private void DoRendering()
{
RenderStreams rs = new RenderStreams(this);
try
{
rs.StreamColorDepth((String)Invoke(new DoRenderingBegin(
delegate
{
EnableControls(false);
return(ScanningArea.SelectedItem.ToString());
}
)));
this.Invoke(new DoRenderingEnd(
delegate
{
if (closing)
{
Close();
}
EnableControls(true);
SetButtonState(ButtonState.SCe_SSd);
startStop = true;
scanReconstruct = true;
}
));
}
catch (Exception) { }
}
public byte[] DepthToColorCoordinatesByFunction(PXCMImage color, PXCMImage depth, int dots, out int cwidth, out int cheight)
{
/* Retrieve the color pixels */
byte[] cpixels = RenderStreams.GetRGB32Pixels(color, out cwidth, out cheight);
if (projection == null || cpixels == null)
{
return(cpixels);
}
/* Retrieve the depth pixels and uvmap */
PXCMImage.ImageData ddata;
UInt16[] dpixels;
bool isdepth = (depth.info.format == PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH);
if (depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, out ddata) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
int dwidth = ddata.pitches[0] / sizeof(short); /* aligned width */
int dheight = (int)depth.info.height;
dpixels = ddata.ToUShortArray(0, isdepth ? dwidth * dheight : dwidth * dheight * 3);
depth.ReleaseAccess(ddata);
/* Projection Calculation */
PXCMPoint3DF32[] dcords = new PXCMPoint3DF32[dwidth * dheight];
for (int y = 0, k = 0; y < dheight; y++)
{
for (int x = 0; x < dwidth; x++, k++)
{
dcords[k].x = x;
dcords[k].y = y;
dcords[k].z = isdepth ? dpixels[k] : dpixels[3 * k + 2];
}
}
PXCMPointF32[] ccords = new PXCMPointF32[dwidth * dheight];
projection.MapDepthToColor(dcords, ccords);
/* Draw dots onto the color pixels */
for (int y = 0, k = 0; y < dheight; y++)
{
for (int x = 0; x < dwidth; x++, k++)
{
UInt16 d = isdepth ? dpixels[k] : dpixels[3 * k + 2];
if (d == invalid_value)
{
continue; // no mapping based on unreliable depth values
}
int xx = (int)ccords[k].x, yy = (int)ccords[k].y;
PlotXY(cpixels, xx, yy, cwidth, cheight, dots, 2);
}
}
}
return(cpixels);
}
// GZ: this function needs to be rewrite after projection API is finalized
// disable the invokation of this function temporarily
public byte[] DepthToColorCoordinatesByUVMAP(PXCMImage color, PXCMImage depth, int dots, out int cwidth, out int cheight)
{
/* Retrieve the color pixels */
byte[] cpixels = RenderStreams.GetRGB32Pixels(color, out cwidth, out cheight);
if (cpixels == null)
{
return(cpixels);
}
/* Retrieve the depth pixels and uvmap */
PXCMImage.ImageData ddata;
Int16[] dpixels;
// float[] uvmap;
bool isdepth = (depth.info.format == PXCMImage.PixelFormat.PIXEL_FORMAT_DEPTH);
if (depth.AcquireAccess(PXCMImage.Access.ACCESS_READ, out ddata) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
{
int dwidth = (int)ddata.pitches[0] / sizeof(short); /* aligned width */
int dheight = (int)depth.info.height;
dpixels = ddata.ToShortArray(0, isdepth ? dwidth * dheight : dwidth * dheight * 3);
projection.QueryUVMap(depth, uvmap);
int uvpitch = depth.QueryInfo().width;
depth.ReleaseAccess(ddata);
/* Draw dots onto the color pixels */
for (int y = 0, k = 0; y < dheight; y++)
{
for (int x = 0; x < dwidth; x++, k++)
{
short d = isdepth ? dpixels[k] : dpixels[3 * k + 2];
if (d == invalid_value)
{
continue; // no mapping based on unreliable depth values
}
float uvx = uvmap[k].x, uvy = uvmap[k].y;
int xx = (int)(uvx * cwidth + 0.5f), yy = (int)(uvy * cheight + 0.5f);
PlotXY(cpixels, xx, yy, cwidth, cheight, dots, 1);
}
}
}
return(cpixels);
}