public CaptureWindow()
{
//Log.ToFile(LogSeverity.Debug, "1.log");
try
{
pipeline = new Pipeline();
colorizer = new Colorizer();
var cfg = new Config();
cfg.EnableStream(Stream.Depth, 640, 480, Format.Z16, 30);
cfg.EnableStream(Stream.Color, 640, 480, Format.Rgb8, 30);
var profile = pipeline.Start(cfg);
var software_dev = new SoftwareDevice();
var depth_sensor = software_dev.AddSensor("Depth");
var depth_profile = depth_sensor.AddVideoStream(new VideoStream
{
type = Stream.Depth,
index = 0,
uid = 100,
width = 640,
height = 480,
fps = 30,
bpp = 2,
fmt = Format.Z16,
intrinsics = (profile.GetStream(Stream.Depth) as VideoStreamProfile).GetIntrinsics()
});
var color_sensor = software_dev.AddSensor("Color");
var color_profile = color_sensor.AddVideoStream(new VideoStream
{
type = Stream.Color,
index = 0,
uid = 101,
width = 640,
height = 480,
fps = 30,
bpp = 2,
fmt = Format.Z16,
intrinsics = (profile.GetStream(Stream.Color) as VideoStreamProfile).GetIntrinsics()
});
// Note about the Syncer: If actual FPS is significantly different from reported FPS in AddVideoStream
// this can confuse the syncer and prevent it from producing synchronized pairs
software_dev.SetMatcher(Matchers.Default);
var sync = new Syncer();
depth_sensor.Open(depth_profile);
color_sensor.Open(color_profile);
depth_sensor.Start(f =>
{
sync.SubmitFrame(f);
//Debug.WriteLine("D");
});
color_sensor.Start(f => {
sync.SubmitFrame(f);
//Debug.WriteLine("C");
});
var token = tokenSource.Token;
var t = Task.Factory.StartNew(() =>
{
while (!token.IsCancellationRequested)
{
var frames = pipeline.WaitForFrames();
var depth_frame = frames.DepthFrame;
var color_frame = frames.ColorFrame;
var bytes = new byte[depth_frame.Stride * depth_frame.Height];
depth_frame.CopyTo(bytes);
depth_sensor.AddVideoFrame(bytes, depth_frame.Stride, 2, depth_frame.Timestamp,
depth_frame.TimestampDomain, (int)depth_frame.Number,
depth_profile);
bytes = new byte[color_frame.Stride * color_frame.Height];
color_frame.CopyTo(bytes);
color_sensor.AddVideoFrame(bytes, color_frame.Stride, 2, depth_frame.Timestamp,
color_frame.TimestampDomain, (int)depth_frame.Number,
color_profile);
depth_frame.Dispose();
color_frame.Dispose();
frames.Dispose();
var new_frames = sync.WaitForFrames();
if (new_frames.Count == 2)
{
depth_frame = new_frames.DepthFrame;
color_frame = new_frames.ColorFrame;
var colorized_depth = colorizer.Colorize(depth_frame);
UploadImage(imgDepth, colorized_depth);
UploadImage(imgColor, color_frame);
depth_frame.Dispose();
colorized_depth.Dispose();
color_frame.Dispose();
}
new_frames.Dispose();
}
}, token);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Application.Current.Shutdown();
}
InitializeComponent();
}
public CaptureWindow()
{
InitializeComponent();
try
{
Action <VideoFrame> updateDepth;
Action <VideoFrame> updateColor;
pipeline = new Pipeline();
colorizer = new Colorizer();
var cfg = new Config();
cfg.EnableStream(Stream.Depth, 640, 480, Format.Z16, 30);
cfg.EnableStream(Stream.Color, 640, 480, Format.Rgb8, 30);
var profile = pipeline.Start(cfg);
SetupWindow(profile, out updateDepth, out updateColor);
// Setup the SW device and sensors
var software_dev = new SoftwareDevice();
var depth_sensor = software_dev.AddSensor("Depth");
var depth_profile = depth_sensor.AddVideoStream(new VideoStream
{
type = Stream.Depth,
index = 0,
uid = 100,
width = 640,
height = 480,
fps = 30,
bpp = 2,
fmt = Format.Z16,
intrinsics = (profile.GetStream(Stream.Depth) as VideoStreamProfile).GetIntrinsics()
});
var color_sensor = software_dev.AddSensor("Color");
var color_profile = color_sensor.AddVideoStream(new VideoStream
{
type = Stream.Color,
index = 0,
uid = 101,
width = 640,
height = 480,
fps = 30,
bpp = 3,
fmt = Format.Rgb8,
intrinsics = (profile.GetStream(Stream.Color) as VideoStreamProfile).GetIntrinsics()
});
// Note about the Syncer: If actual FPS is significantly different from reported FPS in AddVideoStream
// this can confuse the syncer and prevent it from producing synchronized pairs
software_dev.SetMatcher(Matchers.Default);
var sync = new Syncer();
depth_sensor.Open(depth_profile);
color_sensor.Open(color_profile);
// Push the SW device frames to the syncer
depth_sensor.Start(f => { sync.SubmitFrame(f); });
color_sensor.Start(f => { sync.SubmitFrame(f); });
var token = tokenSource.Token;
var t = Task.Factory.StartNew(() =>
{
while (!token.IsCancellationRequested)
{
// We use the frames that are captured from live camera as the input data for the SW device
using (var frames = pipeline.WaitForFrames())
{
var depthFrame = frames.DepthFrame.DisposeWith(frames);
var colorFrame = frames.ColorFrame.DisposeWith(frames);
var depthBytes = new byte[depthFrame.Stride * depthFrame.Height];
depthFrame.CopyTo(depthBytes);
depth_sensor.AddVideoFrame(depthBytes, depthFrame.Stride, depthFrame.BitsPerPixel / 8, depthFrame.Timestamp,
depthFrame.TimestampDomain, (int)depthFrame.Number, depth_profile);
var colorBytes = new byte[colorFrame.Stride * colorFrame.Height];
colorFrame.CopyTo(colorBytes);
color_sensor.AddVideoFrame(colorBytes, colorFrame.Stride, colorFrame.BitsPerPixel / 8, colorFrame.Timestamp,
colorFrame.TimestampDomain, (int)colorFrame.Number, color_profile);
}
// Dispaly the frames that come from the SW device after synchronization
using (var new_frames = sync.WaitForFrames())
{
if (new_frames.Count == 2)
{
var depthFrame = new_frames.DepthFrame.DisposeWith(new_frames);
var colorFrame = new_frames.ColorFrame.DisposeWith(new_frames);
VideoFrame colorizedDepth = colorizer.Process(depthFrame).DisposeWith(new_frames) as VideoFrame;
// Render the frames.
Dispatcher.Invoke(DispatcherPriority.Render, updateDepth, colorizedDepth);
Dispatcher.Invoke(DispatcherPriority.Render, updateColor, colorFrame);
}
}
}
}, token);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Application.Current.Shutdown();
}
}
