using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using System.Windows.Threading;
namespace Intel.RealSense
{
/// <summary>
/// Interaction logic for Window.xaml
/// </summary>
public partial class CaptureWindow : Window
{
private Pipeline pipeline;
private Colorizer colorizer;
private CancellationTokenSource tokenSource = new CancellationTokenSource();
static Action<VideoFrame> UpdateImage(Image img)
{
var wbmp = img.Source as WriteableBitmap;
return new Action<VideoFrame>(frame =>
{
var rect = new Int32Rect(0, 0, frame.Width, frame.Height);
wbmp.WritePixels(rect, frame.Data, frame.Stride * frame.Height, frame.Stride);
});
}
public CaptureWindow()
{
InitializeComponent();
try
{
Action<VideoFrame> updateDepth;
Action<VideoFrame> updateColor;
pipeline = new Pipeline();
colorizer = new Colorizer();
var depthWidth = 640;
var depthHeight = 480;
var depthFrames = 30;
var depthFormat = Format.Z16;
var colorWidth = 640;
var colorHeight = 480;
var colorFrames = 30;
using (var ctx = new Context())
{
var devices = ctx.QueryDevices();
var dev = devices[0];
Console.WriteLine("\nUsing device 0, an {0}", dev.Info[CameraInfo.Name]);
Console.WriteLine(" Serial number: {0}", dev.Info[CameraInfo.SerialNumber]);
Console.WriteLine(" Firmware version: {0}", dev.Info[CameraInfo.FirmwareVersion]);
var sensors = dev.QuerySensors();
var depthSensor = sensors[0];
var colorSensor = sensors[1];
var depthProfiles = depthSensor.StreamProfiles
.Where(p => p.Stream == Stream.Depth)
.OrderBy(p => p.Framerate)
.Select(p => p.As<VideoStreamProfile>());
VideoStreamProfile colorProfile = null;
// select color profile to have frameset equal or closer to depth frameset to syncer work smooth
foreach (var depthProfile in depthProfiles)
{
depthWidth = depthProfile.Width;
depthHeight = depthProfile.Height;
depthFrames = depthProfile.Framerate;
depthFormat = depthProfile.Format;
colorProfile = colorSensor.StreamProfiles
.Where(p => p.Stream == Stream.Color)
.OrderByDescending(p => p.Framerate)
.Select(p => p.As<VideoStreamProfile>())
.FirstOrDefault(p => p.Framerate == depthFrames);
if (colorProfile != null)
{
colorWidth = colorProfile.Width;
colorHeight = colorProfile.Height;
colorFrames = colorProfile.Framerate;
break;
}
}
if (colorProfile == null)
{
// if no profile with the same framerate found, takes the first
colorProfile = colorSensor.StreamProfiles
.Where(p => p.Stream == Stream.Color)
.OrderByDescending(p => p.Framerate)
.Select(p => p.As<VideoStreamProfile>()).FirstOrDefault();
if (colorProfile == null)
{
throw new InvalidOperationException($"Error while finding appropriate depth and color profiles");
}
colorWidth = colorProfile.Width;
colorHeight = colorProfile.Height;
colorFrames = colorProfile.Framerate;
}
}
var cfg = new Config();
cfg.EnableStream(Stream.Depth, depthWidth, depthHeight, depthFormat, depthFrames);
cfg.EnableStream(Stream.Color, colorWidth, colorHeight, Format.Rgb8, colorFrames);
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 SoftwareVideoStream
{
type = Stream.Depth,
index = 0,
uid = 100,
width = depthWidth,
height = depthHeight,
fps = depthFrames,
bpp = 2,
format = depthFormat,
intrinsics = profile.GetStream(Stream.Depth).As<VideoStreamProfile>().GetIntrinsics()
});
depth_sensor.AddReadOnlyOption(Option.DepthUnits, 1.0f / 5000);
var color_sensor = software_dev.AddSensor("Color");
var color_profile = color_sensor.AddVideoStream(new SoftwareVideoStream
{
type = Stream.Color,
index = 0,
uid = 101,
width = colorWidth,
height = colorHeight,
fps = colorFrames,
bpp = 3,
format = 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();
// The raw depth->metric units translation scale is required for Colorizer to work
var realDepthSensor = profile.Device.QuerySensors().First(s => s.Is(Extension.DepthSensor));
depth_sensor.AddReadOnlyOption(Option.DepthUnits, realDepthSensor.DepthScale);
depth_sensor.Open(depth_profile);
color_sensor.Open(color_profile);
// Push the SW device frames to the syncer
depth_sensor.Start(sync.SubmitFrame);
color_sensor.Start(sync.SubmitFrame);
var token = tokenSource.Token;
ushort[] depthData = null;
byte[] colorData = null;
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);
depthData = depthData ?? new ushort[depthFrame.Width * depthFrame.Height];
depthFrame.CopyTo(depthData);
// Construct SW depth frame for SW depth sensor and initialize Depth Unit
depth_sensor.AddVideoFrame(depthData, depthFrame.Stride, depthFrame.BitsPerPixel / 8, depthFrame.Timestamp,
depthFrame.TimestampDomain, (int)depthFrame.Number, depth_profile, realDepthSensor.DepthScale);
colorData = colorData ?? new byte[colorFrame.Stride * colorFrame.Height];
colorFrame.CopyTo(colorData);
// Construct SW color frame for SW color sensor
color_sensor.AddVideoFrame(colorData, 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 colorFrame = new_frames.ColorFrame.DisposeWith(new_frames);
var depthFrame = new_frames.DepthFrame.DisposeWith(new_frames);
var colorizedDepth = colorizer.Process<VideoFrame>(depthFrame).DisposeWith(new_frames);
// 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();
}
}
private void control_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
tokenSource.Cancel();
}
private void SetupWindow(PipelineProfile pipelineProfile, out Action<VideoFrame> depth, out Action<VideoFrame> color)
{
using (var p = pipelineProfile.GetStream(Stream.Depth).As<VideoStreamProfile>())
imgDepth.Source = new WriteableBitmap(p.Width, p.Height, 96d, 96d, PixelFormats.Rgb24, null);
depth = UpdateImage(imgDepth);
using (var p = pipelineProfile.GetStream(Stream.Color).As<VideoStreamProfile>())
imgColor.Source = new WriteableBitmap(p.Width, p.Height, 96d, 96d, PixelFormats.Rgb24, null);
color = UpdateImage(imgColor);
}
}
}