Pushing up initial project code.
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.gitignore
vendored
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263
.gitignore
vendored
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@ -0,0 +1,263 @@
|
||||
## Ignore Visual Studio temporary files, build results, and
|
||||
## files generated by popular Visual Studio add-ons.
|
||||
|
||||
# User-specific files
|
||||
*.suo
|
||||
*.user
|
||||
*.userosscache
|
||||
*.sln.docstates
|
||||
|
||||
# User-specific files (MonoDevelop/Xamarin Studio)
|
||||
*.userprefs
|
||||
|
||||
# Build results
|
||||
[Dd]ebug/
|
||||
[Dd]ebugPublic/
|
||||
[Rr]elease/
|
||||
[Rr]eleases/
|
||||
x64/
|
||||
x86/
|
||||
bld/
|
||||
[Bb]in/
|
||||
[Oo]bj/
|
||||
[Ll]og/
|
||||
|
||||
# Visual Studio 2015 cache/options directory
|
||||
.vs/
|
||||
# Uncomment if you have tasks that create the project's static files in wwwroot
|
||||
#wwwroot/
|
||||
|
||||
# MSTest test Results
|
||||
[Tt]est[Rr]esult*/
|
||||
[Bb]uild[Ll]og.*
|
||||
|
||||
# NUNIT
|
||||
*.VisualState.xml
|
||||
TestResult.xml
|
||||
|
||||
# Build Results of an ATL Project
|
||||
[Dd]ebugPS/
|
||||
[Rr]eleasePS/
|
||||
dlldata.c
|
||||
|
||||
# DNX
|
||||
project.lock.json
|
||||
project.fragment.lock.json
|
||||
|
||||
*_i.c
|
||||
*_p.c
|
||||
*_i.h
|
||||
*.ilk
|
||||
*.meta
|
||||
*.obj
|
||||
*.pch
|
||||
*.pdb
|
||||
*.pgc
|
||||
*.pgd
|
||||
*.rsp
|
||||
*.sbr
|
||||
*.tlb
|
||||
*.tli
|
||||
*.tlh
|
||||
*.tmp
|
||||
*.tmp_proj
|
||||
*.log
|
||||
*.vspscc
|
||||
*.vssscc
|
||||
.builds
|
||||
*.pidb
|
||||
*.svclog
|
||||
*.scc
|
||||
|
||||
# Chutzpah Test files
|
||||
_Chutzpah*
|
||||
|
||||
# Visual C++ cache files
|
||||
ipch/
|
||||
*.aps
|
||||
*.ncb
|
||||
*.opendb
|
||||
*.opensdf
|
||||
*.sdf
|
||||
*.cachefile
|
||||
*.VC.db
|
||||
*.VC.VC.opendb
|
||||
|
||||
# Visual Studio profiler
|
||||
*.psess
|
||||
*.vsp
|
||||
*.vspx
|
||||
*.sap
|
||||
|
||||
# TFS 2012 Local Workspace
|
||||
$tf/
|
||||
|
||||
# Guidance Automation Toolkit
|
||||
*.gpState
|
||||
|
||||
# ReSharper is a .NET coding add-in
|
||||
_ReSharper*/
|
||||
*.[Rr]e[Ss]harper
|
||||
*.DotSettings.user
|
||||
|
||||
# JustCode is a .NET coding add-in
|
||||
.JustCode
|
||||
|
||||
# TeamCity is a build add-in
|
||||
_TeamCity*
|
||||
|
||||
# DotCover is a Code Coverage Tool
|
||||
*.dotCover
|
||||
|
||||
# NCrunch
|
||||
_NCrunch_*
|
||||
.*crunch*.local.xml
|
||||
nCrunchTemp_*
|
||||
|
||||
# MightyMoose
|
||||
*.mm.*
|
||||
AutoTest.Net/
|
||||
|
||||
# Web workbench (sass)
|
||||
.sass-cache/
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||||
|
||||
# Installshield output folder
|
||||
[Ee]xpress/
|
||||
|
||||
# DocProject is a documentation generator add-in
|
||||
DocProject/buildhelp/
|
||||
DocProject/Help/*.HxT
|
||||
DocProject/Help/*.HxC
|
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DocProject/Help/*.hhc
|
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DocProject/Help/*.hhk
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||||
DocProject/Help/*.hhp
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||||
DocProject/Help/Html2
|
||||
DocProject/Help/html
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||||
|
||||
# Click-Once directory
|
||||
publish/
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||||
|
||||
# Publish Web Output
|
||||
*.[Pp]ublish.xml
|
||||
*.azurePubxml
|
||||
# TODO: Comment the next line if you want to checkin your web deploy settings
|
||||
# but database connection strings (with potential passwords) will be unencrypted
|
||||
#*.pubxml
|
||||
*.publishproj
|
||||
|
||||
# Microsoft Azure Web App publish settings. Comment the next line if you want to
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||||
# checkin your Azure Web App publish settings, but sensitive information contained
|
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# in these scripts will be unencrypted
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PublishScripts/
|
||||
|
||||
# NuGet Packages
|
||||
*.nupkg
|
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# The packages folder can be ignored because of Package Restore
|
||||
**/packages/*
|
||||
# except build/, which is used as an MSBuild target.
|
||||
!**/packages/build/
|
||||
# Uncomment if necessary however generally it will be regenerated when needed
|
||||
#!**/packages/repositories.config
|
||||
# NuGet v3's project.json files produces more ignoreable files
|
||||
*.nuget.props
|
||||
*.nuget.targets
|
||||
|
||||
# Microsoft Azure Build Output
|
||||
csx/
|
||||
*.build.csdef
|
||||
|
||||
# Microsoft Azure Emulator
|
||||
ecf/
|
||||
rcf/
|
||||
|
||||
# Windows Store app package directories and files
|
||||
AppPackages/
|
||||
BundleArtifacts/
|
||||
Package.StoreAssociation.xml
|
||||
_pkginfo.txt
|
||||
|
||||
# Visual Studio cache files
|
||||
# files ending in .cache can be ignored
|
||||
*.[Cc]ache
|
||||
# but keep track of directories ending in .cache
|
||||
!*.[Cc]ache/
|
||||
|
||||
# Others
|
||||
ClientBin/
|
||||
~$*
|
||||
*~
|
||||
*.dbmdl
|
||||
*.dbproj.schemaview
|
||||
*.jfm
|
||||
*.pfx
|
||||
*.publishsettings
|
||||
node_modules/
|
||||
orleans.codegen.cs
|
||||
|
||||
# Since there are multiple workflows, uncomment next line to ignore bower_components
|
||||
# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
|
||||
#bower_components/
|
||||
|
||||
# RIA/Silverlight projects
|
||||
Generated_Code/
|
||||
|
||||
# Backup & report files from converting an old project file
|
||||
# to a newer Visual Studio version. Backup files are not needed,
|
||||
# because we have git ;-)
|
||||
_UpgradeReport_Files/
|
||||
Backup*/
|
||||
UpgradeLog*.XML
|
||||
UpgradeLog*.htm
|
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|
||||
# SQL Server files
|
||||
*.mdf
|
||||
*.ldf
|
||||
|
||||
# Business Intelligence projects
|
||||
*.rdl.data
|
||||
*.bim.layout
|
||||
*.bim_*.settings
|
||||
|
||||
# Microsoft Fakes
|
||||
FakesAssemblies/
|
||||
|
||||
# GhostDoc plugin setting file
|
||||
*.GhostDoc.xml
|
||||
|
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# Node.js Tools for Visual Studio
|
||||
.ntvs_analysis.dat
|
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|
||||
# Visual Studio 6 build log
|
||||
*.plg
|
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|
||||
# Visual Studio 6 workspace options file
|
||||
*.opt
|
||||
|
||||
# Visual Studio LightSwitch build output
|
||||
**/*.HTMLClient/GeneratedArtifacts
|
||||
**/*.DesktopClient/GeneratedArtifacts
|
||||
**/*.DesktopClient/ModelManifest.xml
|
||||
**/*.Server/GeneratedArtifacts
|
||||
**/*.Server/ModelManifest.xml
|
||||
_Pvt_Extensions
|
||||
|
||||
# Paket dependency manager
|
||||
.paket/paket.exe
|
||||
paket-files/
|
||||
|
||||
# FAKE - F# Make
|
||||
.fake/
|
||||
|
||||
# JetBrains Rider
|
||||
.idea/
|
||||
*.sln.iml
|
||||
|
||||
# CodeRush
|
||||
.cr/
|
||||
|
||||
# Python Tools for Visual Studio (PTVS)
|
||||
__pycache__/
|
||||
*.pyc
|
||||
|
||||
#Ignore docker files
|
||||
*.tar
|
||||
25
MariCam.sln
Normal file
25
MariCam.sln
Normal file
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||||
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||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio Version 17
|
||||
VisualStudioVersion = 17.5.33502.453
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||||
MinimumVisualStudioVersion = 10.0.40219.1
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||||
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MariCam", "MariCam\MariCam.csproj", "{66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}"
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||||
EndProject
|
||||
Global
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||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
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||||
Debug|Any CPU = Debug|Any CPU
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||||
Release|Any CPU = Release|Any CPU
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||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
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||||
{66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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||||
{66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Debug|Any CPU.Build.0 = Debug|Any CPU
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||||
{66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Release|Any CPU.ActiveCfg = Release|Any CPU
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||||
{66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Release|Any CPU.Build.0 = Release|Any CPU
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||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
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||||
SolutionGuid = {60D05F44-9F71-4B86-99D7-D6CB9F128CC4}
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||||
EndGlobalSection
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||||
EndGlobal
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||||
6
MariCam/App.config
Normal file
6
MariCam/App.config
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<?xml version="1.0" encoding="utf-8" ?>
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||||
<configuration>
|
||||
<startup>
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||||
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.8" />
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||||
</startup>
|
||||
</configuration>
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56
MariCam/MariCam.csproj
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56
MariCam/MariCam.csproj
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<?xml version="1.0" encoding="utf-8"?>
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||||
<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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||||
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
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<PropertyGroup>
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<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
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||||
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
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||||
<ProjectGuid>{66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}</ProjectGuid>
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||||
<OutputType>Exe</OutputType>
|
||||
<RootNamespace>MariCam</RootNamespace>
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||||
<AssemblyName>MariCam</AssemblyName>
|
||||
<TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
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||||
<FileAlignment>512</FileAlignment>
|
||||
<AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
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||||
<Deterministic>true</Deterministic>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
|
||||
<PlatformTarget>AnyCPU</PlatformTarget>
|
||||
<DebugSymbols>true</DebugSymbols>
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||||
<DebugType>full</DebugType>
|
||||
<Optimize>false</Optimize>
|
||||
<OutputPath>bin\Debug\</OutputPath>
|
||||
<DefineConstants>DEBUG;TRACE</DefineConstants>
|
||||
<ErrorReport>prompt</ErrorReport>
|
||||
<WarningLevel>4</WarningLevel>
|
||||
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
|
||||
<PlatformTarget>AnyCPU</PlatformTarget>
|
||||
<DebugType>pdbonly</DebugType>
|
||||
<Optimize>true</Optimize>
|
||||
<OutputPath>bin\Release\</OutputPath>
|
||||
<DefineConstants>TRACE</DefineConstants>
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||||
<ErrorReport>prompt</ErrorReport>
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||||
<WarningLevel>4</WarningLevel>
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||||
</PropertyGroup>
|
||||
<ItemGroup>
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||||
<Reference Include="System" />
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||||
<Reference Include="System.Core" />
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<Reference Include="System.Drawing" />
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<Reference Include="System.Windows.Forms" />
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||||
<Reference Include="System.Xml.Linq" />
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<Reference Include="System.Data.DataSetExtensions" />
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<Reference Include="Microsoft.CSharp" />
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||||
<Reference Include="System.Data" />
|
||||
<Reference Include="System.Net.Http" />
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||||
<Reference Include="System.Xml" />
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||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Compile Include="Program.cs" />
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||||
<Compile Include="Properties\AssemblyInfo.cs" />
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||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="App.config" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
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||||
</Project>
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||||
158
MariCam/Program.cs
Normal file
158
MariCam/Program.cs
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Runtime.InteropServices;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using System.Drawing;
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using System.Drawing.Drawing2D;
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using System.Drawing.Imaging;
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using System.Data.SqlTypes;
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namespace MariCam
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{
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public class Program
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{
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public enum ConnectionType : int
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{
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CSI = 0,
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USB = 1
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}
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||||
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public enum FrameType : int
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{
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RAW = 0,
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AMPLITUDE = 1,
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DEPTH = 2
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}
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||||
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||||
[StructLayout(LayoutKind.Sequential)]
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||||
public struct FrameFormat
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||||
{
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||||
public ushort Width;
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||||
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||||
public ushort Height;
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||||
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public int FrameType;
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||||
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||||
public ulong Timestamp;
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||||
}
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||||
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public const string LibraryPath = "/usr/lib/libArducamDepthCamera2c.so";
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[System.Runtime.InteropServices.DllImport(LibraryPath)]
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||||
public static unsafe extern IntPtr createArducamDepthCamera();
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||||
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[System.Runtime.InteropServices.DllImport(LibraryPath)]
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public static unsafe extern IntPtr init(IntPtr camera, ConnectionType connectionType, int deviceNumber);
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||||
[System.Runtime.InteropServices.DllImport(LibraryPath)]
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||||
public static unsafe extern IntPtr start(IntPtr camera, FrameType frameType);
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||||
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||||
[System.Runtime.InteropServices.DllImport(LibraryPath)]
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||||
public static unsafe extern IntPtr requestFrame(IntPtr camera, int timeout);
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||||
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[System.Runtime.InteropServices.DllImport(LibraryPath)]
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public static extern IntPtr releaseFrame(IntPtr camera, IntPtr frameBuffer);
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||||
[System.Runtime.InteropServices.DllImport(LibraryPath)]
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||||
public static extern FrameFormat getFormat(IntPtr camera, int frameType);
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||||
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||||
[System.Runtime.InteropServices.DllImport(LibraryPath)]
|
||||
public static extern IntPtr getDepthData(IntPtr frameBuffer);
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||||
|
||||
public static unsafe void Main(string[] args)
|
||||
{
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||||
var camera = createArducamDepthCamera();
|
||||
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||||
init(camera, ConnectionType.CSI, 0);
|
||||
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||||
start(camera, FrameType.DEPTH);
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||||
|
||||
var tempBuffer = requestFrame(camera, 200);
|
||||
|
||||
var tempFormat = getFormat(tempBuffer, 2);
|
||||
|
||||
var buffer = new Bitmap(tempFormat.Width, tempFormat.Height, PixelFormat.Format32bppArgb);
|
||||
|
||||
releaseFrame(camera, tempBuffer);
|
||||
|
||||
var form = new Form();
|
||||
|
||||
form.Text = "MariCam";
|
||||
|
||||
form.WindowState = FormWindowState.Maximized;
|
||||
|
||||
form.StartPosition = FormStartPosition.CenterScreen;
|
||||
|
||||
form.Show();
|
||||
|
||||
form.Paint += (object sender, PaintEventArgs e) =>
|
||||
{
|
||||
var frameBuffer = requestFrame(camera, 200);
|
||||
|
||||
var format = getFormat(frameBuffer, 2);
|
||||
|
||||
var graphics = e.Graphics;
|
||||
|
||||
graphics.InterpolationMode = InterpolationMode.Bicubic;
|
||||
|
||||
graphics.Clear(Color.Black);
|
||||
|
||||
float* depthData = (float*)getDepthData(frameBuffer);
|
||||
|
||||
float min = float.MaxValue;
|
||||
float max = float.MinValue;
|
||||
|
||||
for (int y = 0; y < format.Height; y++)
|
||||
{
|
||||
for (int x = 0; x < format.Width; x++)
|
||||
{
|
||||
var depth = *(depthData + (y * format.Width) + x);
|
||||
|
||||
if (depth < min)
|
||||
min = depth;
|
||||
|
||||
if (depth > max)
|
||||
max = depth;
|
||||
}
|
||||
}
|
||||
|
||||
float minNew = -1.0f;
|
||||
float maxNew = 1.0f;
|
||||
|
||||
var bufferData = buffer.LockBits(new Rectangle(0, 0, buffer.Width, buffer.Height), ImageLockMode.ReadWrite, buffer.PixelFormat);
|
||||
|
||||
var bufferPixels = (uint*)bufferData.Scan0;
|
||||
|
||||
for (int y = 0; y < format.Height; y++)
|
||||
{
|
||||
for (int x = 0; x < format.Width; x++)
|
||||
{
|
||||
//maxNew − minNew / maxOld − minOld * (v − minOld) + minNew
|
||||
var intensity = ((float)(maxNew - minNew) / (float)(max - min) * ((*(depthData + (y * format.Width) + x)) - min) + minNew);
|
||||
|
||||
byte r = (intensity < 0.0) ? (byte)0 : (intensity >= 0.5) ? (byte)255 : (byte)(intensity / 0.5 * 255);
|
||||
byte g = (intensity < -0.5) ? (byte)((intensity + 1) / 0.5 * 255) : (intensity > 0.5) ? (byte)(255 - ((intensity - 0.5) / 0.5 * 255)) : (byte)255;
|
||||
byte b = (intensity > 0.0) ? (byte)0 : (intensity <= -0.5) ? (byte)255 : (byte)(intensity * -1.0 / 0.5 * 255);
|
||||
|
||||
*(bufferPixels + ((y * format.Width) + x)) = ((uint)255 << 24) | ((uint)(r) << 16) | ((uint)(g) << 8) | (byte)(b);
|
||||
}
|
||||
}
|
||||
|
||||
buffer.UnlockBits(bufferData);
|
||||
|
||||
graphics.DrawImage(buffer, new Rectangle(0, 0, form.ClientSize.Width, form.ClientSize.Height));
|
||||
|
||||
releaseFrame(camera, frameBuffer);
|
||||
|
||||
form.Invalidate();
|
||||
};
|
||||
|
||||
form.Invalidate();
|
||||
|
||||
Application.DoEvents();
|
||||
}
|
||||
}
|
||||
}
|
||||
36
MariCam/Properties/AssemblyInfo.cs
Normal file
36
MariCam/Properties/AssemblyInfo.cs
Normal file
@ -0,0 +1,36 @@
|
||||
using System.Reflection;
|
||||
using System.Runtime.CompilerServices;
|
||||
using System.Runtime.InteropServices;
|
||||
|
||||
// General Information about an assembly is controlled through the following
|
||||
// set of attributes. Change these attribute values to modify the information
|
||||
// associated with an assembly.
|
||||
[assembly: AssemblyTitle("MariCam")]
|
||||
[assembly: AssemblyDescription("")]
|
||||
[assembly: AssemblyConfiguration("")]
|
||||
[assembly: AssemblyCompany("")]
|
||||
[assembly: AssemblyProduct("MariCam")]
|
||||
[assembly: AssemblyCopyright("Copyright © 2023")]
|
||||
[assembly: AssemblyTrademark("")]
|
||||
[assembly: AssemblyCulture("")]
|
||||
|
||||
// Setting ComVisible to false makes the types in this assembly not visible
|
||||
// to COM components. If you need to access a type in this assembly from
|
||||
// COM, set the ComVisible attribute to true on that type.
|
||||
[assembly: ComVisible(false)]
|
||||
|
||||
// The following GUID is for the ID of the typelib if this project is exposed to COM
|
||||
[assembly: Guid("66def376-2e2f-4530-b301-5d1fb8c1ef5e")]
|
||||
|
||||
// Version information for an assembly consists of the following four values:
|
||||
//
|
||||
// Major Version
|
||||
// Minor Version
|
||||
// Build Number
|
||||
// Revision
|
||||
//
|
||||
// You can specify all the values or you can default the Build and Revision Numbers
|
||||
// by using the '*' as shown below:
|
||||
// [assembly: AssemblyVersion("1.0.*")]
|
||||
[assembly: AssemblyVersion("1.0.0.0")]
|
||||
[assembly: AssemblyFileVersion("1.0.0.0")]
|
||||
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Block a user