//Color Frame getters
int getRealsenseColorWidth(int devID) { return rs_get_stream_width( device[devID].dev, device[devID].colorStreamToUse , &e ); }
//Depth Frame getters
int getRealsenseDepthWidth(int devID) { return rs_get_stream_width( device[devID].dev, device[devID].depthStreamToUse , &e ); }
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;
}