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 FEmotionDetector::InitEmotionCapture()
{
pPXCSession = PXCSession::CreateInstance();
pSenseManager = pPXCSession->CreateSenseManager();
CaptureMgr = pSenseManager->QueryCaptureManager();
pxcCHAR* Device = NULL;
PXCSession::ImplDesc desc;
memset(&desc, 0, sizeof(desc));
desc.group = PXCSession::IMPL_GROUP_SENSOR;
desc.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
for (int i = 0;; i++)
{
PXCSession::ImplDesc desc1;
if (pPXCSession->QueryImpl(&desc, i, &desc1) == PXC_STATUS_NO_ERROR)
{
PXCCapture *capture;
if (pPXCSession->CreateImpl<PXCCapture>(&desc1, &capture) == PXC_STATUS_NO_ERROR)
{
for (int j = 0;; j++)
{
PXCCapture::DeviceInfo dinfo;
if (capture->QueryDeviceInfo(j, &dinfo) == PXC_STATUS_NO_ERROR)
{
Device = dinfo.name;
break;
}
}
}
else
{
break;
}
}
else
{
break;
}
}
if (Device != nullptr)
{
CaptureMgr->FilterByDeviceInfo(Device, 0, 0);
pSenseManager->EnableEmotion();
pSenseManager->Init(&Handler);
}
}
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;
}
pxcCHAR* GesturePipeline::retrieveDeviceName()
{
PXCSession::ImplDesc desc;
memset(&desc, 0, sizeof(desc));
desc.group = PXCSession::IMPL_GROUP_SENSOR;
desc.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
for (int i = 0;; i++) {
PXCSession::ImplDesc desc1;
if (_pxcSenseManager->QuerySession()->QueryImpl(&desc, i, &desc1) < PXC_STATUS_NO_ERROR) break;
PXCCapture * capture = nullptr;
if (_pxcSenseManager->QuerySession()->CreateImpl<PXCCapture>(&desc1, &capture) < PXC_STATUS_NO_ERROR) continue;
for (int j = 0;; j++) {//may be should use QueryDeviceNum() if there are more than one device connected
PXCCapture::DeviceInfo dinfo;
if (capture->QueryDeviceInfo(j, &dinfo) < PXC_STATUS_NO_ERROR) break;
wcscpy_s(_deviceName[i], dinfo.name);
}
capture->Release();
}
return _deviceName[0];
}
