int createRealsenseDevice(int devID,char * devName,unsigned int width,unsigned int height,unsigned int framerate) { /* This call will access only a single device, based on the devID identifier..*/ device[devID].dev = rs_get_device(ctx, devID , &e); if (check_error()) { fprintf(stderr,"Cannot get a device context for device %u \n",devID); return 0; } printf("\nUsing device 0, an %s\n", rs_get_device_name(device[devID].dev, &e)); check_error(); printf(" Serial number: %s\n", rs_get_device_serial(device[devID].dev, &e)); check_error(); printf(" Firmware version: %s\n", rs_get_device_firmware_version(device[devID].dev, &e)); check_error(); /* Configure all streams to run at VGA resolution at 60 frames per second */ rs_enable_stream(device[devID].dev, RS_STREAM_DEPTH, width, height, RS_FORMAT_Z16, framerate, &e); check_error(); rs_enable_stream(device[devID].dev, RS_STREAM_COLOR, width, height, RS_FORMAT_RGB8, framerate, &e); check_error(); rs_start_device(device[devID].dev, &e); check_error(); device[devID].colorStreamToUse=RS_STREAM_COLOR; device[devID].depthStreamToUse=RS_STREAM_DEPTH_ALIGNED_TO_COLOR; device[devID].frameCount=0; device[devID].hasInit=1; return 1; }
CameraWrapper::CameraWrapper(int frames) { // init camera e = 0; ctx = rs_create_context(RS_API_VERSION, &e); check_error(); printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e)); check_error(); if(rs_get_device_count(ctx, &e) == 0) { std::cout << "camera init broken" << std::cout; } else { dev = rs_get_device(ctx, 0, &e); check_error(); printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e)); check_error(); printf(" Serial number: %s\n", rs_get_device_serial(dev, &e)); check_error(); printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e)); check_error(); // set controls // NOTE find good laser power, max 15 //rs_enable_stream_preset(dev, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &e); rs_enable_stream(dev, RS_STREAM_DEPTH, 640, 480, RS_FORMAT_Z16, 30, &e); check_error(); rs_set_device_option(dev, RS_OPTION_F200_ACCURACY, 1, &e); check_error(); rs_set_device_option(dev, RS_OPTION_F200_FILTER_OPTION, 0, &e); check_error(); rs_enable_stream(dev, RS_STREAM_COLOR, 1920, 1080, RS_FORMAT_RGB8, 30, &e); // rs_enable_stream_preset(dev, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &e); check_error(); rs_enable_stream(dev, RS_STREAM_INFRARED, 640,480, RS_FORMAT_Y8, 30, &e); //rs_enable_stream_preset(dev, RS_STREAM_INFRARED, RS_PRESET_BEST_QUALITY, &e); check_error(); rs_start_device(dev, &e); check_error(); // get intrinsics and convert them to opencv mat // IR and DEPTH are the same for f200, so this is basically overhead rs_get_stream_intrinsics(dev, RS_STREAM_DEPTH, &depth_intrin, &e); check_error(); rs_get_device_extrinsics(dev, RS_STREAM_DEPTH, RS_STREAM_COLOR, &depth_to_color, &e); check_error(); rs_get_stream_intrinsics(dev, RS_STREAM_COLOR, &color_intrin, &e); check_error(); rs_get_stream_intrinsics(dev, RS_STREAM_INFRARED, &ir_intrin, &e); check_error(); depthScale = rs_get_device_depth_scale(dev, &e); check_error(); } // set number of frames to record setStackSize(frames); }
int main() { /* Turn on logging. We can separately enable logging to console or to file, and use different severity filters for each. */ rs_log_to_console(RS_LOG_SEVERITY_WARN, &e); check_error(); /*rs_log_to_file(RS_LOG_SEVERITY_DEBUG, "librealsense.log", &e); check_error();*/ /* Create a context object. This object owns the handles to all connected realsense devices. */ rs_context * ctx = rs_create_context(RS_API_VERSION, &e); check_error(); printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e)); check_error(); if(rs_get_device_count(ctx, &e) == 0) return EXIT_FAILURE; /* This tutorial will access only a single device, but it is trivial to extend to multiple devices */ rs_device * dev = rs_get_device(ctx, 0, &e); check_error(); printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e)); check_error(); printf(" Serial number: %s\n", rs_get_device_serial(dev, &e)); check_error(); printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e)); check_error(); /* Configure depth and color to run with the device's preferred settings */ rs_enable_stream_preset(dev, RS_STREAM_DEPTH, RS_PRESET_BEST_QUALITY, &e); check_error(); rs_enable_stream_preset(dev, RS_STREAM_COLOR, RS_PRESET_BEST_QUALITY, &e); check_error(); rs_start_device(dev, RS_SOURCE_VIDEO, &e); check_error(); /* Open a GLFW window to display our output */ glfwInit(); GLFWwindow * win = glfwCreateWindow(1280, 960, "librealsense tutorial #3", NULL, NULL); glfwSetCursorPosCallback(win, on_cursor_pos); glfwSetMouseButtonCallback(win, on_mouse_button); glfwMakeContextCurrent(win); while(!glfwWindowShouldClose(win)) { /* Wait for new frame data */ glfwPollEvents(); rs_wait_for_frames(dev, &e); check_error(); /* Retrieve our images */ const uint16_t * depth_image = (const uint16_t *)rs_get_frame_data(dev, RS_STREAM_DEPTH, &e); check_error(); const uint8_t * color_image = (const uint8_t *)rs_get_frame_data(dev, RS_STREAM_COLOR, &e); check_error(); /* Retrieve camera parameters for mapping between depth and color */ rs_intrinsics depth_intrin, color_intrin; rs_extrinsics depth_to_color; rs_get_stream_intrinsics(dev, RS_STREAM_DEPTH, &depth_intrin, &e); check_error(); rs_get_device_extrinsics(dev, RS_STREAM_DEPTH, RS_STREAM_COLOR, &depth_to_color, &e); check_error(); rs_get_stream_intrinsics(dev, RS_STREAM_COLOR, &color_intrin, &e); check_error(); float scale = rs_get_device_depth_scale(dev, &e); check_error(); /* Set up a perspective transform in a space that we can rotate by clicking and dragging the mouse */ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glMatrixMode(GL_PROJECTION); glLoadIdentity(); gluPerspective(60, (float)1280/960, 0.01f, 20.0f); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); gluLookAt(0,0,0, 0,0,1, 0,-1,0); glTranslatef(0,0,+0.5f); glRotated(pitch, 1, 0, 0); glRotated(yaw, 0, 1, 0); glTranslatef(0,0,-0.5f); /* We will render our depth data as a set of points in 3D space */ glPointSize(2); glEnable(GL_DEPTH_TEST); glBegin(GL_POINTS); int dx, dy; for(dy=0; dy<depth_intrin.height; ++dy) { for(dx=0; dx<depth_intrin.width; ++dx) { /* Retrieve the 16-bit depth value and map it into a depth in meters */ uint16_t depth_value = depth_image[dy * depth_intrin.width + dx]; float depth_in_meters = depth_value * scale; /* Skip over pixels with a depth value of zero, which is used to indicate no data */ if(depth_value == 0) continue; /* Map from pixel coordinates in the depth image to pixel coordinates in the color image */ float depth_pixel[2] = {(float)dx, (float)dy}; float depth_point[3], color_point[3], color_pixel[2]; rs_deproject_pixel_to_point(depth_point, &depth_intrin, depth_pixel, depth_in_meters); rs_transform_point_to_point(color_point, &depth_to_color, depth_point); rs_project_point_to_pixel(color_pixel, &color_intrin, color_point); /* Use the color from the nearest color pixel, or pure white if this point falls outside the color image */ const int cx = (int)roundf(color_pixel[0]), cy = (int)roundf(color_pixel[1]); if(cx < 0 || cy < 0 || cx >= color_intrin.width || cy >= color_intrin.height) { glColor3ub(255, 255, 255); } else { glColor3ubv(color_image + (cy * color_intrin.width + cx) * 3); } /* Emit a vertex at the 3D location of this depth pixel */ glVertex3f(depth_point[0], depth_point[1], depth_point[2]); } } glEnd(); glfwSwapBuffers(win); } return EXIT_SUCCESS; }
int main() { /* Create a context object. This object owns the handles to all connected realsense devices. */ rs_context * ctx = rs_create_context(RS_API_VERSION, &e); check_error(); printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e)); check_error(); if(rs_get_device_count(ctx, &e) == 0) return EXIT_FAILURE; /* This tutorial will access only a single device, but it is trivial to extend to multiple devices */ rs_device * dev = rs_get_device(ctx, 0, &e); check_error(); printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e)); check_error(); printf(" Serial number: %s\n", rs_get_device_serial(dev, &e)); check_error(); printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e)); check_error(); /* Configure depth to run at VGA resolution at 30 frames per second */ rs_enable_stream(dev, RS_STREAM_DEPTH, 640, 480, RS_FORMAT_Z16, 30, &e); check_error(); rs_start_device(dev, &e); check_error(); /* Determine depth value corresponding to one meter */ const uint16_t one_meter = (uint16_t)(1.0f / rs_get_device_depth_scale(dev, &e)); check_error(); while(1) { /* This call waits until a new coherent set of frames is available on a device Calls to get_frame_data(...) and get_frame_timestamp(...) on a device will return stable values until wait_for_frames(...) is called */ rs_wait_for_frames(dev, &e); /* Retrieve depth data, which was previously configured as a 640 x 480 image of 16-bit depth values */ const uint16_t * depth_frame = (const uint16_t *)(rs_get_frame_data(dev, RS_STREAM_DEPTH, &e)); /* Print a simple text-based representation of the image, by breaking it into 10x20 pixel regions and and approximating the coverage of pixels within one meter */ char buffer[(640/10+1)*(480/20)+1]; char * out = buffer; int coverage[64] = {0}, x,y,i; for(y=0; y<480; ++y) { for(x=0; x<640; ++x) { int depth = *depth_frame++; if(depth > 0 && depth < one_meter) ++coverage[x/10]; } if(y%20 == 19) { for(i=0; i<64; ++i) { *out++ = " .:nhBXWW"[coverage[i]/25]; coverage[i] = 0; } *out++ = '\n'; } } *out++ = 0; printf("\n%s", buffer); } return EXIT_SUCCESS; }
int RealSenseDevice::open() { rs_error * e = 0; ctx = rs_create_context(RS_API_VERSION, &e); int devices = rs_get_device_count(ctx, &e); if (devices == 0) { std::cerr << "no realsense capture device" << std::endl; return 1; } dev = rs_get_device(ctx, 0, &e); std::cout << "Realsense Device: " << rs_get_device_name(dev, &e) << std::endl; std::cout << "Realsense Serial: " << rs_get_device_serial(dev, &e) << std::endl; std::cout << "Realsense FW ver: " << rs_get_device_firmware_version(dev, &e) << std::endl; int framerate = 30; rs_enable_stream(dev, depthStream, 0, 0, RS_FORMAT_Z16, framerate, &e); int depthWidth = rs_get_stream_width(dev,depthStream,NULL); int depthHeight = rs_get_stream_height(dev,depthStream,NULL); rs_enable_stream(dev, colorStream, depthWidth, depthHeight, RS_FORMAT_RGB8, framerate, &e); rs_get_stream_intrinsics(dev,colorStream,&intrinsics,0); std::cout << "width:" << intrinsics.width << " height:" << intrinsics.height << " focalx:" << intrinsics.fx << " focaly:" << intrinsics.fy << " ppx:" << intrinsics.ppx << " ppy:" << intrinsics.ppy << " coeff0:" << intrinsics.coeffs[0] << " coeff1:" << intrinsics.coeffs[1] << " coeff2:" << intrinsics.coeffs[2] << " coeff3:" << intrinsics.coeffs[3] << std::endl; int colorWidth = rs_get_stream_width(dev,colorStream,NULL); int colorHeight = rs_get_stream_height(dev,colorStream,NULL); depthScale = rs_get_device_depth_scale(dev,0); std::cout << "depth image " << depthWidth << "x" << depthHeight << " scale:" << depthScale << std::endl; std::cout << "color image " << colorWidth << "x" << colorHeight << std::endl; rs_start_device(dev, &e); int res = pthread_create(&_thread, NULL, RealSenseDevice_freenect_threadfunc, this); if(res){ std::cerr << "error starting realsense thread " << res << std::endl; return 1; } depth_index = 0; return 0; }
int main() { /* Create a context object. This object owns the handles to all connected realsense devices. */ rs_context * ctx = rs_create_context(RS_API_VERSION, &e); check_error(); printf("There are %d connected RealSense devices.\n", rs_get_device_count(ctx, &e)); check_error(); if(rs_get_device_count(ctx, &e) == 0) return EXIT_FAILURE; /* This tutorial will access only a single device, but it is trivial to extend to multiple devices */ rs_device * dev = rs_get_device(ctx, 0, &e); check_error(); printf("\nUsing device 0, an %s\n", rs_get_device_name(dev, &e)); check_error(); printf(" Serial number: %s\n", rs_get_device_serial(dev, &e)); check_error(); printf(" Firmware version: %s\n", rs_get_device_firmware_version(dev, &e)); check_error(); /* Configure all streams to run at VGA resolution at 60 frames per second */ rs_enable_stream(dev, RS_STREAM_DEPTH, 640, 480, RS_FORMAT_Z16, 60, &e); check_error(); rs_enable_stream(dev, RS_STREAM_COLOR, 640, 480, RS_FORMAT_RGB8, 60, &e); check_error(); rs_enable_stream(dev, RS_STREAM_INFRARED, 640, 480, RS_FORMAT_Y8, 60, &e); check_error(); rs_enable_stream(dev, RS_STREAM_INFRARED2, 640, 480, RS_FORMAT_Y8, 60, NULL); /* Pass NULL to ignore errors */ rs_start_device(dev, &e); check_error(); /* Open a GLFW window to display our output */ glfwInit(); GLFWwindow * win = glfwCreateWindow(1280, 960, "librealsense tutorial #2", NULL, NULL); glfwMakeContextCurrent(win); while(!glfwWindowShouldClose(win)) { /* Wait for new frame data */ glfwPollEvents(); rs_wait_for_frames(dev, &e); check_error(); glClear(GL_COLOR_BUFFER_BIT); glPixelZoom(1, -1); /* Display depth data by linearly mapping depth between 0 and 2 meters to the red channel */ glRasterPos2f(-1, 1); glPixelTransferf(GL_RED_SCALE, 0xFFFF * rs_get_device_depth_scale(dev, &e) / 2.0f); check_error(); glDrawPixels(640, 480, GL_RED, GL_UNSIGNED_SHORT, rs_get_frame_data(dev, RS_STREAM_DEPTH, &e)); check_error(); glPixelTransferf(GL_RED_SCALE, 1.0f); /* Display color image as RGB triples */ glRasterPos2f(0, 1); glDrawPixels(640, 480, GL_RGB, GL_UNSIGNED_BYTE, rs_get_frame_data(dev, RS_STREAM_COLOR, &e)); check_error(); /* Display infrared image by mapping IR intensity to visible luminance */ glRasterPos2f(-1, 0); glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, rs_get_frame_data(dev, RS_STREAM_INFRARED, &e)); check_error(); /* Display second infrared image by mapping IR intensity to visible luminance */ if(rs_is_stream_enabled(dev, RS_STREAM_INFRARED2, NULL)) { glRasterPos2f(0, 0); glDrawPixels(640, 480, GL_LUMINANCE, GL_UNSIGNED_BYTE, rs_get_frame_data(dev, RS_STREAM_INFRARED2, &e)); } glfwSwapBuffers(win); } return EXIT_SUCCESS; }