CameraWrapper::CameraWrapper(int frames)
{
// init camera
e = 0;
ctx = rs_create_context(RS_API_VERSION, &e);
check_error();
printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e));
check_error();
if(rs_get_device_count(ctx, &e) == 0)
{
std::cout << "camera init broken" << std::cout;
}
else
{
dev = rs_get_device(ctx, 0, &e);
check_error();
printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e));
check_error();
printf(" Serial number: %s\n", rs_get_device_serial(dev, &e));
check_error();
printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e));
check_error();
// set controls
// NOTE find good laser power, max 15
//rs_enable_stream_preset(dev, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &e);
rs_enable_stream(dev, RS_STREAM_DEPTH, 640, 480, RS_FORMAT_Z16, 30, &e);
check_error();
rs_set_device_option(dev, RS_OPTION_F200_ACCURACY, 1, &e);
check_error();
rs_set_device_option(dev, RS_OPTION_F200_FILTER_OPTION, 0, &e);
check_error();
rs_enable_stream(dev, RS_STREAM_COLOR, 1920, 1080, RS_FORMAT_RGB8, 30, &e);
// rs_enable_stream_preset(dev, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &e);
check_error();
rs_enable_stream(dev, RS_STREAM_INFRARED, 640,480, RS_FORMAT_Y8, 30, &e);
//rs_enable_stream_preset(dev, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &e);
check_error();
rs_start_device(dev, &e);
check_error();
// get intrinsics and convert them to opencv mat
// IR and DEPTH are the same for f200, so this is basically overhead
rs_get_stream_intrinsics(dev, RS_STREAM_DEPTH, &depth_intrin, &e);
check_error();
rs_get_device_extrinsics(dev, RS_STREAM_DEPTH, RS_STREAM_COLOR, &depth_to_color, &e);
check_error();
rs_get_stream_intrinsics(dev, RS_STREAM_COLOR, &color_intrin, &e);
check_error();
rs_get_stream_intrinsics(dev, RS_STREAM_INFRARED, &ir_intrin, &e);
check_error();
depthScale = rs_get_device_depth_scale(dev, &e);
check_error();
}
// set number of frames to record
setStackSize(frames);
}
int createRealsenseDevice(int devID,char * devName,unsigned int width,unsigned int height,unsigned int framerate)
{
/* This call will access only a single device, based on the devID identifier..*/
device[devID].dev = rs_get_device(ctx, devID , &e);
if (check_error())
{
fprintf(stderr,"Cannot get a device context for device %u \n",devID);
return 0;
}
printf("\nUsing device 0, an %s\n", rs_get_device_name(device[devID].dev, &e)); check_error();
printf(" Serial number: %s\n", rs_get_device_serial(device[devID].dev, &e)); check_error();
printf(" Firmware version: %s\n", rs_get_device_firmware_version(device[devID].dev, &e)); check_error();
/* Configure all streams to run at VGA resolution at 60 frames per second */
rs_enable_stream(device[devID].dev, RS_STREAM_DEPTH, width, height, RS_FORMAT_Z16, framerate, &e); check_error();
rs_enable_stream(device[devID].dev, RS_STREAM_COLOR, width, height, RS_FORMAT_RGB8, framerate, &e); check_error();
rs_start_device(device[devID].dev, &e); check_error();
device[devID].colorStreamToUse=RS_STREAM_COLOR;
device[devID].depthStreamToUse=RS_STREAM_DEPTH_ALIGNED_TO_COLOR;
device[devID].frameCount=0;
device[devID].hasInit=1;
return 1;
}
int main()
{
/* Turn on logging. We can separately enable logging to console or to file, and use different severity filters for each. */
rs_log_to_console(RS_LOG_SEVERITY_WARN, &e);
check_error();
/*rs_log_to_file(RS_LOG_SEVERITY_DEBUG, "librealsense.log", &e);
check_error();*/
/* Create a context object. This object owns the handles to all connected realsense devices. */
rs_context * ctx = rs_create_context(RS_API_VERSION, &e);
check_error();
printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e));
check_error();
if(rs_get_device_count(ctx, &e) == 0) return EXIT_FAILURE;
/* This tutorial will access only a single device, but it is trivial to extend to multiple devices */
rs_device * dev = rs_get_device(ctx, 0, &e);
check_error();
printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e));
check_error();
printf(" Serial number: %s\n", rs_get_device_serial(dev, &e));
check_error();
printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e));
check_error();
/* Configure depth and color to run with the device's preferred settings */
rs_enable_stream_preset(dev, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &e);
check_error();
rs_enable_stream_preset(dev, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &e);
check_error();
rs_start_device(dev, RS_SOURCE_VIDEO, &e);
check_error();
/* Open a GLFW window to display our output */
glfwInit();
GLFWwindow * win = glfwCreateWindow(1280, 960, "librealsense tutorial #3", NULL, NULL);
glfwSetCursorPosCallback(win, on_cursor_pos);
glfwSetMouseButtonCallback(win, on_mouse_button);
glfwMakeContextCurrent(win);
while(!glfwWindowShouldClose(win))
{
/* Wait for new frame data */
glfwPollEvents();
rs_wait_for_frames(dev, &e);
check_error();
/* Retrieve our images */
const uint16_t * depth_image = (const uint16_t *)rs_get_frame_data(dev, RS_STREAM_DEPTH, &e);
check_error();
const uint8_t * color_image = (const uint8_t *)rs_get_frame_data(dev, RS_STREAM_COLOR, &e);
check_error();
/* Retrieve camera parameters for mapping between depth and color */
rs_intrinsics depth_intrin, color_intrin;
rs_extrinsics depth_to_color;
rs_get_stream_intrinsics(dev, RS_STREAM_DEPTH, &depth_intrin, &e);
check_error();
rs_get_device_extrinsics(dev, RS_STREAM_DEPTH, RS_STREAM_COLOR, &depth_to_color, &e);
check_error();
rs_get_stream_intrinsics(dev, RS_STREAM_COLOR, &color_intrin, &e);
check_error();
float scale = rs_get_device_depth_scale(dev, &e);
check_error();
/* Set up a perspective transform in a space that we can rotate by clicking and dragging the mouse */
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60, (float)1280/960, 0.01f, 20.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0,0,0, 0,0,1, 0,-1,0);
glTranslatef(0,0,+0.5f);
glRotated(pitch, 1, 0, 0);
glRotated(yaw, 0, 1, 0);
glTranslatef(0,0,-0.5f);
/* We will render our depth data as a set of points in 3D space */
glPointSize(2);
glEnable(GL_DEPTH_TEST);
glBegin(GL_POINTS);
int dx, dy;
for(dy=0; dy<depth_intrin.height; ++dy)
{
for(dx=0; dx<depth_intrin.width; ++dx)
{
/* Retrieve the 16-bit depth value and map it into a depth in meters */
uint16_t depth_value = depth_image[dy * depth_intrin.width + dx];
float depth_in_meters = depth_value * scale;
/* Skip over pixels with a depth value of zero, which is used to indicate no data */
if(depth_value == 0) continue;
/* Map from pixel coordinates in the depth image to pixel coordinates in the color image */
float depth_pixel[2] = {(float)dx, (float)dy};
float depth_point[3], color_point[3], color_pixel[2];
rs_deproject_pixel_to_point(depth_point, &depth_intrin, depth_pixel, depth_in_meters);
rs_transform_point_to_point(color_point, &depth_to_color, depth_point);
rs_project_point_to_pixel(color_pixel, &color_intrin, color_point);
/* Use the color from the nearest color pixel, or pure white if this point falls outside the color image */
const int cx = (int)roundf(color_pixel[0]), cy = (int)roundf(color_pixel[1]);
if(cx < 0 || cy < 0 || cx >= color_intrin.width || cy >= color_intrin.height)
{
glColor3ub(255, 255, 255);
}
else
{
glColor3ubv(color_image + (cy * color_intrin.width + cx) * 3);
}
/* Emit a vertex at the 3D location of this depth pixel */
glVertex3f(depth_point[0], depth_point[1], depth_point[2]);
}
}
glEnd();
glfwSwapBuffers(win);
}
return EXIT_SUCCESS;
}
int main()
{
/* Create a context object. This object owns the handles to all connected realsense devices. */
rs_context * ctx = rs_create_context(RS_API_VERSION, &e);
check_error();
printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e));
check_error();
if(rs_get_device_count(ctx, &e) == 0) return EXIT_FAILURE;
/* This tutorial will access only a single device, but it is trivial to extend to multiple devices */
rs_device * dev = rs_get_device(ctx, 0, &e);
check_error();
printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e));
check_error();
printf(" Serial number: %s\n", rs_get_device_serial(dev, &e));
check_error();
printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e));
check_error();
/* Configure depth to run at VGA resolution at 30 frames per second */
rs_enable_stream(dev, RS_STREAM_DEPTH, 640, 480, RS_FORMAT_Z16, 30, &e);
check_error();
rs_start_device(dev, &e);
check_error();
/* Determine depth value corresponding to one meter */
const uint16_t one_meter = (uint16_t)(1.0f / rs_get_device_depth_scale(dev, &e));
check_error();
while(1)
{
/* This call waits until a new coherent set of frames is available on a device
Calls to get_frame_data(...) and get_frame_timestamp(...) on a device will return stable values until wait_for_frames(...) is called */
rs_wait_for_frames(dev, &e);
/* Retrieve depth data, which was previously configured as a 640 x 480 image of 16-bit depth values */
const uint16_t * depth_frame = (const uint16_t *)(rs_get_frame_data(dev, RS_STREAM_DEPTH, &e));
/* Print a simple text-based representation of the image, by breaking it into 10x20 pixel regions and and approximating the coverage of pixels within one meter */
char buffer[(640/10+1)*(480/20)+1];
char * out = buffer;
int coverage[64] = {0}, x,y,i;
for(y=0; y<480; ++y)
{
for(x=0; x<640; ++x)
{
int depth = *depth_frame++;
if(depth > 0 && depth < one_meter) ++coverage[x/10];
}
if(y%20 == 19)
{
for(i=0; i<64; ++i)
{
*out++ = " .:nhBXWW"[coverage[i]/25];
coverage[i] = 0;
}
*out++ = '\n';
}
}
*out++ = 0;
printf("\n%s", buffer);
}
return EXIT_SUCCESS;
}
int RealSenseDevice::open()
{
rs_error * e = 0;
ctx = rs_create_context(RS_API_VERSION, &e);
int devices = rs_get_device_count(ctx, &e);
if (devices == 0) {
std::cerr << "no realsense capture device" << std::endl;
return 1;
}
dev = rs_get_device(ctx, 0, &e);
std::cout << "Realsense Device: " << rs_get_device_name(dev, &e) << std::endl;
std::cout << "Realsense Serial: " << rs_get_device_serial(dev, &e) << std::endl;
std::cout << "Realsense FW ver: " << rs_get_device_firmware_version(dev, &e) << std::endl;
int framerate = 30;
rs_enable_stream(dev, depthStream, 0, 0, RS_FORMAT_Z16, framerate, &e);
int depthWidth = rs_get_stream_width(dev,depthStream,NULL);
int depthHeight = rs_get_stream_height(dev,depthStream,NULL);
rs_enable_stream(dev, colorStream, depthWidth, depthHeight, RS_FORMAT_RGB8, framerate, &e);
rs_get_stream_intrinsics(dev,colorStream,&intrinsics,0);
std::cout << "width:" << intrinsics.width << " height:" << intrinsics.height
<< " focalx:" << intrinsics.fx << " focaly:" << intrinsics.fy
<< " ppx:" << intrinsics.ppx << " ppy:" << intrinsics.ppy
<< " coeff0:" << intrinsics.coeffs[0]
<< " coeff1:" << intrinsics.coeffs[1]
<< " coeff2:" << intrinsics.coeffs[2]
<< " coeff3:" << intrinsics.coeffs[3]
<< std::endl;
int colorWidth = rs_get_stream_width(dev,colorStream,NULL);
int colorHeight = rs_get_stream_height(dev,colorStream,NULL);
depthScale = rs_get_device_depth_scale(dev,0);
std::cout << "depth image " << depthWidth << "x" << depthHeight << " scale:" << depthScale << std::endl;
std::cout << "color image " << colorWidth << "x" << colorHeight << std::endl;
rs_start_device(dev, &e);
int res = pthread_create(&_thread, NULL, RealSenseDevice_freenect_threadfunc, this);
if(res){
std::cerr << "error starting realsense thread " << res << std::endl;
return 1;
}
depth_index = 0;
return 0;
}
// This set of tests is valid only for the R200 camera //
/////////////////////////////////////////////////////////
#if !defined(MAKEFILE) || ( defined(LIVE_TEST) && ( defined(LR200_TEST) || defined(ZR300_TEST) ) )
#include "unit-tests-live-ds-common.h"
#include <climits>
#include <sstream>
TEST_CASE("Streams COLOR HD 1920X1080 Raw16 30FPS", "[live] [lr200] [one-camera]")
{
// Require only one device to be plugged in
safe_context ctx;
const int device_count = rs_get_device_count(ctx, require_no_error());
REQUIRE(device_count == 1);
rs_device * dev = rs_get_device(ctx, 0, require_no_error());
REQUIRE(dev != nullptr);
REQUIRE(std::any_of(ds_names.begin(), ds_names.end(), [&](std::string const& s) {return s == rs_get_device_name(dev, require_no_error()); }));
test_ds_device_streaming({ {RS_STREAM_COLOR, 1920, 1080, RS_FORMAT_RAW16, 30} });
}
//TEST_CASE("LR200 Testing RGB Exposure values", "[live] [DS-device] [one-camera]")
//{
// // the range is [-8:1:-4]
// test_ds_device_option(RS_OPTION_COLOR_EXPOSURE, { -8, -7, -6, -5, -4 }, {}, BEFORE_START_DEVICE | AFTER_START_DEVICE);
//}
#endif /* !defined(MAKEFILE) || ( defined(LIVE_TEST) && ( defined(LR200_TEST) || defined(ZR300_TEST) ) ) */
int main()
{
/* Create a context object. This object owns the handles to all connected realsense devices. */
rs_context * ctx = rs_create_context(RS_API_VERSION, &e);
check_error();
printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e));
check_error();
if(rs_get_device_count(ctx, &e) == 0) return EXIT_FAILURE;
/* This tutorial will access only a single device, but it is trivial to extend to multiple devices */
rs_device * dev = rs_get_device(ctx, 0, &e);
check_error();
printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e));
check_error();
printf(" Serial number: %s\n", rs_get_device_serial(dev, &e));
check_error();
printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e));
check_error();
/* Configure all streams to run at VGA resolution at 60 frames per second */
rs_enable_stream(dev, RS_STREAM_DEPTH, 640, 480, RS_FORMAT_Z16, 60, &e);
check_error();
rs_enable_stream(dev, RS_STREAM_COLOR, 640, 480, RS_FORMAT_RGB8, 60, &e);
check_error();
rs_enable_stream(dev, RS_STREAM_INFRARED, 640, 480, RS_FORMAT_Y8, 60, &e);
check_error();
rs_enable_stream(dev, RS_STREAM_INFRARED2, 640, 480, RS_FORMAT_Y8, 60, NULL); /* Pass NULL to ignore errors */
rs_start_device(dev, &e);
check_error();
/* Open a GLFW window to display our output */
glfwInit();
GLFWwindow * win = glfwCreateWindow(1280, 960, "librealsense tutorial #2", NULL, NULL);
glfwMakeContextCurrent(win);
while(!glfwWindowShouldClose(win))
{
/* Wait for new frame data */
glfwPollEvents();
rs_wait_for_frames(dev, &e);
check_error();
glClear(GL_COLOR_BUFFER_BIT);
glPixelZoom(1, -1);
/* Display depth data by linearly mapping depth between 0 and 2 meters to the red channel */
glRasterPos2f(-1, 1);
glPixelTransferf(GL_RED_SCALE, 0xFFFF * rs_get_device_depth_scale(dev, &e) / 2.0f);
check_error();
glDrawPixels(640, 480, GL_RED, GL_UNSIGNED_SHORT, rs_get_frame_data(dev, RS_STREAM_DEPTH, &e));
check_error();
glPixelTransferf(GL_RED_SCALE, 1.0f);
/* Display color image as RGB triples */
glRasterPos2f(0, 1);
glDrawPixels(640, 480, GL_RGB, GL_UNSIGNED_BYTE, rs_get_frame_data(dev, RS_STREAM_COLOR, &e));
check_error();
/* Display infrared image by mapping IR intensity to visible luminance */
glRasterPos2f(-1, 0);
glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, rs_get_frame_data(dev, RS_STREAM_INFRARED, &e));
check_error();
/* Display second infrared image by mapping IR intensity to visible luminance */
if(rs_is_stream_enabled(dev, RS_STREAM_INFRARED2, NULL))
{
glRasterPos2f(0, 0);
glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, rs_get_frame_data(dev, RS_STREAM_INFRARED2, &e));
}
glfwSwapBuffers(win);
}
return EXIT_SUCCESS;
}