DWORD WINAPI RealSenseAdaptor::acquireThread(void* param) { RealSenseAdaptor* adaptor = reinterpret_cast<RealSenseAdaptor*>(param); // Set the thread priority. SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_TIME_CRITICAL); MSG msg; while (GetMessage(&msg, NULL, 0, 0) > 0) { switch (msg.message) { case WM_USER: { // Check if a frame needs to be acquired std::auto_ptr<imaqkit::IAutoCriticalSection> driverSection(imaqkit::createAutoCriticalSection(adaptor->_driverGuard, false)); // Get frame type & dimensions. imaqkit::frametypes::FRAMETYPE frameType = adaptor->getFrameType(); int imWidth = adaptor->getMaxWidth(); int imHeight = adaptor->getMaxHeight(); int imBand = adaptor->getNumberOfBands(); int camera_id = adaptor->getDeviceID(); PXCSession *session = PXCSession_Create(); if (!session) return 0; PXCSenseManager *psm = session->CreateSenseManager(); if (imBand == 3) { if (camera_id == 1) { PXCCapture::DeviceInfo dinfo = {}; pxcCHAR *myname = L"Intel(R) RealSense(TM) 3D Camera"; psm->QueryCaptureManager()->FilterByDeviceInfo(myname, dinfo.did, dinfo.didx); psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, imWidth, imHeight); } else { PXCCapture::DeviceInfo dinfo = {}; pxcCHAR *myname = L"Intel(R) RealSense(TM) 3D Camera R200"; psm->QueryCaptureManager()->FilterByDeviceInfo(myname, dinfo.did, dinfo.didx); psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, imWidth, imHeight, 30); } } else { if (camera_id == 2) { PXCCapture::DeviceInfo dinfo = {}; pxcCHAR *myname = L"Intel(R) RealSense(TM) 3D Camera"; psm->QueryCaptureManager()->FilterByDeviceInfo(myname, dinfo.did, dinfo.didx); psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, imWidth, imHeight); } else { PXCCapture::DeviceInfo dinfo = {}; pxcCHAR *myname = L"Intel(R) RealSense(TM) 3D Camera R200"; psm->QueryCaptureManager()->FilterByDeviceInfo(myname, dinfo.did, dinfo.didx); psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, imWidth, imHeight, 30); psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, 640, 480, 30); } } UtilRender *renderColor = new UtilRender(L"COLOR STREAM"); UtilRender *renderDepth = new UtilRender(L"DEPTH STREAM"); psm->Init(); PXCImage *colorIm, *depthIm; while (adaptor->isAcquisitionNotComplete() && adaptor->isAcquisitionActive()) { driverSection->enter(); if (psm->AcquireFrame(true) < PXC_STATUS_NO_ERROR) break; // retrieve all available image samples PXCCapture::Sample *sample = psm->QuerySample(); if (!sample) break; unsigned char *imBuffer1 = new unsigned char[imWidth * imHeight * imBand]; //unsigned short *imBuffer2 = new unsigned short[imWidth * imHeight]; unsigned char *imBuffer2 = new unsigned char[imWidth * imHeight * 3]; if (imBand == 3) { colorIm = sample->color; if (!colorIm) break; PXCImage::ImageData cdata; pxcStatus sts = colorIm->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB32, &cdata); for (int ix = 0; ix < imHeight; ix++) { for (int jx = 0; jx < imWidth; jx++) { for (int c = 0; c < imBand; c++) { imBuffer1[(ix * imWidth + jx) * imBand + imBand - 1 - c] = *(pxcBYTE*)(cdata.planes[0] + ix * imWidth * 4 + 4 * jx + c); } } } colorIm->ReleaseAccess(&cdata); renderColor->RenderFrame(colorIm); } else { depthIm = sample->depth; if (!depthIm) break; PXCImage::ImageData ddata; pxcStatus sts = depthIm->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::PIXEL_FORMAT_DEPTH, &ddata); for (int id = 0; id < imHeight; id++) { for (int jd = 0; jd < imWidth; jd++) { imBuffer2[id * imWidth + jd] = *(pxcU16*)(ddata.planes[0] + id * imWidth * 2 + jd * 2); } } depthIm->ReleaseAccess(&ddata); renderDepth->RenderFrame(depthIm); } if (adaptor->isSendFrame()) { // Create a frame object. imaqkit::IAdaptorFrame* frame = adaptor->getEngine()->makeFrame(frameType, imWidth, imHeight); // Copy data from buffer into frame object. if (imBand == 3) { frame->setImage(imBuffer1, imWidth, imHeight, 0, // X Offset from origin 0); // Y Offset from origin } else { frame->setImage(imBuffer2, imWidth, imHeight, 0, // X Offset from origin 0); } // Set image's timestamp. frame->setTime(imaqkit::getCurrentTime()); // Send frame object to engine. adaptor->getEngine()->receiveFrame(frame); } // if isSendFrame() psm->ReleaseFrame(); // Increment the frame count. adaptor->incrementFrameCount(); // Cleanup. Deallocate imBuffer. delete[] imBuffer1; delete[] imBuffer2; driverSection->leave(); } // while(isAcquisitionNotComplete() delete renderColor; delete renderDepth; psm->Release(); } break; } //switch-case WM_USER }//while message is not WM_QUIT return 0; }
/******************************************************************************* Main entry point. Here we demonstrate, after some initial housekeeping, how to initialize the camera, start streaming, grab samples, and process them. *******************************************************************************/ int main(int argc, char *argv[]) { if (!ProcessCmdArgs(argc, argv)) { return 1; } // Check / create file directories if (xdmPath != nullptr) { if (_mkdir(xdmPath) != 0 && errno != EEXIST){ fprintf(stderr, "Error: Invalid XDM path. Error %d\n", errno); fprintf(stderr, "Terminate? [Y/n]\n"); char choice = _getch(); if (choice != 'n' && choice != 'N') { return ERROR_FILE; } xdmPath = nullptr; } else { // Remove any trailing '\' in the path since we'll add it later. if (xdmPath[strlen(xdmPath) - 1] == '\\') xdmPath[strlen(xdmPath) - 1] = '0'; } } if (bufPath != nullptr) { if (_mkdir(bufPath) != 0 && errno != EEXIST){ fprintf(stderr, "Error: Invalid Buffer path. Error %d\n", errno); fprintf(stderr, "Terminate? [Y/n]\n"); char choice = _getch(); if (choice != 'n' && choice != 'N') { return ERROR_FILE; } bufPath = nullptr; } else { // Remove any trailing '\' in the path since we'll add it later. if (bufPath[strlen(bufPath) - 1] == '\\') bufPath[strlen(bufPath) - 1] = '0'; } } // Start timer for total test execution unsigned long long programStart = GetTickCount64(); // Initialize camera and streams if (verbose) fprintf_s(stdout, "Initializing camera...\n"); // The Sense Manager is the root object for interacting with the camera. PXCSenseManager *senseManager = nullptr; senseManager = PXCSenseManager::CreateInstance(); if (!senseManager) { fprintf_s(stderr, "Unable to create the PXCSenseManager\n"); return ERROR_CAMERA; } // When enabling the streams (color and depth), the parameters must match // the capabilities of the camera. For example, 60fps for color will fail // on the DS4 / R200. // Here we're hard-coding the resolution and frame rate senseManager->EnableStream(PXCCapture::STREAM_TYPE_COLOR, 320, 240, 30); senseManager->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, 320, 240, 30); // Initialize the PXCSenseManager pxcStatus camStatus; camStatus = senseManager->Init(); if (camStatus != PXC_STATUS_NO_ERROR) { fprintf_s(stderr, "Unable to initizlize PXCSenseManager\n"); senseManager->Release(); return ERROR_CAMERA; } PXCImage *colorImage; PXCImage *depthImage; PXCPhoto *xdmPhoto = senseManager->QuerySession()->CreatePhoto(); // These two objects come from the Intel RealSense SDK helper for rendering // camera data. Any rendering technique could be used or omitted if no // visual feedback is desired. UtilRender *renderColor = new UtilRender(L"COLOR STREAM"); UtilRender *renderDepth = new UtilRender(L"DEPTH STREAM"); // Start test if (verbose) fprintf_s(stdout, "Running...\n"); // This section may be wrapped in additional code to automate // repetitive tests. Closure provided just for convenience. { // Beginning of single test block unsigned long totalFrames = 0; unsigned long long streamStart = GetTickCount64(); for (unsigned int i = 0; i < framesPerTest; i++) { // Passing 'true' to AcquireFrame blocks until all streams are // ready (depth and color). Passing 'false' will result in // frames unaligned in time. camStatus = senseManager->AcquireFrame(true); if (camStatus < PXC_STATUS_NO_ERROR) { fprintf_s(stderr, "Error acquiring frame: %f\n", camStatus); break; } // Retrieve all available image samples PXCCapture::Sample *sample = senseManager->QuerySample(); if (sample == NULL) { fprintf_s(stderr, "Sample unavailable\n"); } else { totalFrames++; colorImage = sample->color; depthImage = sample->depth; // Render the frames (not necessary) if (!renderColor->RenderFrame(colorImage)) break; if (!renderDepth->RenderFrame(depthImage)) break; // Save data if requested wchar_t filePath[MAXPATH]; char fileName[18]; TimeStampString(fileName); if (xdmPath != nullptr) { // Save XDM image swprintf_s(filePath, MAXPATH, L"%S\\%S%S", xdmPath, fileName, xdmExt); xdmPhoto->ImportFromPreviewSample(sample); pxcStatus saveStatus = xdmPhoto->SaveXDM(filePath); if (saveStatus != PXC_STATUS_NO_ERROR) fprintf_s(stderr, "Error: SaveXDM\n"); } if (bufPath != NULL) { // Save depth buffer swprintf_s(filePath, MAXPATH, L"%S\\%S%S", bufPath, fileName, depBufExt); // The WriteDepthBuf function has a lot of detail about // accessing image data and should be examined. if (!WriteDepthBuf(depthImage, filePath)) { fprintf(stderr, "Error: WriteDepthBuf\n"); } } } // Unlock the current frame to fetch the next one senseManager->ReleaseFrame(); } float frameRate = (float)totalFrames / ((float)(GetTickCount64() - streamStart) / 1000); if (verbose) fprintf_s(stdout, "Frame Rate: %.2f\n", frameRate); } // End of single test block // Wrap up if(verbose) fprintf_s(stdout, "Finished in %llu seconds.\n", (GetTickCount64() - programStart) / 1000); delete renderColor; delete renderDepth; xdmPhoto->Release(); if(senseManager != nullptr) senseManager->Release(); return 0; }