Skip to content

[WIB] Added methods to query for serialNumber and Camera parameters without starting device. #82

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
larshg wants to merge 1 commit into from
Closed

[WIB] Added methods to query for serialNumber and Camera parameters without starting device. #82

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
73 changes: 72 additions & 1 deletion examples/protonect/src/libfreenect2.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,11 @@ class Freenect2DeviceImpl : public Freenect2Device
virtual Freenect2Device::ColorCameraParams getColorCameraParams();
virtual Freenect2Device::IrCameraParams getIrCameraParams();

virtual std::string QuerySerialNumber();

virtual ColorCameraParams QueryColorCameraParams();
virtual IrCameraParams QueryIrCameraParams();

int nextCommandSeq();

bool open();
Expand Down Expand Up @@ -376,11 +381,77 @@ Freenect2Device::ColorCameraParams Freenect2DeviceImpl::getColorCameraParams()
return rgb_camera_params_;
}


Freenect2Device::IrCameraParams Freenect2DeviceImpl::getIrCameraParams()
{
return ir_camera_params_;
}

std::string Freenect2DeviceImpl::QuerySerialNumber()
{
CommandTransaction::Result serial_result;
command_tx_.execute(ReadSerialNumberCommand(nextCommandSeq()), serial_result);
std::string new_serial = SerialNumberResponse(serial_result.data, serial_result.length).toString();
return new_serial;
}

Freenect2Device::ColorCameraParams Freenect2DeviceImpl::QueryColorCameraParams()
{
CommandTransaction::Result result;
command_tx_.execute(ReadRgbCameraParametersCommand(nextCommandSeq()), result);
RgbCameraParamsResponse *rgb_p = reinterpret_cast<RgbCameraParamsResponse *>(result.data);

rgb_camera_params_.fx = rgb_p->color_f;
rgb_camera_params_.fy = rgb_p->color_f;
rgb_camera_params_.cx = rgb_p->color_cx;
rgb_camera_params_.cy = rgb_p->color_cy;

rgb_camera_params_.shift_d = rgb_p->shift_d;
rgb_camera_params_.shift_m = rgb_p->shift_m;

rgb_camera_params_.mx_x3y0 = rgb_p->mx_x3y0; // xxx
rgb_camera_params_.mx_x0y3 = rgb_p->mx_x0y3; // yyy
rgb_camera_params_.mx_x2y1 = rgb_p->mx_x2y1; // xxy
rgb_camera_params_.mx_x1y2 = rgb_p->mx_x1y2; // yyx
rgb_camera_params_.mx_x2y0 = rgb_p->mx_x2y0; // xx
rgb_camera_params_.mx_x0y2 = rgb_p->mx_x0y2; // yy
rgb_camera_params_.mx_x1y1 = rgb_p->mx_x1y1; // xy
rgb_camera_params_.mx_x1y0 = rgb_p->mx_x1y0; // x
rgb_camera_params_.mx_x0y1 = rgb_p->mx_x0y1; // y
rgb_camera_params_.mx_x0y0 = rgb_p->mx_x0y0; // 1

rgb_camera_params_.my_x3y0 = rgb_p->my_x3y0; // xxx
rgb_camera_params_.my_x0y3 = rgb_p->my_x0y3; // yyy
rgb_camera_params_.my_x2y1 = rgb_p->my_x2y1; // xxy
rgb_camera_params_.my_x1y2 = rgb_p->my_x1y2; // yyx
rgb_camera_params_.my_x2y0 = rgb_p->my_x2y0; // xx
rgb_camera_params_.my_x0y2 = rgb_p->my_x0y2; // yy
rgb_camera_params_.my_x1y1 = rgb_p->my_x1y1; // xy
rgb_camera_params_.my_x1y0 = rgb_p->my_x1y0; // x
rgb_camera_params_.my_x0y1 = rgb_p->my_x0y1; // y
rgb_camera_params_.my_x0y0 = rgb_p->my_x0y0; // 1

return rgb_camera_params_;
}

Freenect2Device::IrCameraParams Freenect2DeviceImpl::QueryIrCameraParams()
{
CommandTransaction::Result result;
command_tx_.execute(ReadDepthCameraParametersCommand(nextCommandSeq()), result);
DepthCameraParamsResponse *ir_p = reinterpret_cast<DepthCameraParamsResponse *>(result.data);

ir_camera_params_.fx = ir_p->fx;
ir_camera_params_.fy = ir_p->fy;
ir_camera_params_.cx = ir_p->cx;
ir_camera_params_.cy = ir_p->cy;
ir_camera_params_.k1 = ir_p->k1;
ir_camera_params_.k2 = ir_p->k2;
ir_camera_params_.k3 = ir_p->k3;
ir_camera_params_.p1 = ir_p->p1;
ir_camera_params_.p2 = ir_p->p2;

return ir_camera_params_;
}

void Freenect2DeviceImpl::setColorFrameListener(libfreenect2::FrameListener* rgb_frame_listener)
{
// TODO: should only be possible, if not started
Expand Down