boost::shared_ptr<rs::device>
createCaptureDevice (rs::context &ctx, int device_number)
{
rs::device* d;
d = ctx.get_device(device_number);
if (!d)
pcl::io::THROW_IO_EXCEPTION ("unable to create RealSense capture device");
return makeSharedPtr (d);
}
state *initializePointerLib()
{
if (ctx.get_device_count() > 0)
{
static rs::device & dev = *ctx.get_device(0);
int inputWidth = 320, inputHeight = 240, frameRate = 60;
dev.enable_stream(rs::stream::color, inputWidth, inputHeight, rs::format::rgb8, frameRate);
dev.enable_stream(rs::stream::depth, inputWidth, inputHeight, rs::format::z16, frameRate);
dev.start();
// some placeholders were added for intrinsics and extrinsics.
state initState = { 0, 0, 0, 0, false,{ rs::stream::color, rs::stream::depth, rs::stream::infrared }, dev.get_depth_scale(),
dev.get_extrinsics(rs::stream::depth, rs::stream::color), dev.get_stream_intrinsics(rs::stream::depth),
dev.get_stream_intrinsics(rs::stream::depth), 0, 0, &dev };
app_state = initState;
auto t0 = std::chrono::high_resolution_clock::now();
return &app_state;
}
return 0;
}
int SensorLibRealSense::initialize() {
std::cout << "SensorLibRealSense::initialize()" << std::endl;
if (ctx.get_device_count() == 0) return EXIT_FAILURE;
dev = ctx.get_device(0);
printf("\nUsing device 0, an %s\n", dev->get_name());
printf(" Serial number: %s\n", dev->get_serial());
printf(" Firmware version: %s\n", dev->get_firmware_version());
dev->enable_stream(rs::stream::depth, D_width, D_height, rs::format::z16, 60);
dev->enable_stream(rs::stream::color, D_width, D_height, rs::format::rgb8, 60);
printf("Enabled Streams:Depth and Color\n");
dev->start();
printf("Device Started\n");
this->initialized = true;
return true;
}