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rs-software-device.cpp
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rs-software-device.cpp
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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <librealsense2/hpp/rs_internal.hpp>
#include "example.hpp"
#define STB_IMAGE_WRITE_IMPLEMENTATION
#include <stb_image_write.h>
#include <int-rs-splash.hpp>
#define STB_IMAGE_IMPLEMENTATION
#include <stb_image.h>
const int W = 640;
const int H = 480;
const int BPP = 2;
struct synthetic_frame
{
int x, y, bpp;
std::vector<uint8_t> frame;
};
class custom_frame_source
{
public:
custom_frame_source()
{
depth_frame.x = W;
depth_frame.y = H;
depth_frame.bpp = BPP;
last = std::chrono::high_resolution_clock::now();
std::vector<uint8_t> pixels_depth(depth_frame.x * depth_frame.y * depth_frame.bpp, 0);
depth_frame.frame = std::move(pixels_depth);
auto realsense_logo = stbi_load_from_memory(splash, (int)splash_size, &color_frame.x, &color_frame.y, &color_frame.bpp, false);
std::vector<uint8_t> pixels_color(color_frame.x * color_frame.y * color_frame.bpp, 0);
memcpy(pixels_color.data(), realsense_logo, color_frame.x*color_frame.y * 4);
for (auto i = 0; i< color_frame.y; i++)
for (auto j = 0; j < color_frame.x * 4; j += 4)
{
if (pixels_color.data()[i*color_frame.x * 4 + j] == 0)
{
pixels_color.data()[i*color_frame.x * 4 + j] = 22;
pixels_color.data()[i*color_frame.x * 4 + j + 1] = 115;
pixels_color.data()[i*color_frame.x * 4 + j + 2] = 185;
}
}
color_frame.frame = std::move(pixels_color);
stbi_image_free( realsense_logo );
}
synthetic_frame& get_synthetic_texture()
{
return color_frame;
}
synthetic_frame& get_synthetic_depth(glfw_state& app_state)
{
draw_text(50, 50, "This point-cloud is generated from a synthetic device:");
auto now = std::chrono::high_resolution_clock::now();
if (now - last > std::chrono::milliseconds(1))
{
app_state.yaw -= 1;
wave_base += 0.1f;
last = now;
for (int i = 0; i < depth_frame.y; i++)
{
for (int j = 0; j < depth_frame.x; j++)
{
auto d = 2 + 0.1 * (1 + sin(wave_base + j / 50.f));
((uint16_t*)depth_frame.frame.data())[i*depth_frame.x + j] = (int)(d * 0xff);
}
}
}
return depth_frame;
}
rs2_intrinsics create_texture_intrinsics()
{
rs2_intrinsics intrinsics = { color_frame.x, color_frame.y,
(float)color_frame.x / 2, (float)color_frame.y / 2,
(float)color_frame.x / 2, (float)color_frame.y / 2,
RS2_DISTORTION_BROWN_CONRADY ,{ 0,0,0,0,0 } };
return intrinsics;
}
rs2_intrinsics create_depth_intrinsics()
{
rs2_intrinsics intrinsics = { depth_frame.x, depth_frame.y,
(float)depth_frame.x / 2, (float)depth_frame.y / 2,
(float)depth_frame.x , (float)depth_frame.y ,
RS2_DISTORTION_BROWN_CONRADY ,{ 0,0,0,0,0 } };
return intrinsics;
}
private:
synthetic_frame depth_frame;
synthetic_frame color_frame;
std::chrono::high_resolution_clock::time_point last;
float wave_base = 0.f;
};
int main(int argc, char * argv[]) try
{
window app(1280, 1500, "RealSense Capture Example");
glfw_state app_state;
register_glfw_callbacks(app, app_state);
rs2::colorizer color_map; // Save colorized depth for preview
rs2::pointcloud pc;
rs2::points points;
int frame_number = 0;
custom_frame_source app_data;
auto texture = app_data.get_synthetic_texture();
rs2_intrinsics color_intrinsics = app_data.create_texture_intrinsics();
rs2_intrinsics depth_intrinsics = app_data.create_depth_intrinsics();
//==================================================//
// Declare Software-Only Device //
//==================================================//
rs2::software_device dev; // Create software-only device
auto depth_sensor = dev.add_sensor("Depth"); // Define single sensor
auto color_sensor = dev.add_sensor("Color"); // Define single sensor
auto depth_stream = depth_sensor.add_video_stream({ RS2_STREAM_DEPTH, 0, 0,
W, H, 60, BPP,
RS2_FORMAT_Z16, depth_intrinsics });
auto color_stream = color_sensor.add_video_stream({ RS2_STREAM_COLOR, 0, 1, texture.x,
texture.y, 60, texture.bpp,
RS2_FORMAT_RGBA8, color_intrinsics });
dev.create_matcher( RS2_MATCHER_DEFAULT ); // Compare all streams according to timestamp
rs2::syncer sync;
depth_sensor.open(depth_stream);
color_sensor.open(color_stream);
depth_sensor.start(sync);
color_sensor.start(sync);
depth_stream.register_extrinsics_to(color_stream, { { 1,0,0,0,1,0,0,0,1 },{ 0,0,0 } });
while (app) // Application still alive?
{
synthetic_frame& depth_frame = app_data.get_synthetic_depth(app_state);
// The timestamp jumps are closely correlated to the FPS passed above to the video streams:
// syncer expects frames to arrive every 1000/FPS milliseconds!
rs2_time_t timestamp = (rs2_time_t)frame_number * 16;
auto domain = RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK;
depth_sensor.on_video_frame( { depth_frame.frame.data(), // Frame pixels from capture API
[]( void * ) {}, // Custom deleter (if required)
depth_frame.x * depth_frame.bpp, // Stride
depth_frame.bpp,
timestamp, domain, frame_number,
depth_stream, 0.001f } ); // depth unit
color_sensor.on_video_frame( { texture.frame.data(), // Frame pixels from capture API
[]( void * ) {}, // Custom deleter (if required)
texture.x * texture.bpp, // Stride
texture.bpp,
timestamp, domain, frame_number,
color_stream } );
++frame_number;
rs2::frameset fset = sync.wait_for_frames();
rs2::frame depth = fset.first_or_default(RS2_STREAM_DEPTH);
rs2::frame color = fset.first_or_default(RS2_STREAM_COLOR);
// We cannot expect the syncer to always output both depth and color -- especially on the
// first few frames! Hiccups can always occur: OS stalls, processing demands, etc...
if (depth && color)
{
if (auto as_depth = depth.as<rs2::depth_frame>())
{
pc.map_to(color);
points = pc.calculate(as_depth);
}
// Upload the color frame to OpenGL
app_state.tex.upload(color);
}
draw_pointcloud(app.width(), app.height(), app_state, points);
}
return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}