Intel RealSense Camera "Color" in C#/WPF

Intel RealSense最基本的功能就是『彩色影像』，
其實Intel的SDK都有相當多Sample可以參考，
不過小弟資質駑鈍看不懂，所以爬文後才做出此功能。

成果圖

(一)、. Build Events

if "$(Platform)" == "x86" ( copy /y "$(RSSDK_DIR)\bin\win32\libpxccpp2c.dll" "$(TargetDir)" ) else (copy /y "$(RSSDK_DIR)\bin\x64\libpxccpp2c.dll" "$(TargetDir)" )

(二)、加入參考 libpxcclr.cs.dll

※注意是\\...\x64 ，而不是\\...\win32

(三)、人機介面

• StackPanel
• Image：imgColorStream
• Label：lblMessag

Mainwindow.xml 

<Window x:Class="ColorRealSense.MainWindow"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
        xmlns:local="clr-namespace:ColorRealSense"
        mc:Ignorable="d"
        Title="ColorRealSense" Height="635" Width="715"
        WindowStartupLocation="CenterScreen"
        Closing="Window_Closing"
        Loaded="Window_Loaded"
        ResizeMode="CanMinimize">
    <Grid>
        <StackPanel>
            <Image x:Name="imgColorStream" />
            <Label x:Name="lblMessage" Content="Label" HorizontalAlignment="Center" FontSize="24" />
        </StackPanel>
        <Image x:Name="image" HorizontalAlignment="Left" Height="100" VerticalAlignment="Top" Width="260" Source="D:\C#\ColorRealSense\ColorRealSense\logo\logo.png"/>
    </Grid>
</Window>

(四)、Create the Utility Class

• Right-click ColorRealSensein Solution Explorer.
• Select Add, New Item…
• Select Class and name it ConvertBitmap.cs.
• Click the Add button.

using System;
using System.Windows.Media.Imaging;

namespace ColorRealSense
{
    class ConvertBitmap
    {
        [System.Runtime.InteropServices.DllImport("gdi32.dll")]
        public static extern bool DeleteObject(IntPtr handle);
        public static IntPtr intPointer;
        private static BitmapSource bitmapSource;

        public static BitmapSource BitmapToBitmapSource(System.Drawing.Bitmap bitmap)
        {
            intPointer = bitmap.GetHbitmap();

            bitmapSource = System.Windows.Interop.Imaging.CreateBitmapSourceFromHBitmap(intPointer,
                IntPtr.Zero,
                System.Windows.Int32Rect.Empty,
                System.Windows.Media.Imaging.BitmapSizeOptions.FromEmptyOptions());

            DeleteObject(intPointer);
            return bitmapSource;
        }
    }
}

(五)、後版設計
Mainwindow.xml.cs 

using System;
using System.Windows;
using System.Windows.Media;
using System.Threading;
using System.Drawing;

namespace ColorRealSense
{
    /// <summary>
    /// MainWindow.xaml 的互動邏輯
    /// </summary>
    public partial class MainWindow : Window
    {
        private Thread processingThread;
        private PXCMSenseManager senseManager;
        private PXCMHandModule hand;
        private PXCMHandConfiguration handConfig;
        private PXCMHandData handData;
        private PXCMHandData.GestureData gestureData;
        private bool handWaving;
        private bool handTrigger;
        private int msgTimer;

        public MainWindow()
        {
            InitializeComponent();
            handWaving = false;
            handTrigger = false;
            msgTimer = 0;

            // Instantiate and initialize the SenseManager
            senseManager = PXCMSenseManager.CreateInstance();
            senseManager.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);
            senseManager.EnableHand();
            senseManager.Init();

            // Configure the Hand Module
            hand = senseManager.QueryHand();
            handConfig = hand.CreateActiveConfiguration();
            handConfig.EnableGesture("wave");
            handConfig.EnableAllAlerts();
            handConfig.ApplyChanges();

            // Start the worker thread
            processingThread = new Thread(new ThreadStart(ProcessingThread));
            processingThread.Start();
        }

        private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
        {
            processingThread.Abort();
            if (handData != null) handData.Dispose();
            handConfig.Dispose();
            senseManager.Dispose();
        }

        private void Window_Loaded(object sender, RoutedEventArgs e)
        {
            lblMessage.Content = "(RealSense)";
        }

        private void ProcessingThread()
        {
            // Start AcquireFrame/ReleaseFrame loop
            while (senseManager.AcquireFrame(true) >= pxcmStatus.PXCM_STATUS_NO_ERROR)
            {
                PXCMCapture.Sample sample = senseManager.QuerySample();
                Bitmap colorBitmap;
                PXCMImage.ImageData colorData;

                // Get color image data
                sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB24, out colorData);
                colorBitmap = colorData.ToBitmap(0, sample.color.info.width, sample.color.info.height);

                // Retrieve gesture data
                hand = senseManager.QueryHand();

                if (hand != null)
                {
                    // Retrieve the most recent processed data
                    handData = hand.CreateOutput();
                    handData.Update();
                    handWaving = handData.IsGestureFired("wave", out gestureData);
                }

                // Update the user interface
                UpdateUI(colorBitmap);

                // Release the frame
                if (handData != null) handData.Dispose();
                colorBitmap.Dispose();
                sample.color.ReleaseAccess(colorData);
                senseManager.ReleaseFrame();
            }
        }

        private void UpdateUI(Bitmap bitmap)
        {
            this.Dispatcher.Invoke(System.Windows.Threading.DispatcherPriority.Normal, new Action(delegate ()
            {
                if (bitmap != null)
                {
                    // Mirror the color stream Image control
                    imgColorStream.RenderTransformOrigin = new System.Windows.Point(0.5, 0.5);
                    ScaleTransform mainTransform = new ScaleTransform();
                    mainTransform.ScaleX = -1;
                    mainTransform.ScaleY = 1;
                    imgColorStream.RenderTransform = mainTransform;

                    // Display the color stream
                    imgColorStream.Source = ConvertBitmap.BitmapToBitmapSource(bitmap);

                    // Update the screen message
                    if (handWaving)
                    {
                        lblMessage.Content = "Hello World!";
                        handTrigger = true;
                    }

                    // Reset the screen message after ~50 frames
                    if (handTrigger)
                    {
                        msgTimer++;

                        if (msgTimer >= 50)
                        {
                            lblMessage.Content = "(Wave Your Hand)";
                            msgTimer = 0;
                            handTrigger = false;
                        }
                    }
                }
            }));
        }
    }
}