/**对当前帧进行对齐(在任何计算之前进行这一步操作) * **/ public void Aligin(ModuleStream module = ModuleStream.Color) { using (Align align = new Align(Module.GetRsStream(module))) { CurrentFrameset = align.Process(CurrentFrameset); } }
private void ReleaseResources() { if (!_leaveOpen) { ModuleReader.Dispose(); ModuleWriter.Dispose(); ModuleStream.Dispose(); } }
private IEnumerable <VbModule> CreateModuleInfos() { foreach (var kvp in m_Storage.ModuleStreams) { string module_name = kvp.Key; ModuleStream module_stream = kvp.Value; string module_code = module_stream.GetUncompressedSourceCodeAsString(); VbModule moduleInfo = new VbModule(module_name, module_code); yield return(moduleInfo); } }
/**从当前帧数据获取图像数据 * **/ public RealsenseImage GetImage(ModuleStream moduleStream, int index = -1) { switch (moduleStream) { case ModuleStream.Color: return(GetRgbImage()); case ModuleStream.Depth: return(GetDepthImage()); case ModuleStream.Infrared: return(GetInfraredImage(index)); default: throw new Exception("预期之外的ModuleStream:" + moduleStream); } }
/**构造函数 * ModuleType : 模块类型 * 参数都是默认值(依据来源于 Intel RealSense Viewer) * **/ public Module(ModuleStream module) { if (ModuleStream.Infrared == module) { throw new Exception("构建红外模组需要使用带Index的构造函数!"); } moduleType = module; switch (module) { case ModuleStream.Color: DefaultRGBCamera(); break; case ModuleStream.Depth: DefaultDepthCamera(); break; } }
/**index默认为-1, * **/ public Module(ModuleStream module, int index) { this.index = -1; switch (module) { case ModuleStream.Color: DefaultRGBCamera(); break; case ModuleStream.Depth: DefaultDepthCamera(); break; case ModuleStream.Infrared: DefaultInfraredCamera(); this.index = index; break; } }
/***自己定义的枚举与Realsense自带枚举的转换 * ModuleStream-》Intel.RealSense.Stream * **/ public static Intel.RealSense.Stream GetRsStream(ModuleStream module) { Intel.RealSense.Stream rsStream = (Intel.RealSense.Stream)module; return(rsStream); }
/**如果不想要默认的format,则用这个构造函数 * **/ public Module(ModuleStream module, ModuleFormat format) { moduleType = module; this.format = format; }
public ModuleStream_tests() { Console.WriteLine("STARTING: ModuleStream"); moduleStream = new ModuleStream(); }