int SensorRealSense::initialize() {
std::cout << "SensorRealSense::initialize()" << std::endl;
sense_manager = PXCSenseManager::CreateInstance();
if (!sense_manager) {
wprintf_s(L"Unable to create the PXCSenseManager\n");
return false;
}
sense_manager->EnableStream(PXCCapture::STREAM_TYPE_COLOR, D_width/2, D_height/2, 60);
sense_manager->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, D_width, D_height, 60);
sense_manager->Init();
PXCSession *session = PXCSession::CreateInstance();
PXCSession::ImplDesc desc, desc1;
memset(&desc, 0, sizeof(desc));
desc.group = PXCSession::IMPL_GROUP_SENSOR;
desc.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
if (session->QueryImpl(&desc, 0, &desc1) < PXC_STATUS_NO_ERROR) return false;
PXCCapture * capture;
pxcStatus status = session->CreateImpl<PXCCapture>(&desc1, &capture);
if(status != PXC_STATUS_NO_ERROR){
QMessageBox::critical(NULL,"FATAL ERROR", "Intel RealSense device not plugged?\n(CreateImpl<PXCCapture> failed)");
exit(0);
}
PXCCapture::Device* device;
device = capture->CreateDevice(0);
projection = device->CreateProjection();
this->initialized = true;
return true;
}
void foo1()
{
PXCSession *session;
PXCSession_Create(&session);
// session is a PXCSession instance
PXCSession::ImplDesc desc1;
memset(&desc1,0,sizeof(desc1));
desc1.group=PXCSession::IMPL_GROUP_SENSOR;
desc1.subgroup=PXCSession::IMPL_SUBGROUP_AUDIO_CAPTURE;
vector<std::wstring> deviceNames;
for (int m=0;;m++) {
PXCSession::ImplDesc desc2;
if (session->QueryImpl(&desc1,m,&desc2)<PXC_STATUS_NO_ERROR) break;
PXCSmartPtr<PXCCapture> capture;
if (session->CreateImpl<PXCCapture>(&desc2,&capture)<PXC_STATUS_NO_ERROR) continue;
for (int d=0;;d++) {
PXCCapture::DeviceInfo dinfo;
if (capture->QueryDevice(d,&dinfo)<PXC_STATUS_NO_ERROR) break;
std::wstring dname(dinfo.name);
deviceNames.push_back(dname);
}
}
// display devices and require a selection
int deviceNum = deviceNames.size();
int selectedDeviceId = 0;
wprintf_s(L"Device list:\n");
for (int i = 0; i < deviceNum; i++)
{
wprintf_s(L"Device[%d]: %s\n",i,deviceNames[i].c_str());
}
if (deviceNum > 0)
{
while (true)
{
wprintf_s(L"Please select a device from [0]~[%d]\n", deviceNum-1);
cin >> selectedDeviceId;
if (selectedDeviceId > -1 && selectedDeviceId < deviceNum)
{
wprintf_s(L"You selected device: [%d]%s\n", selectedDeviceId, deviceNames[selectedDeviceId].c_str());
break;
}
}
}
else
{
std::vector<unsigned int> RealSenseSensor::connectedSensors() {
std::vector<unsigned int> sensors;
PXCSession* session = PXCSession::CreateInstance();
PXCSession::ImplDesc desc1 = { };
desc1.group = PXCSession::IMPL_GROUP_SENSOR;
desc1.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
for (int m = 0; ; m++) {
PXCSession::ImplDesc desc2;
if (session->QueryImpl(&desc1, m, &desc2) < PXC_STATUS_NO_ERROR) {
break;
}
std::cout << "Module (" << m << "): " << desc2.friendlyName << std::endl;
PXCCapture* capture = 0;
if (session->CreateImpl<PXCCapture>(&desc2, &capture) < PXC_STATUS_NO_ERROR) {
continue;
}
for (int d = 0; ; d++) {
PXCCapture::DeviceInfo dinfo;
if (capture->QueryDeviceInfo(d, &dinfo) < PXC_STATUS_NO_ERROR) {
break;
}
std::cout << "Device (" << d << "): " << dinfo.name << std::endl;
if (dinfo.model != PXCCapture::DEVICE_MODEL_F200 && dinfo.model != PXCCapture::DEVICE_MODEL_R200) {
continue;
}
std::string serialStr = toNarrow(dinfo.serial);
std::cout << "Found device type: " << std::hex << static_cast<int>(dinfo.model) << " with serial: " << serialStr << std::endl;
unsigned int serial = 0;
if (tryToNumber(serialStr, serial)) {
sensors.push_back(serial);
} else {
std::cout << "Serial number " << serialStr << " could not be parsed." << std::endl;
}
}
capture->Release();
}
session->Release();
return sensors;
}
