pxcStatus CaptureRecording::CreateDevice(pxcU32 didx, Device **device) {
PXCCapture::Device *device2=0;
pxcStatus sts=capture->CreateDevice(didx,&device2);
if (sts>=PXC_STATUS_NO_ERROR) {
*device=new CaptureRecording::DeviceRecording(device2,scheduler,types);
if (!(*device)) sts=PXC_STATUS_ALLOC_FAILED;
}
return sts;
}
bool IntelPerCStreamBase::initDevice(PXCSession *session)
{
if (NULL == session)
return false;
pxcStatus sts = PXC_STATUS_NO_ERROR;
PXCSession::ImplDesc templat;
memset(&templat,0,sizeof(templat));
templat.group = PXCSession::IMPL_GROUP_SENSOR;
templat.subgroup= PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
for (int modidx = 0; PXC_STATUS_NO_ERROR <= sts; modidx++)
{
PXCSession::ImplDesc desc;
sts = session->QueryImpl(&templat, modidx, &desc);
if (PXC_STATUS_NO_ERROR > sts)
break;
PXCSmartPtr<PXCCapture> capture;
sts = session->CreateImpl<PXCCapture>(&desc, &capture);
if (!capture.IsValid())
continue;
/* enumerate devices */
for (int devidx = 0; PXC_STATUS_NO_ERROR <= sts; devidx++)
{
PXCSmartPtr<PXCCapture::Device> device;
sts = capture->CreateDevice(devidx, &device);
if (PXC_STATUS_NO_ERROR <= sts)
{
m_device = device.ReleasePtr();
return true;
}
}
}
return false;
}
////////////////////////////////////////////////////////////////////////////////
// protected member functions
////////////////////////////////////////////////////////////////////////////////
int IntelCamera::InitCamera(int device_num)
{
// create a session
pxcStatus sts = PXCSession_Create(&session);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a session\n");
return -1;
}
// create a video capture
PXCSession::ImplDesc desc;
memset(&desc, 0, sizeof(desc));
desc.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;
PXCSmartPtr<PXCCapture> capture;
sts = session->CreateImpl(&desc, PXCCapture::CUID, (void**)&capture);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a capture\n");
return -1;
}
// create a device
PXCSmartPtr<PXCCapture::Device> device;
sts = capture->CreateDevice(device_num, &device);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a device\n");
return -1;
}
// create color stream: 640x480
sts = device->CreateStream(0, PXCCapture::VideoStream::CUID, (void**)&pColorStream);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to create color stream\n");
return -1;
}
PXCCapture::VideoStream::ProfileInfo pinfoColor;
sts = pColorStream->QueryProfile(0, &pinfoColor);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get color stream profile\n");
return -1;
}
// set for less error on depth image : because of sync color/depth
pinfoColor.frameRateMax.denominator = 0;
pinfoColor.frameRateMax.numerator = 60;
pinfoColor.frameRateMin.denominator = 0;
pinfoColor.frameRateMin.numerator = 60;
sts = pColorStream->SetProfile(&pinfoColor);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get color stream profile\n");
return -1;
}
// create depth streams: 320x240
sts = device->CreateStream(1, PXCCapture::VideoStream::CUID, (void**)&pDepthStream);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to create depth stream\n");
return -1;
}
PXCCapture::VideoStream::ProfileInfo pinfoDepth;
sts = pDepthStream->QueryProfile(0, &pinfoDepth);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get depth stream profile\n");
return -1;
}
// set for less error on depth image
pinfoDepth.frameRateMax.denominator = 1;
pinfoDepth.frameRateMax.numerator = 60;
pinfoDepth.frameRateMin.denominator = 1;
pinfoDepth.frameRateMin.numerator = 60;
sts = pDepthStream->SetProfile(&pinfoDepth);
if(sts<PXC_STATUS_NO_ERROR){
fprintf(stderr,"failed to get depth stream profile\n");
return -1;
}
// read streams
pColorStream->ReadStreamAsync(&images[0], &sps[0]);
pDepthStream->ReadStreamAsync(&images[1], &sps[1]);
// get constant values
pxcUID prj_value;
device->SetProperty(PXCCapture::Device::PROPERTY_DEPTH_SMOOTHING, 1); // depth smoothing
device->QueryPropertyAsUID(PXCCapture::Device::PROPERTY_PROJECTION_SERIALIZABLE, &prj_value);
device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_LOW_CONFIDENCE_VALUE, &no_confidence);
device->QueryProperty(PXCCapture::Device::PROPERTY_DEPTH_SATURATION_VALUE , &depth_saturation);
// get projection instance
sts = session->DynamicCast<PXCMetadata>()->CreateSerializable<PXCProjection>(prj_value, &projection);
if (sts<PXC_STATUS_NO_ERROR) {
fprintf(stderr,"Failed to create a projection\n");
return -1;
}
return 1;
}
