std::shared_ptr<stream_profile_interface> software_sensor::add_video_stream(rs2_video_stream video_stream)
{
auto exist = (std::find_if(_profiles.begin(), _profiles.end(), [&](std::shared_ptr<stream_profile_interface> profile)
{
if (profile->get_unique_id() == video_stream.uid)
{
return true;
}
return false;
} ) != _profiles.end());
if (exist)
{
LOG_WARNING("Stream unique ID already exist!");
throw rs2::error("Stream unique ID already exist!");
}
auto profile = std::make_shared<video_stream_profile>(
platform::stream_profile{ (uint32_t)video_stream.width, (uint32_t)video_stream.height, (uint32_t)video_stream.fps, 0 });
profile->set_dims(video_stream.width, video_stream.height);
profile->set_format(video_stream.fmt);
profile->set_framerate(video_stream.fps);
profile->set_stream_index(video_stream.index);
profile->set_stream_type(video_stream.type);
profile->set_unique_id(video_stream.uid);
profile->set_intrinsics([=]() {return video_stream.intrinsics; });
_profiles.push_back(profile);
return profile;
}
std::shared_ptr<stream_profile_interface> software_sensor::add_motion_stream(rs2_motion_stream motion_stream)
{
auto exist = (std::find_if(_profiles.begin(), _profiles.end(), [&](std::shared_ptr<stream_profile_interface> profile)
{
return profile->get_unique_id() == motion_stream.uid;
}) != _profiles.end());
if (exist)
{
LOG_WARNING("Motion stream unique ID already exist!");
throw rs2::error("Stream unique ID already exist!");
}
auto profile = std::make_shared<motion_stream_profile>(
platform::stream_profile{ 0, 0, (uint32_t)motion_stream.fps, 0 });
profile->set_format(motion_stream.fmt);
profile->set_framerate(motion_stream.fps);
profile->set_stream_index(motion_stream.index);
profile->set_stream_type(motion_stream.type);
profile->set_unique_id(motion_stream.uid);
profile->set_intrinsics([=]() {return motion_stream.intrinsics; });
_profiles.push_back(profile);
return profile;
}
void disparity_transform::update_transformation_profile(const rs2::frame& f)
{
if(f.get_profile().get() != _source_stream_profile.get())
{
_source_stream_profile = f.get_profile();
// Check if the new frame originated from stereo-based depth sensor
// and retrieve the stereo baseline parameter that will be used in transformations
auto snr = ((frame_interface*)f.get())->get_sensor().get();
librealsense::depth_stereo_sensor* dss;
// Playback sensor
if (auto a = As<librealsense::extendable_interface>(snr))
{
librealsense::depth_stereo_sensor* ptr;
if (_stereoscopic_depth = a->extend_to(TypeToExtension<librealsense::depth_stereo_sensor>::value, (void**)&ptr))
{
dss = ptr;
_depth_units = dss->get_depth_scale();
_stereo_baseline_meter = dss->get_stereo_baseline_mm()*0.001f;
}
}
else // Live sensor
{
_stereoscopic_depth = Is<librealsense::depth_stereo_sensor>(snr);
if (_stereoscopic_depth)
{
dss = As<librealsense::depth_stereo_sensor>(snr);
_depth_units = dss->get_depth_scale();
_stereo_baseline_meter = dss->get_stereo_baseline_mm()* 0.001f;
}
}
if (_stereoscopic_depth)
{
auto vp = _source_stream_profile.as<rs2::video_stream_profile>();
_focal_lenght_mm = vp.get_intrinsics().fx;
const uint8_t fractional_bits = 5;
const uint8_t fractions = 1 << fractional_bits;
_d2d_convert_factor = (_stereo_baseline_meter * _focal_lenght_mm * fractions) / _depth_units;
_width = vp.width();
_height = vp.height();
_update_target = true;
}
}
// Adjust the target profile
if (_update_target)
{
auto tgt_format = _transform_to_disparity ? RS2_FORMAT_DISPARITY32 : RS2_FORMAT_Z16;
_target_stream_profile = _source_stream_profile.clone(RS2_STREAM_DEPTH, 0, tgt_format);
auto src_vspi = dynamic_cast<video_stream_profile_interface*>(_source_stream_profile.get()->profile);
auto tgt_vspi = dynamic_cast<video_stream_profile_interface*>(_target_stream_profile.get()->profile);
rs2_intrinsics src_intrin = src_vspi->get_intrinsics();
tgt_vspi->set_intrinsics([src_intrin]() { return src_intrin; });
tgt_vspi->set_dims(src_intrin.width, src_intrin.height);
_update_target = false;
}
}
