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 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;
}
