{"id":6850,"date":"2015-02-19T01:18:07","date_gmt":"2015-02-18T16:18:07","guid":{"rendered":"http:\/\/www.moonmile.net\/blog\/?p=6850"},"modified":"2015-02-19T01:19:42","modified_gmt":"2015-02-18T16:19:42","slug":"realsense-%e3%81%a7%e3%82%ab%e3%83%a1%e3%83%a9%e3%82%92%e8%a1%a8%e7%a4%ba%e3%81%95%e3%81%9b%e3%82%8b%e7%ac%ac%e4%b8%80%e6%ad%a9","status":"publish","type":"post","link":"http:\/\/www.moonmile.net\/blog\/archives\/6850","title":{"rendered":"Realsense \u3067\u30ab\u30e1\u30e9\u3092\u8868\u793a\u3055\u305b\u308b\u7b2c\u4e00\u6b69"},"content":{"rendered":"

\nRealSense \u4e8b\u59cb\u3081 | Moonmile Solutions Blog
\nhttp:\/\/www.moonmile.net\/blog\/archives\/6751<\/a>\n<\/p>\n

\n\u4e8b\u59cb\u3081\u3068\u8a00\u3044\u3064\u3064\u3001\u30b3\u30f3\u30c6\u30b9\u30c8\u3082\u7d42\u308f\u3063\u3066\u305d\u306e\u307e\u307e\u30d5\u30a7\u30fc\u30c9\u30a2\u30a6\u30c8\u3057\u3066\u3057\u307e\u3046\u306e\u3082\u30a2\u30ab\u30f3\u306e\u3067\u3059\u3002\u624b\u5143\u306e\u30ab\u30e1\u30e9\u306f\uff16\u304b\u6708\u3050\u3089\u3044\u501f\u308a\u3089\u308c\u308b\uff08\u3089\u3057\u3044\uff09\u306e\u3067\u3001\uff15\u6708\u3050\u3089\u3044\u307e\u3067\u306f\u5927\u4e08\u592b\u306a\u306e\u304b\u306a\u3002\n<\/p>\n

\nRealsense \u306f\u3044\u304f\u3064\u304b\u306e\u30b5\u30f3\u30d7\u30eb\u304c\u4ed8\u3044\u3066\u3044\u307e\u3059\u304c\u3001\u3053\u308c\u304c\u7d50\u69cb\u96e3\u3057\u3044\u3002\u6b63\u6708\u306e\u9803\u306b\u3061\u3089\u898b\u306f\u3057\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u3001\u3061\u3087\u3063\u3068\u3053\u308c\u3092\u4f7f\u3044\u3053\u306a\u3059\u3060\u3051\u3067\u300c\u53c2\u52a0\u8cde\u304c\u3082\u3089\u3048\u308b\u306e\u3067\u306f\uff1f\u300d\u3063\u3066\u306a\u3050\u3089\u3044\u96e3\u3057\u3044\u3067\u3059\u3002\u3044\u3084\u3001\u79c1\u306b\u3068\u3063\u3066\u306f\u305d\u3046\u3060\u3063\u305f\u3001\u3068\u3044\u3046\u3060\u3051\u306a\u306e\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u304c\u3001\u30ab\u30e1\u30e9\u306e\u63cf\u753b\u3092 OnPaint \u3067\u8868\u793a\u3055\u305b\u3066\u3044\u308b\u3068\u3053\u308d\u304c\u3082\u3046\u306a\u3093\u3068\u3082\u3001\u5927\u5909\u3067\u3059\u3002\n<\/p>\n

\n\u3078\u3070\u308a\u305d\u3046\u306b\u306a\u3063\u305f\u306e\u3067\u3001OpenCV \u98a8\u306b\u7c21\u5358\u306b\u3084\u3063\u3066\u307f\u307e\u3057\u305f\u3002\n<\/p>\n

C#\u306eWindows\u30d5\u30a9\u30fc\u30e0\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u308b<\/h2>\n<\/p>\n

\n\u6700\u7d42\u7684\u306b\u306f OpenCvSharp \u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u3057\u305f\u304b\u3063\u305f\u306e\u3067 C# \u3092\u4f7f\u3044\u307e\u3059\u3002\u307e\u3042\u3001C++ \u3067\u3082\u3044\u3044\u3093\u3067\u3059\u304c\u3001\u3053\u3053\u306f C# \u3067\uff08\u4f55\u304b\u306e\u306f\u305a\u307f\u3067 F# \u3082\u4f7f\u3048\u308b\u304b\u3082\u3057\u308c\u306a\u3044\u306e\u3067\uff09\u3002\n<\/p>\n

<\/a><\/p>\n

libpxcclr.cs.dll \u3092\u53c2\u7167\u8a2d\u5b9a\u3059\u308b<\/h2>\n<\/p>\n

\nC:Program Files (x86)IntelRSSDKbinx64libpxcclr.cs.dll \u3092\u53c2\u7167\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u3053\u306e\u4e2d\u306b\u8af8\u3005\u306b\u30e9\u30a4\u30d6\u30e9\u30ea\u304c\u5165\u3063\u3066\u3044\u307e\u3059\u3002\u3061\u306a\u307f\u306b\u3001\u540d\u524d\u7a7a\u9593\u304c\u3042\u308a\u307e\u305b\u3093\u30c3!!! \u6e05\u3044…\n<\/p>\n

\u30d3\u30eb\u30c9\u30a4\u30d9\u30f3\u30c8\u3092\u8a2d\u5b9a\u3059\u308b<\/h2>\n<\/p>\n

\n\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30d7\u30ed\u30d1\u30c6\u30a3\u304b\u3089\u30d3\u30eb\u30c9\u30a4\u30d9\u30f3\u30c8\u3092\u958b\u3044\u3066\u3001\u30d3\u30eb\u30c9\u5f8c\u306b\u5b9f\u884c\u3059\u308b\u30b3\u30de\u30f3\u30c9\u306b\u4ee5\u4e0b\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\n<\/p>\n

\nif "$(Platform)" == "x86" ( copy \/y "$(RSSDK_DIR)binwin32libpxccpp2c.dll" "$(TargetDir)" ) else ( copy \/y "$(RSSDK_DIR)binx64libpxccpp2c.dll" "$(TargetDir)" )\n<\/pre>\n
\nc\/c++ \u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30b3\u30d4\u30fc\u3067\u3059\u306d\u3002\u3053\u308c\u306f Realsense \u306e\u30b5\u30f3\u30d7\u30eb\u304b\u3089\u53d6\u3063\u3066\u304d\u305f\u3082\u306e\u3067\u3001x86 \u3082\u3042\u308b\u306e\u3067 32bit\u7248\u3067\u3082\u52d5\u304d\u305d\u3046\u3067\u3059\u3002\n<\/p>\n
<\/a><\/p>\n
\u30bf\u30fc\u30b2\u30c3\u30c8\u3092\u300cx64\u300d\u306b\u3059\u308b<\/h2>\n<\/p>\n
\n\u540c\u3058\u304f\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30d7\u30ed\u30d1\u30c6\u30a3\u3067\u3001\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u306e\u30bf\u30fc\u30b2\u30c3\u30c8\u3092\u300cx64\u300d\u306b\u3057\u307e\u3059\u3002\n<\/p>\n
<\/a><\/p>\n
\n\u3042\u307e\u308a\u9ad8\u5ea6\u306a\u3053\u3068\u306f\u3084\u3089\u306a\u3044\u306e\u3067\u3001\u300c\u30a2\u30f3\u30bb\u30fc\u30d5\u30b3\u30fc\u30c9\u306e\u8a31\u53ef\u300d\u306f\u5916\u3057\u305f\u307e\u307e\u3067ok\u3067\u3059\u3002\n<\/p>\n
\u30ab\u30e1\u30e9\u3092\u8868\u793a\u3059\u308b\u3060\u3051\u306e\u30b3\u30fc\u30c9<\/h2>\n<\/p>\n
\n\u3053\u308c\u3067\u6e96\u5099\u304c\u6574\u3063\u305f\u306e\u3067\u3001RBG\u30ab\u30e1\u30e9\u3092\u8868\u793a\u3059\u308b\u3060\u3051\u306e\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u307e\u3059\u3002\n<\/p>\n
\npublic partial class Form1 : Form\n{\n\tpublic Form1()\n\t{\n\t\tInitializeComponent();\n\t}\n\n\tprivate PXCMSenseManager sm;\n\tTask _task;\n\tbool _task_flag = false;\n\n\t\/\/\/ <summary>\n\t\/\/\/ \u64ae\u5f71\u958b\u59cb\n\t\/\/\/ <\/summary>\n\t\/\/\/ <param name="sender"><\/param>\n\t\/\/\/ <param name="e"><\/param>\n\tprivate void button1_Click(object sender, EventArgs e)\n\t{\n\t\tsm = PXCMSenseManager.CreateInstance();\n\t\t\/\/ RGB\u306e\u5834\u5408\n\t\tsm.EnableStream(PXCMCapture.StreamType.STREAM_TYPE_COLOR, 640, 480, 30);\n\t\tif (sm.Init() < pxcmStatus.PXCM_STATUS_NO_ERROR)\n\t\t{\n\t\t\t\/\/ \u30a8\u30e9\u30fc\u767a\u751f\n\t\t\tMessageBox.Show("PXCM_STATUS_NO_ERROR");\n\t\t\treturn;\n\t\t}\n\t\t\t\n\t\t_task = new Task(() =>\n\t\t{\n\t\t\t_task_flag = true;\n\t\t\twhile (_task_flag)\n\t\t\t{\n\t\t\t\tif (sm.AcquireFrame(true) < pxcmStatus.PXCM_STATUS_NO_ERROR) \n\t\t\t\t\treturn;\n\t\t\t\tPXCMCapture.Sample sample = sm.QuerySample();\n\t\t\t\tif (sample.color != null)\n\t\t\t\t{\n\t\t\t\t\tPXCMImage image = sample.color;\n\t\t\t\t\tPXCMImage.ImageData data;\n\t\t\t\t\tpxcmStatus sts = sample.color.AcquireAccess(PXCMImage.Access.ACCESS_READ, PXCMImage.PixelFormat.PIXEL_FORMAT_RGB32, out data);\n\t\t\t\t\tif (sts >= pxcmStatus.PXCM_STATUS_NO_ERROR)\n\t\t\t\t\t{\n\t\t\t\t\t\tBitmap bmp = data.ToBitmap(0, image.info.width, image.info.height);\n\t\t\t\t\t\timage.ReleaseAccess(data);\n\t\t\t\t\t\tpictureBox1.Image = bmp;\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\tsm.ReleaseFrame();\n\t\t\t\t\/\/\/ 30fps\u7a0b\u5ea6\u306b\u3042\u308f\u305b\u308b\n\t\t\t\tThread.Sleep(33);\n\t\t\t}\n\t\t});\n\t\t_task.Start();\n\t}\n\n\t\/\/\/ <summary>\n\t\/\/\/ \u7d42\u4e86\n\t\/\/\/ <\/summary>\n\t\/\/\/ <param name="sender"><\/param>\n\t\/\/\/ <param name="e"><\/param>\n\tprivate void button2_Click(object sender, EventArgs e)\n\t{\n\t\t_task_flag = false;\n\t}\n}\n<\/pre>\n
\n\u8a73\u3057\u304f\u306f\u30b5\u30f3\u30d7\u30eb\u3068\u30ea\u30d5\u30a1\u30ec\u30f3\u30b9\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u898b\u3066\u3044\u3051\u3070\u3044\u3044\u306e\u3067\u3059\u304c\u3001\u306a\u304b\u306a\u304b\u5358\u7d14\u306a\u4f8b\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u306e\u3067\u3001\u3055\u3089\u3057\u3066\u304a\u304d\u307e\u3059\u3002\n<\/p>\n
\nIntel RealSense SDK Documentation
\nhttps:\/\/software.intel.com\/sites\/landingpage\/realsense\/camera-sdk\/2014gold\/documentation\/html\/<\/a>\n<\/p>\n
\n\u5225\u30b9\u30ec\u30c3\u30c9\u306b\u3057\u3066\u3050\u308b\u3050\u308b\u56de\u3059\u307b\u3046\u304c\u7c21\u5358\u306a\u306e\u3067\u3001\u3053\u3063\u3061\u3092\u4f7f\u3063\u3066\u3044\u307e\u3059\u3002\u307e\u3042\u30ab\u30e1\u30e9\u306e fps \u3068\u305a\u308c\u308b\u3068\u3044\u3046\u6b20\u70b9\u306f\u3042\u308a\u307e\u3059\u304c\u3001\u7d50\u69cb\u306a\u30b9\u30d4\u30fc\u30c9\u3067\u52d5\u3044\u3066\u304f\u308c\u308b\u3057\u30b3\u30fc\u30c9\u304c\u5358\u7d14\u306b\u306a\u308a\u307e\u3059\u3002\n<\/p>\n
    \n
  1.  PXCMSenseManager.CreateInstance() \u3067\u30ab\u30e1\u30e9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u6210<\/li>\n
  2.  sm.EnableStream() \u3067\u30ad\u30e3\u30d7\u30c1\u30e3\u3059\u308b\u30ab\u30e1\u30e9\u306e\u30b5\u30a4\u30ba\u3092\u6c7a\u3081\u308b\u3002RGB \u3068 Depth \u306f\u540c\u6642\u306b\u64ae\u5f71\u304c\u53ef\u80fd\u3002<\/li>\n
  3.  sm.QuerySample() \u3067\uff08\u305f\u3076\u3093\uff09\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3057\u3066<\/li>\n
  4.  sample.color \u3067 RBG \u306e\u30c7\u30fc\u30bf\u3092\u53d6\u308a\u51fa\u3059\u7528\u610f\u3092\u3057\u3066\u3001<\/li>\n
  5.  sample.color.AcquireAccess \u3067\u3001PXCMImage \u5f62\u5f0f\u306b\u30b3\u30d4\u30fc\u3057\u3066<\/li>\n
  6.  data.ToBitmap \u3067 Bitmap \u5f62\u5f0f\u306b\u76f4\u3059<\/li>\n
  7.  pictureBox1.Image = bmp \u3067\u3001\u30d4\u30af\u30c1\u30e3\u30dc\u30c3\u30af\u30b9\u306b\u8cbc\u308a\u4ed8\u3051<\/li>\n<\/ol>\n
    \n\u3068\u3044\u3046\u4ed5\u7d44\u307f\u3067\u3059\u306d\u3002\n<\/p>\n
    \n\u5b9f\u884c\u3059\u308b\u3068\u3001\u3053\u3093\u306a\u611f\u3058\u306b\u306a\u308a\u307e\u3059\u3002\n<\/p>\n
    <\/a><\/p>\n
    \nBitmap \u5f62\u5f0f\u306b\u76f4\u3057\u305f\u3089\u3001\u305d\u306e\u307e\u307e OpenCvSharp \u3092\u4f7f\u3063\u3066\u80cc\u666f\u5dee\u5206\u3068\u304b\u7279\u5fb4\u91cf\u62bd\u51fa\u3068\u304b\u304c\u3067\u304d\u308b\u306e\u3067\u7d50\u69cb\u4fbf\u5229\u3067\u3059\u3002\n<\/p>\n
    \u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9<\/h2>\n<\/p>\n
    \n\u4ee5\u4e0b\u304b\u3089\u3069\u3046\u305e\u3002
    \n    https:\/\/github.com\/moonmile\/RealsenseSample\/tree\/master\/SimpleCamera<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"
    RealSense \u4e8b\u59cb\u3081 | Moonmile Solutions Blog http:\/\/www.moonmile.net\/blog\/archives\/6751 \u4e8b\u59cb\u3081\u3068\u8a00\u3044\u3064\u3064\u3001\u30b3\u30f3\u30c6\u30b9\u30c8\u3082\u7d42\u308f\u3063\u3066\u305d\u306e\u307e\u307e\u30d5\u30a7\u30fc\u30c9 … \u7d9a\u304d\u3092\u8aad\u3080 →<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[3,23,70],"tags":[],"class_list":["post-6850","post","type-post","status-publish","format-standard","hentry","category-dev","category-csharp","category-realsense"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/6850","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/comments?post=6850"}],"version-history":[{"count":1,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/6850\/revisions"}],"predecessor-version":[{"id":6851,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/6850\/revisions\/6851"}],"wp:attachment":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/media?parent=6850"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/categories?post=6850"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/tags?post=6850"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}