// Camera Processing Thread
// Initialize the RealSense SenseManager and initiate camera processing loop:
// Step 1: Acquire new camera frame
// Step 2: Load shared settings
// Step 3: Perform Core SDK and middleware processing and store results
// in background RealSenseDataFrame
// Step 4: Swap the background and mid RealSenseDataFrames
void RealSenseImpl::CameraThread()
{
uint64 currentFrame = 0;
fgFrame->number = 0;
midFrame->number = 0;
bgFrame->number = 0;
pxcStatus status = senseManager->Init();
RS_LOG_STATUS(status, "SenseManager Initialized")
assert(status == PXC_STATUS_NO_ERROR);
if (bFaceEnabled) {
faceData = pFace->CreateOutput();
}
while (bCameraThreadRunning == true) {
// Acquires new camera frame
status = senseManager->AcquireFrame(true);
assert(status == PXC_STATUS_NO_ERROR);
bgFrame->number = ++currentFrame;
// Performs Core SDK and middleware processing and store results
// in background RealSenseDataFrame
if (bCameraStreamingEnabled) {
PXCCapture::Sample* sample = senseManager->QuerySample();
CopyColorImageToBuffer(sample->color, bgFrame->colorImage, colorResolution.width, colorResolution.height);
CopyDepthImageToBuffer(sample->depth, bgFrame->depthImage, depthResolution.width, depthResolution.height);
}
if (bScan3DEnabled) {
if (bScanStarted) {
PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
config.startScan = true;
p3DScan->SetConfiguration(config);
bScanStarted = false;
}
if (bScanStopped) {
PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
config.startScan = false;
p3DScan->SetConfiguration(config);
bScanStopped = false;
}
PXCImage* scanImage = p3DScan->AcquirePreviewImage();
if (scanImage) {
UpdateScan3DImageSize(scanImage->QueryInfo());
CopyColorImageToBuffer(scanImage, bgFrame->scanImage, scan3DResolution.width, scan3DResolution.height);
scanImage->Release();
}
if (bReconstructEnabled) {
status = p3DScan->Reconstruct(scan3DFileFormat, scan3DFilename.GetCharArray().GetData());
bReconstructEnabled = false;
bScanCompleted = true;
}
}
if (bFaceEnabled) {
faceData->Update();
bgFrame->headCount = faceData->QueryNumberOfDetectedFaces();
if (bgFrame->headCount > 0) {
PXCFaceData::Face* face = faceData->QueryFaceByIndex(0);
PXCFaceData::PoseData* poseData = face->QueryPose();
if (poseData) {
PXCFaceData::HeadPosition headPosition = {};
poseData->QueryHeadPosition(&headPosition);
bgFrame->headPosition = FVector(headPosition.headCenter.x, headPosition.headCenter.y, headPosition.headCenter.z);
PXCFaceData::PoseEulerAngles headRotation = {};
poseData->QueryPoseAngles(&headRotation);
bgFrame->headRotation = FRotator(headRotation.pitch, headRotation.yaw, headRotation.roll);
}
}
}
senseManager->ReleaseFrame();
// Swaps background and mid RealSenseDataFrames
std::unique_lock<std::mutex> lockIntermediate(midFrameMutex);
bgFrame.swap(midFrame);
}
}
// Camera Processing Thread
// Initialize the RealSense SenseManager and initiate camera processing loop:
// Step 1: Acquire new camera frame
// Step 2: Load shared settings
// Step 3: Perform Core SDK and middleware processing and store results
// in background RealSenseDataFrame
// Step 4: Swap the background and mid RealSenseDataFrames
void RealSenseImpl::CameraThread()
{
uint64 currentFrame = 0;
fgFrame->number = 0;
midFrame->number = 0;
bgFrame->number = 0;
pxcStatus status = senseManager->Init();
RS_LOG_STATUS(status, "SenseManager Initialized")
assert(status == PXC_STATUS_NO_ERROR);
while (bCameraThreadRunning == true) {
// Acquires new camera frame
status = senseManager->AcquireFrame(true);
assert(status == PXC_STATUS_NO_ERROR);
bgFrame->number = ++currentFrame;
PXCCapture::Sample* sample = senseManager->QuerySample();
// Performs Core SDK and middleware processing and store results
// in background RealSenseDataFrame
if (bColorStreamingEnabled) {
if (sample->color) {
CopyColorImageToBuffer(sample->color, bgFrame->colorImage, colorResolution.width, colorResolution.height);
}
}
if (bDepthStreamingEnabled) {
if (sample->depth) {
CopyDepthImageToBuffer(sample->depth, bgFrame->depthImage, depthResolution.width, depthResolution.height);
}
}
if (bScan3DEnabled) {
if (bScanStarted) {
PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
config.startScan = true;
p3DScan->SetConfiguration(config);
bScanStarted = false;
}
if (bScanStopped) {
PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
config.startScan = false;
p3DScan->SetConfiguration(config);
bScanStopped = false;
}
PXCImage* scanImage = p3DScan->AcquirePreviewImage();
if (scanImage) {
UpdateScan3DImageSize(scanImage->QueryInfo());
CopyColorImageToBuffer(scanImage, bgFrame->scanImage, scan3DResolution.width, scan3DResolution.height);
scanImage->Release();
}
if (bReconstructEnabled) {
status = p3DScan->Reconstruct(scan3DFileFormat, scan3DFilename.GetCharArray().GetData());
bReconstructEnabled = false;
bScanCompleted = true;
}
}
senseManager->ReleaseFrame();
// Swaps background and mid RealSenseDataFrames
std::unique_lock<std::mutex> lockIntermediate(midFrameMutex);
bgFrame.swap(midFrame);
}
}