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Page 3 of 3
Listing
The complete program with stream alignment is:
namespace WpfCallback
{
public partial class MainWindow : Window
{
private PXCMSenseManager sm;
public WriteableBitmap wbm;
public MainWindow()
{
InitializeComponent();
}
private void Button_Click(object sender,
RoutedEventArgs e)
{
sm = PXCMSenseManager.CreateInstance();
PXCMVideoModule.DataDesc ddesc =
new PXCMVideoModule.DataDesc();
ddesc.deviceInfo.streams =
PXCMCapture.StreamType.STREAM_TYPE_COLOR |
PXCMCapture.StreamType.STREAM_TYPE_DEPTH;
sm.EnableStreams(ddesc);
PXCMSenseManager.Handler handler =
new PXCMSenseManager.Handler();
handler.onNewSample = OnNewSample;
sm.Init(handler);
sm.StreamFrames(false);
}
pxcmStatus OnNewSample(int mid,
PXCMCapture.Sample sample)
{
if (sample.color != null)
{
PXCMImage image = sample.color;
PXCMImage.ImageData data;
image.AcquireAccess(
PXCMImage.Access.ACCESS_READ,
PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32,
out data);
wbm = data.ToWritableBitmap(0,
image.info.width,
image.info.height,
96.0, 96.0);
wbm.Freeze();
image1.Dispatcher.Invoke(
new Action(() => image1.Source = wbm));
image.ReleaseAccess(data);
}
if (sample.depth != null)
{
PXCMImage image = sample.depth;
PXCMImage.ImageData data;
image.AcquireAccess(
PXCMImage.Access.ACCESS_READ,
PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32,
out data);
wbm = data.ToWritableBitmap(0,
image.info.width,
image.info.height,
96.0, 96.0);
wbm.Freeze();
image1.Dispatcher.Invoke(
new Action(() => image2.Source = wbm));
image.ReleaseAccess(data);
}
GC.Collect();
return pxcmStatus.PXCM_STATUS_NO_ERROR;
}
private void Button_Click_1(object sender,
RoutedEventArgs e)
{
sm.Close();
}
}
}
You can download the code for this program from the CodeBin. (Note you have to register first).
Real RealSense In C#
- Getting Started With RealSense In C#
- Event Streams
- A Point Cloud - coming soon
- Hand Tracking - coming soon
Related Articles
BitmapSource: WPF Bitmaps
WriteableBitmap
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