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;
}
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
}