init
This commit is contained in:
@@ -0,0 +1,226 @@
|
||||
// Copyright (c) Orbbec Inc. All Rights Reserved.
|
||||
// Licensed under the MIT License.
|
||||
|
||||
#include <libobsensor/ObSensor.hpp>
|
||||
|
||||
#include "utils.hpp"
|
||||
#include "utils_opencv.hpp"
|
||||
|
||||
void inputWatcher();
|
||||
|
||||
std::shared_ptr<ob::Filter> postDepthFilter = nullptr;
|
||||
std::shared_ptr<ob::Filter> postLeftInfraredFilter = nullptr;
|
||||
std::shared_ptr<ob::Filter> postRightInfraredFilter = nullptr;
|
||||
std::shared_ptr<ob_smpl::CVWindow> win;
|
||||
|
||||
int main(void) try {
|
||||
// Create a pipeline with default device
|
||||
ob::Pipeline pipe;
|
||||
|
||||
// Get the device from the pipeline
|
||||
auto device = pipe.getDevice();
|
||||
|
||||
// Check if the device supports frame interleave
|
||||
if(!device->isFrameInterleaveSupported()) {
|
||||
std::cerr << "Current default device does not support frame interleave" << std::endl;
|
||||
std::cout << "Press any key to exit...";
|
||||
ob_smpl::waitForKeyPressed();
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Configure which streams to enable or disable for the Pipeline by creating a Config
|
||||
std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
|
||||
|
||||
// enable depth stream with default profile
|
||||
config->enableVideoStream(OB_STREAM_DEPTH);
|
||||
config->enableVideoStream(OB_STREAM_IR_LEFT);
|
||||
config->enableVideoStream(OB_STREAM_IR_RIGHT);
|
||||
config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
|
||||
|
||||
// Create SequenceIdFilter post processor to filter frames.
|
||||
// The SequenceIdFilter also supports processing of infrared frames.
|
||||
postDepthFilter = ob::FilterFactory::createFilter("SequenceIdFilter");
|
||||
postLeftInfraredFilter = ob::FilterFactory::createFilter("SequenceIdFilter");
|
||||
postRightInfraredFilter = ob::FilterFactory::createFilter("SequenceIdFilter");
|
||||
|
||||
// load frame interleave mode as 'Laser On-Off'
|
||||
device->loadFrameInterleave("Laser On-Off");
|
||||
// enable frame interleave
|
||||
device->setBoolProperty(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, true);
|
||||
|
||||
// The default parameters were loaded when loadFrameInterleave is called
|
||||
// You can also modify these parameters yourself
|
||||
//
|
||||
// 1. frame interleave parameters for index 0(index starts from 0):
|
||||
// device->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 0);
|
||||
// device->setIntProperty(OB_PROP_LASER_CONTROL_INT, 1); // first: set laser control to 1 to turn on laser
|
||||
// device->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
|
||||
// device->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
|
||||
// device->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
|
||||
// device->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 30000);
|
||||
|
||||
// 2. frame interleave parameters for index 1(index starts from 0):
|
||||
// device->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT, 1);
|
||||
// device->setIntProperty(OB_PROP_LASER_CONTROL_INT, 0); // second: set laser control to 0 to turn off laser
|
||||
// device->setIntProperty(OB_PROP_DEPTH_EXPOSURE_INT, 3000);
|
||||
// device->setIntProperty(OB_PROP_DEPTH_GAIN_INT, 16);
|
||||
// device->setIntProperty(OB_PROP_IR_BRIGHTNESS_INT, 60);
|
||||
// device->setIntProperty(OB_PROP_IR_AE_MAX_EXPOSURE_INT, 17000);
|
||||
|
||||
// Start the pipeline with config
|
||||
pipe.start(config);
|
||||
|
||||
postDepthFilter->setConfigValue("sequenceid", -1); // sequenceid can be -1,0,1
|
||||
postLeftInfraredFilter->setConfigValue("sequenceid", -1);
|
||||
postRightInfraredFilter->setConfigValue("sequenceid", -1);
|
||||
|
||||
auto inputWatchThread = std::thread(inputWatcher);
|
||||
inputWatchThread.detach();
|
||||
|
||||
// Create a window for rendering and set the resolution of the window
|
||||
|
||||
// create window for render
|
||||
win = std::make_shared<ob_smpl::CVWindow>("Laser On-Off", 1280, 720, ob_smpl::ARRANGE_GRID);
|
||||
while(win->run()) {
|
||||
auto frameSet = pipe.waitForFrameset(100);
|
||||
if(frameSet == nullptr) {
|
||||
continue;
|
||||
}
|
||||
|
||||
auto postFilter = [](std::shared_ptr<ob::FrameSet> frameSet, std::shared_ptr<ob::Filter> &filter, OBFrameType frameType) -> std::shared_ptr<ob::Frame> {
|
||||
auto tempFrame = frameSet->getFrame(frameType);
|
||||
if(!tempFrame) {
|
||||
return nullptr;
|
||||
}
|
||||
return filter->process(tempFrame);
|
||||
};
|
||||
|
||||
try {
|
||||
// Using SequenceId filter to filter frames
|
||||
|
||||
// 1: depth
|
||||
auto depthFrame = postFilter(frameSet, postDepthFilter, OB_FRAME_DEPTH);
|
||||
if(depthFrame) {
|
||||
// add frame to render queue
|
||||
win->pushFramesToView(depthFrame, 0);
|
||||
}
|
||||
|
||||
// 2: left infrared
|
||||
auto leftIrFrame = postFilter(frameSet, postLeftInfraredFilter, OB_FRAME_IR_LEFT);
|
||||
if(leftIrFrame) {
|
||||
// add frame to render queue
|
||||
win->pushFramesToView(leftIrFrame, 1);
|
||||
}
|
||||
|
||||
// 2: right infrared
|
||||
auto rightIrFrame = postFilter(frameSet, postRightInfraredFilter, OB_FRAME_IR_RIGHT);
|
||||
if(rightIrFrame) {
|
||||
// add frame to render queue
|
||||
win->pushFramesToView(rightIrFrame, 2);
|
||||
}
|
||||
}
|
||||
catch(ob::Error &e) {
|
||||
std::cerr << "SequenceIdFilter error: " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
postDepthFilter.reset();
|
||||
postLeftInfraredFilter.reset();
|
||||
postRightInfraredFilter.reset();
|
||||
|
||||
// Stop the Pipeline, no frame data will be generated
|
||||
pipe.stop();
|
||||
|
||||
// close frame interleave
|
||||
device->setBoolProperty(OB_PROP_FRAME_INTERLEAVE_ENABLE_BOOL, false);
|
||||
|
||||
return 0;
|
||||
}
|
||||
catch(ob::Error &e) {
|
||||
std::cerr << "function:" << e.getFunction() << "\nargs:" << e.getArgs() << "\nmessage:" << e.what() << "\ntype:" << e.getExceptionType() << std::endl;
|
||||
std::cout << "\nPress any key to exit...";
|
||||
ob_smpl::waitForKeyPressed();
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
void printCommandTips() {
|
||||
std::cout << "\n-------------------------------";
|
||||
std::cout << "\nCommand usage: <filter> <param>";
|
||||
std::cout << "\n <filter>: stream filter name, must be one of the following values:";
|
||||
std::cout << "\n depth";
|
||||
std::cout << "\n left_ir";
|
||||
std::cout << "\n right_ir";
|
||||
std::cout << "\n <param>: stream filter param, must be one of the following values:";
|
||||
std::cout << "\n all: disable sequenceid filter";
|
||||
std::cout << "\n 0: set sequenceid to 0";
|
||||
std::cout << "\n 1: set sequenceid to 1";
|
||||
std::cout << "\nPress 'q' or 'quit' to exit the program." << std::endl;
|
||||
}
|
||||
|
||||
void inputWatcher() {
|
||||
while(true) {
|
||||
std::string cmd;
|
||||
|
||||
printCommandTips();
|
||||
std::getline(std::cin, cmd);
|
||||
if(cmd == "quit" || cmd == "q") {
|
||||
win->close();
|
||||
break;
|
||||
}
|
||||
else {
|
||||
std::istringstream ss(cmd);
|
||||
std::string tmp;
|
||||
std::vector<std::string> controlVec;
|
||||
while(ss >> tmp) {
|
||||
controlVec.push_back(tmp);
|
||||
}
|
||||
|
||||
if(controlVec.size() != 2) {
|
||||
std::cerr << "Error: invalid param." << std::endl;
|
||||
continue;
|
||||
}
|
||||
|
||||
// filter
|
||||
std::shared_ptr<ob::Filter> filter = nullptr;
|
||||
if(controlVec.at(0) == "depth") {
|
||||
filter = postDepthFilter;
|
||||
}
|
||||
else if(controlVec.at(0) == "left_ir") {
|
||||
filter = postLeftInfraredFilter;
|
||||
}
|
||||
else if(controlVec.at(0) == "right_ir") {
|
||||
filter = postRightInfraredFilter;
|
||||
}
|
||||
else {
|
||||
std::cerr << "Error: invalid param." << std::endl;
|
||||
continue;
|
||||
}
|
||||
|
||||
// param
|
||||
int32_t sequenceid = 0;
|
||||
|
||||
if(controlVec.at(1) == "all") {
|
||||
sequenceid = -1;
|
||||
}
|
||||
else if(controlVec.at(1) == "0") {
|
||||
sequenceid = 0;
|
||||
}
|
||||
else if(controlVec.at(1) == "1") {
|
||||
sequenceid = 1;
|
||||
}
|
||||
else {
|
||||
std::cerr << "Error: invalid param." << std::endl;
|
||||
continue;
|
||||
}
|
||||
|
||||
// set filter
|
||||
try {
|
||||
filter->setConfigValue("sequenceid", sequenceid);
|
||||
std::cout << "Set sequenceid successfully" << std::endl;
|
||||
}
|
||||
catch(ob::Error &e) {
|
||||
std::cerr << "Set sequenceid error: " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user