public SerialInput()
{
InitializeComponent();
// init the serial port
serialPort = new SerialPort();
// Set the read/write timeouts
serialPort.ReadTimeout = -1;
serialPort.WriteTimeout = -1;
serialPort.Parity = Parity.None;
serialPort.DataBits = 8;
serialPort.StopBits = StopBits.Two;
serialPort.Handshake = Handshake.None;
serialPort.NewLine = "\r\n";
// Linked to ui console
uiconsole = MainForm.UIConsole;
if (isColor)
{
imageMask = new FxMatrixMask(64, 64);
}
imageMask = new FxMatrixMask(64, 64);
imageMaskColorMap = new ColorMap(ColorMapDefaults.Jet);
// Create a visual view
imageMaskView = new ImageElement(imageMask.ToFxMatrixF(), imageMaskColorMap);
canvas1.AddElement(imageMaskView, false);
imageView = new ImageElement(imageMask.ToFxMatrixF(), imageMaskColorMap);
imageView._Position.x = imageMaskView.Size.X + 10f;
imageView._Position.Y = 0;
canvas1.AddElement(imageView, false);
canvas1.FitView();
// add the timer for the fps measure
fpsTimer = new System.Windows.Forms.Timer();
fpsTimer.Interval = 1000;
watch.Start();
fpsTimer.Tick += (s, te) =>
{
watch.Stop();
float fps = fpsCount * 1000.0f / watch.ElapsedMilliseconds;
//uiconsole.WriteLine("FPS:" + fps.ToString());
//Console.WriteLine("FPS:" + fps.ToString());
fpsLabel.Text = fps.ToString();
fpsCount = 0;
watch.Reset();
watch.Start();
};
fpsTimer.Start();
}
private void button_SaveImage_Click(object sender, EventArgs e)
{
sensor.Stop();
SaveFileDialog sfd = new SaveFileDialog();
if(sfd.ShowDialog()== System.Windows.Forms.DialogResult.OK){
ColorMap map = new ColorMap(ColorMapDefaults.Gray);
depthImageMatrix.SaveImage(sfd.FileName + "_depth.jpg", map);
colorImageMatrix.SaveImage(sfd.FileName + "_color.jpg", map);
depthImageMatrix.SaveCsv(sfd.FileName + "_depth.csv");
depthImageMatrixAve.SaveCsv(sfd.FileName + "_ave_depth.csv");
}
sensor.Start();
}
public ImageElement(Matrix.FxMatrixF mat, ColorMap map)
{
InitToolStrips();
// set the position and the size of the element
Position = new Vector.FxVector2f(0);
Size = new Vector.FxVector2f(mat.Width, mat.Height);
// set the size of the image
Width = mat.Width;
Height = mat.Height;
// allocate the memory for the internal image
internalImage = new byte[mat.Width * mat.Height * 4];
Pitch = mat.Width * 4;
UpdateInternalImage(mat, map);
}
public SerialCapture()
{
InitializeComponent();
LoadConfigurations();
imageMask = new FxMatrixMask(64, 64);
imageMaskColorMap = new ColorMap(ColorMapDefaults.Jet);
// Create a visual view
imageMaskView = new ImageElement(imageMask.ToFxMatrixF(), imageMaskColorMap);
canvas1.AddElement(imageMaskView, false);
imageView = new ImageElement(imageMask.ToFxMatrixF(), imageMaskColorMap);
imageView._Position.x = imageMaskView.Size.X + 10f;
imageView._Position.Y = 0;
canvas1.AddElement(imageView, false);
canvas1.FitView();
}
private void toolStripButton3_Click(object sender, EventArgs e)
{
SaveFileDialog sfd = new SaveFileDialog();
if (sfd.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
ColorMap map = new ColorMap(ColorMapDefaults.Gray);
lock (depthImageMatrix)
{
depthImageMatrix.SaveImage(sfd.FileName + "_depth.jpg", map);
depthImageMatrix.SaveCsv(sfd.FileName + "_depth.csv");
}
lock(depthImageMatrixAve)
{
depthImageMatrixAve.SaveImage(sfd.FileName + "_ave_depth.jpg", map);
depthImageMatrixAve.SaveCsv(sfd.FileName + "_ave_depth.csv");
}
}
}
/// <summary>
/// Handles the depth frame data arriving from the sensor
/// </summary>
/// <param name="sender">object sending the event</param>
/// <param name="e">event arguments</param>
private void Reader_FrameArrived(object sender, DepthFrameArrivedEventArgs e)
{
DepthFrameReference frameReference = e.FrameReference;
if (this.startTime == null)
{
this.startTime = frameReference.RelativeTime;
}
try
{
DepthFrame frame = frameReference.AcquireFrame();
if (frame != null)
{
// DepthFrame is IDisposable
using (frame)
{
FrameDescription frameDescription = frame.FrameDescription;
#region FPS
this.framesSinceUpdate++;
// update status unless last message is sticky for a while
if (DateTime.Now >= nextStatusUpdate)
{
// calcuate fps based on last frame received
double fps = 0.0;
if (stopwatch.IsRunning)
{
stopwatch.Stop();
fps = framesSinceUpdate / stopwatch.Elapsed.TotalSeconds;
stopwatch.Reset();
}
nextStatusUpdate = DateTime.Now + TimeSpan.FromSeconds(1);
toolStripLabel_fps.Text = fps + " " + (frameReference.RelativeTime - this.startTime).ToString() + "mS";
}
if (!stopwatch.IsRunning)
{
framesSinceUpdate = 0;
stopwatch.Start();
}
#endregion
// verify data and write the new depth frame data to the display bitmap
if (((frameDescription.Width * frameDescription.Height) == frameData.Length))
{
// Copy the pixel data from the image to a temporary array
frame.CopyFrameDataToArray(frameData);
coordinateMapper.MapDepthFrameToColorSpace(frameData, colorPoints);
// Get the min and max reliable depth for the current frame
ushort minDepth = frame.DepthMinReliableDistance;
ushort maxDepth = frame.DepthMaxReliableDistance;
float imaxDepth = 1.0f / maxDepth;
for (int i = 0; i < this.frameData.Length; ++i)
{
// Get the depth for this pixel
ushort depth = this.frameData[i];
// To convert to a byte, we're discarding the most-significant
// rather than least-significant bits.
// We're preserving detail, although the intensity will "wrap."
// Values outside the reliable depth range are mapped to 0 (black).
//pixels[i] = 1.0f - ((depth >= minDepth && depth <= maxDepth) ? depth : 0) * imaxDepth;
depthImageMatrix[i] = 1.0f - depth * imaxDepth;
}
if (!oneTimeShot)
{
oneTimeShot = true;
ColorMap cm = new ColorMap(ColorMapDefaults.DeepBlue);
List<FxVector3f> Points = new List<FxVector3f>();
List<FxVector3f> Colors = new List<FxVector3f>();
for (int x = 0; x < frameDescription.Width; x++)
{
for (int y = 0; y < frameDescription.Height; y++)
{
FxVector3f p;
p.x = x * 0.08f;
p.z = y * 0.08f;
p.y = depthImageMatrix[x,y]*5.0f;
Points.Add(p);
#if false
// calculate index into depth array
int depthIndex = (x * frameDescription.Width) + y;
// retrieve the depth to color mapping for the current depth pixel
ColorSpacePoint colorPoint = this.colorPoints[depthIndex];
// make sure the depth pixel maps to a valid point in color space
int colorX = (int)Math.Floor(colorPoint.X + 0.5);
int colorY = (int)Math.Floor(colorPoint.Y + 0.5);
// calculate index into color array
int colorIndex = ((colorY * colorWidth) + colorX) * this.bytesPerPixel;
#else
byte b = (byte)(depthImageMatrix[x, y]*256);
Colors.Add(new FxVector3f(cm[b,0]/256.0f, cm[b,1]/256.0f, cm[b,2]/256.0f));
#endif
}
}
PointCloud pc = new PointCloud(Points, Colors);
/// add the mesh to the engine mesh list
Engine.g_MeshManager.AddMesh(pc);
}
}
}
}
}
catch (Exception)
{
// ignore if the frame is no longer available
}
}
public void UpdateInternalImage(Matrix.FxMatrixF mat, ColorMap map, bool useInvMap = false)
{
// link the extran matrix with the internal
internalMatrix = mat;
// check if we need to create a new internal buffer
if (mat.Width != Width || mat.Height != Height)
{
lock (this)
{
// set the properties of the image
BitmapProperties bitmapProps = new BitmapProperties();
bitmapProps.PixelFormat = new SharpDX.Direct2D1.PixelFormat(SharpDX.DXGI.Format.B8G8R8A8_UNorm, AlphaMode.Premultiplied);
// set the size of the image
Width = mat.Width;
Height = mat.Height;
if (mImageBitmap != null)
{
mImageBitmap.Dispose();
}
// make the bitmap for Direct2D1
mImageBitmap = new SharpDX.Direct2D1.Bitmap(this.Parent.RenderVariables.renderTarget,
new Size2(Width, Height),
bitmapProps);
}
}
unsafe
{
try
{
int size = Width * Height;
fixed (byte* dst = internalImage)
{
fixed (float* src = mat.Data)
{
byte* pDst = dst;
float* pSrc = src;
if (useInvMap)
{
#if false
float* pSrcEnd = pSrc + mat.Size;
for (; pSrc < pSrcEnd; pSrc++)
{
byte id = (byte)(255 - *(pSrc) * 255);
*(pDst++) = map[id, 2];
*(pDst++) = map[id, 1];
*(pDst++) = map[id, 0];
*(pDst++) = 255;
}
#else
int step = size / 8;
Parallel.For(0, 8, (s) =>
{
int end = (s + 1) * step;
for (int i = s * step; i < end; i++)
{
byte id = (byte)(255 - *(pSrc + i) * 255);
int i4 = i * 4;
*(pDst + i4) = map[id, 2];
*(pDst + i4 + 1) = map[id, 1];
*(pDst + i4 + 2) = map[id, 0];
*(pDst + i4 + 3) = 255;
}
});
#endif
}
else
{
#if false
float* pSrcEnd = pSrc + mat.Size;
for(; pSrc < pSrcEnd; pSrc++) {
byte id = (byte)(*(pSrc) * 255);
*(pDst++) = map[id, 2];
*(pDst++) = map[id, 1];
*(pDst++) = map[id, 0];
*(pDst++) = 255;
}
#else
int step = size / 8;
Parallel.For(0, 8, (s) =>
{
int end = (s + 1) * step;
for (int i = s * step; i < end; i++)
{
byte id = (byte)(*(pSrc + i) * 255);
int i4 = i * 4;
*(pDst + i4) = map[id, 2];
*(pDst + i4 + 1) = map[id, 1];
*(pDst + i4 + 2) = map[id, 0];
*(pDst + i4 + 3) = 255;
}
});
#endif
}
}
}
// write to the specific bitmap not create a new one
mImageBitmap.CopyFromMemory(internalImage, Width * 4);
}
catch (Exception ex) { Console.WriteLine(ex.Message); }
}
}
public static ColorMap GetColorMap(ColorMapDefaults colorMap)
{
if (cacheColorMap.ContainsKey(colorMap))
return cacheColorMap[colorMap];
var value = new ColorMap(colorMap);
cacheColorMap.Add(colorMap, value);
return value;
}
