFrames();
depth = frames.DepthFrame.DisposeWith(frames);
color = frames.ColorFrame.DisposeWith(frames);
filtered = depth;
if (depth != null)
{
//Thres_Filter.Options[Option.MinDistance].Value = float.Parse(form1.textBox2.Text);
//Thres_Filter.Options[Option.MaxDistance].Value = float.Parse(form1.textBox1.Text);
//filtered = Thres_Filter.Process(filtered);
//Spa_Filter.Options[Option.FilterMagnitude].Value = 1;
//Spa_Filter.Options[Option.FilterSmoothAlpha].Value = 0.6f;
//Spa_Filter.Options[Option.FilterSmoothDelta].Value = 8;
//filtered = Spa_Filter.Process(filtered);
Temp_Filter.Options[Option.FilterSmoothAlpha].Value = 0.5f;
Temp_Filter.Options[Option.FilterSmoothDelta].Value = 20;
Temp_Filter.Options[Option.HolesFill].Value = 2;
filtered = Temp_Filter.Process(filtered);
depColor = colorizer.Colorize(depth);
filteredColor = colorizer.Colorize(filtered);
ColorImg = new Image <Bgr, byte>(color.Width, color.Height, color.Stride, color.Data);
DepthImg = new Image <Rgb, byte>(depColor.Width, depColor.Height, depColor.Stride, depColor.Data);
FilteredImg = new Image <Rgb, byte>(filteredColor.Width, filteredColor.Height, filteredColor.Stride, filteredColor.Data);
}
}
catch (Exception ex)
{
throw ex;
}
}
}
public override Frame Process(Frame frame, FrameSource frameSource)
{
if (_pb == null)
{
Init();
}
UpdateOptions();
return(_pb.Process(frame));
}
