private void SetupFilters(out DecimationFilter decimate, out SpatialFilter spatial, out TemporalFilter temp, out HoleFillingFilter holeFill, out ThresholdFilter threshold)
{
// Colorizer is used to visualize depth data
colorizer = new Colorizer();
// Decimation filter reduces the amount of data (while preserving best samples)
decimate = new DecimationFilter();
decimate.Options[Option.FilterMagnitude].Value = 1.0F;//change scall
// Define spatial filter (edge-preserving)
spatial = new SpatialFilter();
// Enable hole-filling
// Hole filling is an agressive heuristic and it gets the depth wrong many times
// However, this demo is not built to handle holes
// (the shortest-path will always prefer to "cut" through the holes since they have zero 3D distance)
spatial.Options[Option.HolesFill].Value = 1.0F; //change resolution on the edge of image
spatial.Options[Option.FilterMagnitude].Value = 5.0F;
spatial.Options[Option.FilterSmoothAlpha].Value = 1.0F;
spatial.Options[Option.FilterSmoothDelta].Value = 50.0F;
// Define temporal filter
temp = new TemporalFilter();
// Define holefill filter
holeFill = new HoleFillingFilter();
// Aline color to depth
//align_to = new Align(Stream.Depth);
//try to define depth max
threshold = new ThresholdFilter();
threshold.Options[Option.MinDistance].Value = 0;
threshold.Options[Option.MaxDistance].Value = 1;
}
public override ProcessingBlock GetFilter()
{
var filter = new HoleFillingFilter();
filter.Options[Option.HolesFill].Value = HolesFill;
return(filter);
}
/// <inheritdoc/>
public override ProcessingBlock Read(ref Utf8JsonReader reader, Type typeToConvert, JsonSerializerOptions options)
{
//Note: Maybe we should add checks for each read.
_ = reader.Read(); // Read start object
_ = reader.GetString(); // Read "Name"
_ = reader.Read(); // Read the ':'
var name = reader.GetString(); // Read the name
ProcessingBlock block;
switch (name)
{
case "Decimation Filter":
block = new DecimationFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterMagnitude"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterMagnitude].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Spatial Filter":
block = new SpatialFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterMagnitude"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterMagnitude].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothAlpha"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothAlpha].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothDelta"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothDelta].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Temporal Filter":
block = new TemporalFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothAlpha"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothAlpha].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "FilterSmoothDelta"
_ = reader.Read(); // Read the ':'
block.Options[Option.FilterSmoothDelta].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Hole Filling Filter":
block = new HoleFillingFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "HolesFill"
_ = reader.Read(); // Read the ':'
block.Options[Option.HolesFill].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
case "Threshold Filter":
block = new ThresholdFilter();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "MinDistance"
_ = reader.Read(); // Read the ':'
block.Options[Option.MinDistance].Value = reader.GetSingle();
_ = reader.Read(); // Read the ','
_ = reader.GetString(); // Read "MaxDistance"
_ = reader.Read(); // Read the ':'
block.Options[Option.MaxDistance].Value = reader.GetSingle();
_ = reader.Read(); // Read end object
break;
default:
throw new NotSupportedException($"The filter {name} is not supported in this converter");
}
return(block);
}
private void SetupProcessingBlock(Pipeline pipeline, Colorizer colorizer, DecimationFilter decimate, SpatialFilter spatial, TemporalFilter temp, HoleFillingFilter holeFill, ThresholdFilter threshold)
{
// Setup / start frame processing
processingBlock = new CustomProcessingBlock((f, src) =>
{
// We create a FrameReleaser object that would track
// all newly allocated .NET frames, and ensure deterministic finalization
// at the end of scope.
using (var releaser = new FramesReleaser())
{
using (var frames = pipeline.WaitForFrames().DisposeWith(releaser))
{
var processedFrames = frames
.ApplyFilter(decimate).DisposeWith(releaser)
.ApplyFilter(spatial).DisposeWith(releaser)
.ApplyFilter(temp).DisposeWith(releaser)
.ApplyFilter(holeFill).DisposeWith(releaser)
.ApplyFilter(colorizer).DisposeWith(releaser)
.ApplyFilter(threshold).DisposeWith(releaser);
// Send it to the next processing stage
src.FrameReady(processedFrames);
}
}
});
}
private CustomProcessingBlock SetupProcessingBlock(Pipeline pipeline, Colorizer colorizer, DecimationFilter decimate, SpatialFilter spatial, TemporalFilter temp, HoleFillingFilter holeFill, Align align_to)
{
CustomProcessingBlock processingBlock = null;
if (showType == imgType.color)
{
processingBlock = new CustomProcessingBlock((f, src) =>
{
using (var releaser = new FramesReleaser())
{
using (var frames = pipeline.WaitForFrames().DisposeWith(releaser))
{
var processedFrames = frames
.ApplyFilter(align_to).DisposeWith(releaser);
// Send it to the next processing stage
src.FramesReady(processedFrames);
}
}
});
}
else if (showType == imgType.mix)
{
// Setup / start frame processing
processingBlock = new CustomProcessingBlock((f, src) =>
{
using (var releaser = new FramesReleaser())
{
using (var frames = pipeline.WaitForFrames().DisposeWith(releaser))
{
var processedFrames = frames
.ApplyFilter(align_to).DisposeWith(releaser)
.ApplyFilter(decimate).DisposeWith(releaser)
.ApplyFilter(spatial).DisposeWith(releaser)
.ApplyFilter(temp).DisposeWith(releaser)
.ApplyFilter(holeFill).DisposeWith(releaser)
.ApplyFilter(colorizer).DisposeWith(releaser);
// Send it to the next processing stage
src.FramesReady(processedFrames);
}
}
});
}
return(processingBlock);
}
private void OnStartStreaming(PipelineProfile activeProfile)
{
pc = new PointCloud();
spatial = new SpatialFilter();
temporal = new TemporalFilter();
holeFilling = new HoleFillingFilter();
using (var profile = activeProfile.GetStream(stream))
{
if (profile == null)
{
Debug.LogWarningFormat("Stream {0} not in active profile", stream);
}
}
using (var profile = activeProfile.GetStream(Stream.Depth) as VideoStreamProfile)
{
intrinsics = profile.GetIntrinsics();
Assert.IsTrue(SystemInfo.SupportsTextureFormat(TextureFormat.RGFloat));
numParticles = (profile.Width - 1) * (profile.Height - 1) * 2;
vertices = new Vector3[profile.Width * profile.Height];
handle = GCHandle.Alloc(vertices, GCHandleType.Pinned);
verticesPtr = handle.AddrOfPinnedObject();
var indices = new int[(profile.Width - 1) * (profile.Height - 1) * 6];
var iIdx = 0;
for (int j = 0; j < profile.Height; j++)
{
for (int i = 0; i < profile.Width; i++)
{
if (i < profile.Width - 1 && j < profile.Height - 1)
{
var idx = i + j * profile.Width;
var y = profile.Width;
indices[iIdx++] = idx + 0;
indices[iIdx++] = idx + y;
indices[iIdx++] = idx + 1;
indices[iIdx++] = idx + 1;
indices[iIdx++] = idx + y;
indices[iIdx++] = idx + y + 1;
}
}
}
particleBuffer = new ComputeBuffer(numParticles, Marshal.SizeOf(typeof(VoxelParticle)));
vertexBuffer = new ComputeBuffer(vertices.Length, sizeof(float) * 3);
indicesBuffer = new ComputeBuffer(indices.Length, sizeof(int));
vertexBuffer.SetData(vertices);
indicesBuffer.SetData(indices);
renderer.SetBuffer("_VoxelBuffer", particleBuffer);
ResetParticle();
if (mesh != null)
{
Destroy(mesh);
}
mesh = new Mesh()
{
indexFormat = IndexFormat.UInt32,
};
mesh.MarkDynamic();
mesh.vertices = new Vector3[numParticles];
var newIdices = Enumerable.Range(0, numParticles).ToArray();
mesh.SetIndices(newIdices, MeshTopology.Points, 0, false);
mesh.bounds = new Bounds(Vector3.zero, Vector3.one * 10f);
GetComponent <MeshFilter>().sharedMesh = mesh;
}
RealSenseDevice.Instance.onNewSampleSet += OnFrames;
}
void Init()
{
try
{
#region FILTERS
spatialFilter = new SpatialFilter();
spatialFilter.Options[Option.FilterMagnitude].Value = 5.0F;
spatialFilter.Options[Option.FilterSmoothAlpha].Value = 0.25F;
spatialFilter.Options[Option.FilterSmoothDelta].Value = 50.0F;
decimationFilter = new DecimationFilter();
decimationFilter.Options[Option.FilterMagnitude].Value = 2.0F;
holeFilter = new HoleFillingFilter();
thresholdFilter = new ThresholdFilter();
//thresholdFilter.Options[Option.MinDistance].Value = 0.73F;
//thresholdFilter.Options[Option.MaxDistance].Value = 0.81F;
#endregion
align_to = new Align(Intel.RealSense.Stream.Depth);
colorizer = new Colorizer();
pipeline = new Pipeline();
//CONFIG SETTINGS
var cfg = new Config();
cfg.EnableStream(Intel.RealSense.Stream.Depth, resolutionW, resolutionH, Format.Z16, FPS); //depth resolution manuel change
cfg.EnableStream(Intel.RealSense.Stream.Color, 640, 480, Format.Rgb8, 30);
pipelineProfile = pipeline.Start(cfg); //stream starting with user config
var advancedDevice = AdvancedDevice.FromDevice(pipelineProfile.Device); //connected device
//read device's configuration settings from json file
advancedDevice.JsonConfiguration = File.ReadAllText(@"CustomConfig.json");
selectedDevice = pipelineProfile.Device;
#region Field Of View Info
float[] dfov, cfov, irfov;
var depth_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Depth);
Intrinsics depthIntr = depth_stream.GetIntrinsics();
dfov = depthIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
var color_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Color);
Intrinsics colorIntr = color_stream.GetIntrinsics();
cfov = colorIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
var ir_stream = pipelineProfile.GetStream <VideoStreamProfile>(Intel.RealSense.Stream.Infrared);
Intrinsics irIntr = ir_stream.GetIntrinsics();
irfov = irIntr.FOV; // float[2] - horizontal and vertical field of view in degrees
lblDepthFov.Text = "Depth FOV : " + "H = " + Convert.ToInt32(dfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(dfov[1]).ToString() + "°";
lblColorFov.Text = "RGB FOV : " + "H = " + Convert.ToInt32(cfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(cfov[1]).ToString() + "°";
lblInfraredFov.Text = "IR FOV : " + "H = " + Convert.ToInt32(irfov[0]).ToString() + "° , " + "V = " + Convert.ToInt32(irfov[1]).ToString() + "°";
#endregion
//get primary screen resolutions
screenWidth = Convert.ToInt32(System.Windows.SystemParameters.PrimaryScreenWidth.ToString());
screenHeight = Convert.ToInt32(System.Windows.SystemParameters.PrimaryScreenHeight.ToString());
//camera started working. transfer image to interface
SetupWindow(pipelineProfile, out updateDepth, out updateColor, out updateIR1, out updateIR2);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
public void Init()
{
_pb = new HoleFillingFilter();
holeFillOption = _pb.Options[Option.HolesFill];
}
