C++ (Cpp) RS_LOG_STATUS示例

示例#1

文件： RealSenseImpl.cpp 项目： ERRLSTAR/UE4RealSensePlugin

// Camera Processing Thread
// Initialize the RealSense SenseManager and initiate camera processing loop:
// Step 1: Acquire new camera frame
// Step 2: Load shared settings
// Step 3: Perform Core SDK and middleware processing and store results
//         in background RealSenseDataFrame
// Step 4: Swap the background and mid RealSenseDataFrames
void RealSenseImpl::CameraThread()
{
	uint64 currentFrame = 0;

	fgFrame->number = 0;
	midFrame->number = 0;
	bgFrame->number = 0;

	pxcStatus status = senseManager->Init();
	RS_LOG_STATUS(status, "SenseManager Initialized")

	assert(status == PXC_STATUS_NO_ERROR);

	if (bFaceEnabled) {
		faceData = pFace->CreateOutput();
	}

	while (bCameraThreadRunning == true) {
		// Acquires new camera frame
		status = senseManager->AcquireFrame(true);
		assert(status == PXC_STATUS_NO_ERROR);

		bgFrame->number = ++currentFrame;

		// Performs Core SDK and middleware processing and store results 
		// in background RealSenseDataFrame
		if (bCameraStreamingEnabled) {
			PXCCapture::Sample* sample = senseManager->QuerySample();

			CopyColorImageToBuffer(sample->color, bgFrame->colorImage, colorResolution.width, colorResolution.height);
			CopyDepthImageToBuffer(sample->depth, bgFrame->depthImage, depthResolution.width, depthResolution.height);
		}

		if (bScan3DEnabled) {
			if (bScanStarted) {
				PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
				config.startScan = true;
				p3DScan->SetConfiguration(config);
				bScanStarted = false;
			}

			if (bScanStopped) {
				PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
				config.startScan = false;
				p3DScan->SetConfiguration(config);
				bScanStopped = false;
			}

			PXCImage* scanImage = p3DScan->AcquirePreviewImage();
			if (scanImage) {
				UpdateScan3DImageSize(scanImage->QueryInfo());
				CopyColorImageToBuffer(scanImage, bgFrame->scanImage, scan3DResolution.width, scan3DResolution.height);
				scanImage->Release();
			}
			
			if (bReconstructEnabled) {
				status = p3DScan->Reconstruct(scan3DFileFormat, scan3DFilename.GetCharArray().GetData());
				bReconstructEnabled = false;
				bScanCompleted = true;
			}
		}

		if (bFaceEnabled) {
			faceData->Update();
			bgFrame->headCount = faceData->QueryNumberOfDetectedFaces();
			if (bgFrame->headCount > 0) {
				PXCFaceData::Face* face = faceData->QueryFaceByIndex(0);
				PXCFaceData::PoseData* poseData = face->QueryPose();

				if (poseData) {
					PXCFaceData::HeadPosition headPosition = {};
					poseData->QueryHeadPosition(&headPosition);
					bgFrame->headPosition = FVector(headPosition.headCenter.x, headPosition.headCenter.y, headPosition.headCenter.z);

					PXCFaceData::PoseEulerAngles headRotation = {};
					poseData->QueryPoseAngles(&headRotation);
					bgFrame->headRotation = FRotator(headRotation.pitch, headRotation.yaw, headRotation.roll);
				}
			}
		}
		
		senseManager->ReleaseFrame();

		// Swaps background and mid RealSenseDataFrames
		std::unique_lock<std::mutex> lockIntermediate(midFrameMutex);
		bgFrame.swap(midFrame);
	}
}

示例#2

文件： RealSenseImpl.cpp 项目： kuronekodaisuki/UE4RealSensePlugin

// Camera Processing Thread
// Initialize the RealSense SenseManager and initiate camera processing loop:
// Step 1: Acquire new camera frame
// Step 2: Load shared settings
// Step 3: Perform Core SDK and middleware processing and store results
//         in background RealSenseDataFrame
// Step 4: Swap the background and mid RealSenseDataFrames
void RealSenseImpl::CameraThread()
{
	uint64 currentFrame = 0;

	fgFrame->number = 0;
	midFrame->number = 0;
	bgFrame->number = 0;

	pxcStatus status = senseManager->Init();
	RS_LOG_STATUS(status, "SenseManager Initialized")

	assert(status == PXC_STATUS_NO_ERROR);

	while (bCameraThreadRunning == true) {
		// Acquires new camera frame
		status = senseManager->AcquireFrame(true);
		assert(status == PXC_STATUS_NO_ERROR);

		bgFrame->number = ++currentFrame;

		PXCCapture::Sample* sample = senseManager->QuerySample();

		// Performs Core SDK and middleware processing and store results 
		// in background RealSenseDataFrame
		if (bColorStreamingEnabled) {
			if (sample->color) {
				CopyColorImageToBuffer(sample->color, bgFrame->colorImage, colorResolution.width, colorResolution.height);
			}
		}

		if (bDepthStreamingEnabled) {
			if (sample->depth) {
				CopyDepthImageToBuffer(sample->depth, bgFrame->depthImage, depthResolution.width, depthResolution.height);
			}
		}

		if (bScan3DEnabled) {
			if (bScanStarted) {
				PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
				config.startScan = true;
				p3DScan->SetConfiguration(config);
				bScanStarted = false;
			}

			if (bScanStopped) {
				PXC3DScan::Configuration config = p3DScan->QueryConfiguration();
				config.startScan = false;
				p3DScan->SetConfiguration(config);
				bScanStopped = false;
			}

			PXCImage* scanImage = p3DScan->AcquirePreviewImage();
			if (scanImage) {
				UpdateScan3DImageSize(scanImage->QueryInfo());
				CopyColorImageToBuffer(scanImage, bgFrame->scanImage, scan3DResolution.width, scan3DResolution.height);
				scanImage->Release();
			}
			
			if (bReconstructEnabled) {
				status = p3DScan->Reconstruct(scan3DFileFormat, scan3DFilename.GetCharArray().GetData());
				bReconstructEnabled = false;
				bScanCompleted = true;
			}
		}
		
		senseManager->ReleaseFrame();

		// Swaps background and mid RealSenseDataFrames
		std::unique_lock<std::mutex> lockIntermediate(midFrameMutex);
		bgFrame.swap(midFrame);
	}
}