Exemple #1
0
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;
}
Exemple #2
0
void Camera::getFrame(vctDynamicVector<vct3> & points) {

	sm = PXCSenseManager::CreateInstance();
	PXCCaptureManager *cm = sm->QueryCaptureManager();

	sm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, 640, 480, 30);

	pxcStatus sts = sm->Init();
	if (sts < PXC_STATUS_NO_ERROR) {
		std::cout << "DIDN\'T WORK" << std::endl;
	}

	PXCCapture::Device *device = sm->QueryCaptureManager()->QueryDevice();
	device->ResetProperties(PXCCapture::STREAM_TYPE_ANY);

	std::cout << device->SetDepthUnit(1000) << std::endl;

	PXCProjection *projection = device->CreateProjection();


	pxcStatus sts2 = sm->AcquireFrame(false);
	if (sts2 >= PXC_STATUS_NO_ERROR) {
		PXCCapture::Sample *sample = sm->QuerySample();
		PXCImage* image = (*sample)[streamType];
		PXCImage::ImageInfo info = {};
		PXCImage::ImageData data;
		image->AcquireAccess(PXCImage::ACCESS_READ, &data);
		PXCImage::ImageInfo dinfo = sample->depth->QueryInfo();
		int dpitch = data.pitches[0] / sizeof(short);
		short *dpixels = (short*)data.planes[0];
		int i = 0;
		points.SetSize(dinfo.width * dinfo.height);

		PXCPoint3DF32 * vertices = new PXCPoint3DF32[dinfo.width * dinfo.height];
		projection->QueryVertices(image, vertices);

		int c = 0;
		for (int i = 0; i < points.size(); i++) {
			PXCPoint3DF32 point = vertices[i];
			if (point.z != 0) {
				vct3 newPoint(point.x, point.y, point.z);
				points[c++] = newPoint;
			}
		}
		points.resize(c);
		image->ReleaseAccess(&data);
	}
	projection->Release();
	std::cout << sts2 << std::endl;
}
RealsenseEngine::RealsenseEngine(const char *calibFilename)//, Vector2i requested_imageSize_rgb, Vector2i requested_imageSize_d)
	: ImageSourceEngine(calibFilename)
{

	data = new PrivateData();

	
#ifndef SDK20	
	data->pp = PXCSenseManager::CreateInstance();

	/* Sets file recording or playback */
	data->cm = data->pp->QueryCaptureManager();


#ifndef SDK2016R3
	data->pp->EnableBlob(0);	
	PXCBlobModule *blobModule = data->pp->QueryBlob();
	data-> blobData = blobModule->CreateOutput();
	data->blobConfiguration = blobModule->CreateActiveConfiguration();

	data->pp->EnableStream(PXCCapture::StreamType::STREAM_TYPE_COLOR, 640, 480, 30);
	// Enable blob color mapping
	data->blobConfiguration->EnableColorMapping(true);
	data->blobConfiguration->EnableContourExtraction(true);
	data->blobConfiguration->EnableSegmentationImage(true);

	data->blobConfiguration->ApplyChanges();
#endif


	data->pp->EnableStream(PXCCapture::StreamType::STREAM_TYPE_DEPTH, 640, 480, 30);

	/* Initializes the pipeline */
	data->sts = data->pp->Init();
	if (data->sts<PXC_STATUS_NO_ERROR) {
		wprintf_s(L"Failed to locate any video stream(s)\n");
		data->pp->Release();

		return ;
		//return sts;
	}

#ifndef SDK2016R3
	data->blobConfiguration->Update();
#endif

	/* Reset all properties */
	PXCCapture::Device *device = data->pp->QueryCaptureManager()->QueryDevice();
	device->ResetProperties(PXCCapture::STREAM_TYPE_ANY);

	PXCProjection *projection = device->CreateProjection();
	/* Get a calibration instance */


	PXCCalibration *calib = projection-> QueryInstance<PXCCalibration>();


	PXCCalibration::StreamCalibration clibration;
	PXCCalibration::StreamTransform transformation;
	pxcStatus ret= calib->QueryStreamProjectionParameters(PXCCapture::STREAM_TYPE_COLOR, &clibration, &transformation);

	PXCSizeI32 s = data->cm->QueryImageSize(PXCCapture::STREAM_TYPE_COLOR);

	ImageSourceEngine::calib.intrinsics_rgb.SetFrom(clibration.focalLength.x, clibration.focalLength.y, clibration.principalPoint.x, clibration.principalPoint.y,s.width,s.height);
	Matrix4f trans;
	trans.setIdentity();
	trans.m00 = transformation.rotation[0][0];
	trans.m01 = transformation.rotation[0][1];
	trans.m02 = transformation.rotation[0][2];	
	trans.m10 = transformation.rotation[1][0];
	trans.m11 = transformation.rotation[1][1];
	trans.m12 = transformation.rotation[1][2];
	trans.m20 = transformation.rotation[2][0];
	trans.m21 = transformation.rotation[2][1];
	trans.m22 = transformation.rotation[2][2];
	trans.m03 = transformation.translation[0];
	trans.m13 = transformation.translation[1];
	trans.m23 = transformation.translation[2];



	ImageSourceEngine::calib.trafo_rgb_to_depth.SetFrom(trans);

	s = data->cm->QueryImageSize(PXCCapture::STREAM_TYPE_DEPTH);

	 ret = calib->QueryStreamProjectionParameters(PXCCapture::STREAM_TYPE_DEPTH, &clibration, &transformation);
	 ImageSourceEngine::calib.intrinsics_d.SetFrom(clibration.focalLength.x, clibration.focalLength.y, clibration.principalPoint.x, clibration.principalPoint.y, s.width, s.height);

	 /* Release the interface */
		projection->Release();



	/* Set mirror mode */
	//if (cmdl.m_bMirror) {
	//	device->SetMirrorMode(PXCCapture::Device::MirrorMode::MIRROR_MODE_HORIZONTAL);
	//}
	//else {
	//	device->SetMirrorMode(PXCCapture::Device::MirrorMode::MIRROR_MODE_DISABLED);
	//}
#else

	rs2::config cfg;
	cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);
	cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
	data->profile =  data->pipe.start(cfg);
	
	//rs2::video_stream_profile color_stream= data->profile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
	//rs2::video_stream_profile depth_stream = data->profile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();


	//rs2_extrinsics extri=   depth_stream.get_extrinsics_to(color_stream);

	//rs2_intrinsics intri = depth_stream.get_intrinsics();

	//  depth
	//	ppx	321.966583	float
	//	ppy	246.107162	float
	//	fx	475.193237	float
	//	fy	475.193146	float
	//
	//  color
	//	ppx	304.000061	float
	//	ppy	223.181778	float
	//	fx	615.904358	float
	//	fy	615.904419	float

	//-		rotation	0x000000846513f198 {0.999991775, -0.00406141346, -0.000183502605, 0.00406062370, 0.999983311, -0.00411631726, ...}	float[9]
	 //   [0]	0.999991775	float
		//[1] - 0.00406141346	float
		//[2] - 0.000183502605	float
		//[3]	0.00406062370	float
		//[4]	0.999983311	float
		//[5] - 0.00411631726	float
		//[6]	0.000200217590	float
		//[7]	0.00411553821	float
		//[8]	0.999991536	float
		//- translation	0x000000846513f1bc {0.0247000027, 8.39376517e-05, 0.00402066438}	float[3]
		//[0]	0.0247000027	float
		//[1]	8.39376517e-05	float
		//[2]	0.00402066438	float





	//data->depth_scale = get_depth_scale(data->profile.get_device());

	//Pipeline could choose a device that does not have a color stream
	//If there is no color stream, choose to align depth to another stream



	data->align_to = find_stream_to_align(data->profile.get_streams());

	// Create a rs2::align object.
	// rs2::align allows us to perform alignment of depth frames to others frames
	//The "align_to" is the stream type to which we plan to align depth frames.

//	data->align= &rs2::align(data->align_to);



	// Define a variable for controlling the distance to clip

	





#endif


}