void enable_device(rs2::device dev)
{
std::string serial_number(dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
std::lock_guard<std::mutex> lock(_mutex);
if (_devices.find(serial_number) != _devices.end())
{
return; //already in
}
// Ignoring platform cameras (webcams, etc..)
if (platform_camera_name == dev.get_info(RS2_CAMERA_INFO_NAME))
{
return;
}
// Create a pipeline from the given device
rs2::pipeline p;
rs2::config c;
c.enable_device(serial_number);
// Start the pipeline with the configuration
rs2::pipeline_profile profile = p.start(c);
// Hold it internally
_devices.emplace(serial_number, view_port{ {},{},{}, p, profile });
}
float get_depth_scale(rs2::device dev)
{
// Go over the device's sensors
for (rs2::sensor& sensor : dev.query_sensors())
{
// Check if the sensor if a depth sensor
if (rs2::depth_sensor dpt = sensor.as<rs2::depth_sensor>())
{
return dpt.get_depth_scale();
}
}
throw std::runtime_error("Device does not have a depth sensor");
}
/**
* Creates a recording device to record the given device and save it to the given file as rosbag format
* \param[in] file The desired path to which the recorder should save the data
* \param[in] device The device to record
* \param[in] compression_enabled Indicates if compression is enabled
*/
recorder(const std::string& file, rs2::device dev, bool compression_enabled)
{
rs2_error* e = nullptr;
_dev = std::shared_ptr<rs2_device>(
rs2_create_record_device_ex(dev.get().get(), file.c_str(), compression_enabled, &e),
rs2_delete_device);
rs2::error::handle(e);
}
/**
* Creates a recording device to record the given device and save it to the given file as rosbag format
* \param[in] file The desired path to which the recorder should save the data
* \param[in] device The device to record
*/
recorder(const std::string& file, rs2::device dev)
{
rs2_error* e = nullptr;
_dev = std::shared_ptr<rs2_device>(
rs2_create_record_device(dev.get().get(), file.c_str(), &e),
rs2_delete_device);
rs2::error::handle(e);
}
static std::string get_device_information(const rs2::device& dev)
{
std::stringstream ss;
ss << "Device information: " << std::endl;
for (int i = 0; i < static_cast<int>(RS2_CAMERA_INFO_COUNT); i++)
{
rs2_camera_info info_type = static_cast<rs2_camera_info>(i);
ss << " " << std::left << std::setw(20) << info_type << " : ";
if (dev.supports(info_type))
ss << dev.get_info(info_type) << std::endl;
else
ss << "N/A" << std::endl;
}
return ss.str();
}
bool try_get_depth_scale(rs2::device dev, float& scale)
{
// Go over the device's sensors
for (rs2::sensor& sensor : dev.query_sensors())
{
// Check if the sensor if a depth sensor
if (rs2::depth_sensor dpt = sensor.as<rs2::depth_sensor>())
{
scale = dpt.get_depth_scale();
return true;
}
}
return false;
}
void rebuild()
try
{
auto& ctx = t_jit_realsense::context();
// First cleanup if device is changing
cleanup();
dev = nullptr;
// Try to get the new device
auto devs = ctx.query_devices();
auto n_dev = devs.size();
post("There are %d connected RealSense devices.\n", n_dev);
if(n_dev <= device)
{
post("Device %d is not connected.", device);
return;
}
dev = devs[device];
post("\nUsing device %d, an %s\n", device, dev.get_info(rs2_camera_info::RS2_CAMERA_INFO_NAME));
post(" Serial number: %s\n", dev.get_info(rs2_camera_info::RS2_CAMERA_INFO_SERIAL_NUMBER));
post(" Firmware version: %s\n", dev.get_info(rs2_camera_info::RS2_CAMERA_INFO_FIRMWARE_VERSION));
rebuild_streams();
device_cache = device;
out_count_cache = out_count;
}
catch(const std::exception & e)
{
error("realsense: %s\n", e.what());
if(dev)
dev = nullptr;
}
