/// <summary>
///
/// </summary>
static void InitInternal()
{
Console.WriteLine(ConsoleColor.DarkCyan, "Starting RealSense");
if (!FakePosition)
{
// The variable Resolution contains all available combinations of resolutions, formats sensors, etc. you can get from the camera.
IEnumerable <FrameData> Resolutions = RealSenseCamera.QueryResolutions().OrderBy((Data) => - Data.Framerate); // Resolutions is a list of frame data which contains the sensors and the resolutions. Basically all the possible formats/outputs of the camera. Depth,ARGB, etc. in different resolutions.
IEnumerable <FrameData> DepthResolutions = Resolutions.Where((Data) => Data.Type == FrameType.Depth); // Selects the resolutions/formats for depth frame type
int ReqW = 640;
int ReqH = 480;
//int ReqW = 848;
//int ReqH = 480;
//int ReqW = 1280;
//int ReqH = 720;
// From the available resolutions/formats pick only the one that we want.
FrameData DepthRes = DepthResolutions.Where((Data) => Data.Width == ReqW && Data.Height == ReqH && Data.Format == FrameFormat.Z16).First();
FrameData ColorRes = Resolutions.Where((Data) => Data.Width == ReqW && Data.Height == ReqH && Data.Format == FrameFormat.Rgb8).First();
W = ColorRes.Width;
H = ColorRes.Height;
Console.WriteLine(ConsoleColor.DarkCyan, "RealSense running at {0}x{1}", W, H);
// This options were copied from the Intel RealSense Viewer. The demo program to connect to the camera...
RealSenseCamera.SetOption(DepthRes, RealSenseOption.VisualPreset, 1); //4
RealSenseCamera.SetOption(DepthRes, RealSenseOption.EmitterEnabled, 0); // This enables/disables the IR pattern projector on the camera. Curently turned off, because it interfeers with the ototrack cameras.
RealSenseCamera.SetOption(DepthRes, RealSenseOption.EnableAutoExposure, 1);
//RealSenseCamera.SetOption(DepthRes, RealSenseOption.LaserPower, 30); // Set different power leves of the IR laser emitter
RealSenseCamera.DisableAllStreams(); // Make sure to terminate any open data stream from the camera.
RealSenseCamera.EnableStream(DepthRes, ColorRes); // This tells the camera what kind of data to send back. Type of video/data streams. In this case the depth image in specified format and color image.
RealSenseCamera.Start(); // Starts the camera with the selected streams
Console.WriteLine(ConsoleColor.DarkCyan, "RealSense ready");
if (Program.UseThreading)
{
while (true)
{
Loop();
}
}
}
else // Fake point cloud of the camera
{
Ready = true;
float Scale = 1.0f / 500.0f;
int PlaneSize = 100;
Vertex3[] Verts = OnPointCloud(PlaneSize * PlaneSize, null, null);
for (int y = 0; y < PlaneSize; y++)
{
for (int x = 0; x < PlaneSize; x++)
{
Verts[y * PlaneSize + x] = new Vertex3(x * Scale - ((PlaneSize / 2) * Scale), y * Scale - ((PlaneSize / 2) * Scale), 0.5f);
}
}
while (true)
{
OnPointCloud(Verts.Length, Verts, null);
}
}
}
static void InitInternal()
{
Console.WriteLine(ConsoleColor.DarkCyan, "Starting RealSense");
if (!FakePosition)
{
IEnumerable <FrameData> Resolutions = RealSenseCamera.QueryResolutions().OrderBy((Data) => - Data.Framerate);
IEnumerable <FrameData> DepthResolutions = Resolutions.Where((Data) => Data.Type == FrameType.Depth);
int ReqW = 640;
int ReqH = 480;
//int ReqW = 848;
//int ReqH = 480;
//int ReqW = 1280;
//int ReqH = 720;
FrameData DepthRes = DepthResolutions.Where((Data) => Data.Width == ReqW && Data.Height == ReqH && Data.Format == FrameFormat.Z16).First();
FrameData ColorRes = Resolutions.Where((Data) => Data.Width == ReqW && Data.Height == ReqH && Data.Format == FrameFormat.Rgb8).First();
W = ColorRes.Width;
H = ColorRes.Height;
Console.WriteLine(ConsoleColor.DarkCyan, "RealSense running at {0}x{1}", W, H);
RealSenseCamera.SetOption(DepthRes, RealSenseOption.VisualPreset, 1); //4
RealSenseCamera.SetOption(DepthRes, RealSenseOption.EmitterEnabled, 0);
RealSenseCamera.SetOption(DepthRes, RealSenseOption.EnableAutoExposure, 1);
//RealSenseCamera.SetOption(DepthRes, RealSenseOption.LaserPower, 30);
RealSenseCamera.DisableAllStreams();
RealSenseCamera.EnableStream(DepthRes, ColorRes);
RealSenseCamera.Start();
Console.WriteLine(ConsoleColor.DarkCyan, "RealSense ready");
if (Program.UseThreading)
{
while (true)
{
Loop();
}
}
}
else
{
Ready = true;
float Scale = 1.0f / 500.0f;
int PlaneSize = 100;
Vertex3[] Verts = OnPointCloud(PlaneSize * PlaneSize, null, null);
for (int y = 0; y < PlaneSize; y++)
{
for (int x = 0; x < PlaneSize; x++)
{
Verts[y * PlaneSize + x] = new Vertex3(x * Scale - ((PlaneSize / 2) * Scale), y * Scale - ((PlaneSize / 2) * Scale), 0.5f);
}
}
while (true)
{
OnPointCloud(Verts.Length, Verts, null);
}
}
}