D435i patch

README.md

@@ -5,14 +5,14 @@
 [![Build status](https://ci.appveyor.com/api/projects/status/iolvq2tckcgdcdrp?svg=true)](https://ci.appveyor.com/project/hiroMTB/ofxrealsense2)
 
 # ofxRealsense2
-This repos is openFrameworks addon for [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense). You can test your D400 series camera quickly. If you dont have device, you cann still playback BAG files and see how it works (for example performance, postprocessing, depth quality, etc)
+This repos is openFrameworks addon for [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense), specifically the D435i. You can test your D400 series camera quickly. If you dont have device, you can still playback BAG files and see how it works (for example performance, postprocessing, depth quality, etc).
 
 
 ## Development period
-- 2018.7 ~ active
+- 2019.5 ~ active
 
 ## Version
-- Realsense 2.14.1 (released on 2018.7, this is not latest)
+- Realsense 2.2.22 (released on 2019.01, the latest as of May 2019)
 - libusb 1.0.22
 - openFrameworks 0.10.0, 0.10.1
 
@@ -25,15 +25,28 @@ This repos is openFrameworks addon for [Intel® RealSense™ SDK 2.0](https://gi
 - [x] add bag file playback example
 
 ## Install Realsense SDK
-Follow the official instalaction [here](https://realsense.intel.com/sdk-2/) and check you can launch realsense viewer.
+Follow the official installation [here](https://realsense.intel.com/sdk-2/) and check you can launch realsense viewer.
+OR :
+using brew :
+```
+brew install libusb pkg-config
+brew install homebrew/core/glfw3
+brew install cmake
+brew install librealsense
 
-## Using oF Poroject Generator
+#all of these things should now be visible in /usr/local/lib
+#after brew installing librealsense you should be able to immediately type realsense-viewer into the terminal and see the viewer
+
+```
+
+
+## Using oF Project Generator
 
 This repo does not contain any project file. Please generate project file by yourself.
-Project Generator needs addon_config.make for setting library properly. This repo contain follwing two .make. Please rename your favorite one to addon_config.make.
+Project Generator needs addon_config.make for setting library properly. This repo contain following two .make. Please rename your favorite one to addon_config.make.
 
 - addon_config_shared.make : Generate project file which use shared library(.dylib, .dll + .lib)
-- addon_config_static.make : Generate project file which use static library(.a, .lib). 
+- addon_config_static.make : Generate project file which use static library(.a, .lib).
 
 ## Static library vs Shared library
 
@@ -59,8 +72,8 @@ With Realsense Viewer you can record/playback depth & color stream to bag file.
 ## Hardware
 - Sometimes I experienced collapesed data stream when I use USB 3.0 extension cable from D435 camera.
 Unplug and plug camera again if you see strange data.
-- The quality of depth data from D400 series is depends on parameter of postprocessing. I recommend to check out [this PDF article](https://realsense.intel.com/wp-content/uploads/sites/63/BKM-For-Tuning-D435-and-D415-Cameras-Webinar_Rev3.pdf) and test with Realsense Viewer. 
+- The quality of depth data from D400 series is depends on parameter of postprocessing. I recommend to check out [this PDF article](https://realsense.intel.com/wp-content/uploads/sites/63/BKM-For-Tuning-D435-and-D415-Cameras-Webinar_Rev3.pdf) and test with Realsense Viewer.
 
 ## Notice
 ### libusb in osx
-- libusb is NOT included in this repo. Should be installed to your system with 'brew install libusb' at first SDK install step.
+- libusb is NOT included in this repo. Should be installed to your system with 'brew install libusb' at first SDK install step.

exampleLiveCamera/exampleLiveCamera.xcodeproj/project.xcworkspace/xcshareddata/WorkspaceSettings.xcsettings

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>BuildSystemType</key>
+	<string>Original</string>
+</dict>
+</plist>

exampleLiveCamera/src/ofApp.cpp

@@ -9,18 +9,29 @@ void ofApp::setup(){
 	// if you see app crash at runtime, please check,
 	// 1. Copy Intel.Realsense.dll and realsense2.dll in to /bin? 
 	// 2. Unplug and re-connect Realsense camera and restart app.
-	pipe.start();
+    cfg.enable_stream(RS2_STREAM_DEPTH);
+    cfg.enable_stream(RS2_STREAM_COLOR);
+	pipe.start(cfg);
 }
 
 void ofApp::update(){
 
     // Get depth data from camera
-    auto frames = pipe.wait_for_frames();
+    rs2::frameset frames = pipe.wait_for_frames();
+
+    rs2::align align_to_color(RS2_STREAM_COLOR);
+    frames = align_to_color.process(frames);
+
     auto depth = frames.get_depth_frame();
+    auto color = frames.get_color_frame();
+    pc.map_to(color);
     points = pc.calculate(depth);
+    textureImg.setFromPixels((const unsigned char*) color.get_data(), color.get_width(), color.get_height(), OF_IMAGE_COLOR);
+
 
     // Create oF mesh
     mesh.clear();
+    mesh.setMode(OF_PRIMITIVE_POINTS);
     int n = points.size();
     if(n!=0){
         const rs2::vertex * vs = points.get_vertices();
@@ -29,7 +40,13 @@ void ofApp::update(){
                 const rs2::vertex v = vs[i];
                 glm::vec3 v3(v.x,v.y,v.z);
                 mesh.addVertex(v3);
-                mesh.addColor(ofFloatColor(0,0,ofMap(v.z, 2, 6, 1, 0), 0.8));
+
+                float red   = (float)(textureImg.getPixels()[i * 3]);
+                float green = (float)(textureImg.getPixels()[(i * 3) + 1]);
+                float blue  = (float)(textureImg.getPixels()[(i * 3) + 2]);
+                ofColor c = ofColor({red,green,blue});
+
+                mesh.addColor(c);
             }
         }
     }
@@ -50,7 +67,7 @@ void ofApp::draw(){
     ofDrawGridPlane(1, 5, true);
     ofPopMatrix();
 
-    mesh.drawVertices();
+    mesh.draw();
 
     cam.end();
 }

exampleLiveCamera/src/ofApp.h

@@ -11,11 +11,17 @@ class ofApp : public ofBaseApp{
 
     rs2::pipeline pipe;
     rs2::device device;
+    rs2::config cfg;
+
 
     rs2::points points;
     rs2::pointcloud pc;
+    const rs2::texture_coordinate* texCoord;
+    rs2::frame colorFrame;
+
 
     ofVboMesh mesh;
     ofEasyCam cam;
+    ofImage textureImg;
 
 };

examplePlayback/examplePlayback.xcodeproj/project.xcworkspace/xcshareddata/WorkspaceSettings.xcsettings

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>BuildSystemType</key>
+	<string>Original</string>
+</dict>
+</plist>

libs/realsense2/include/librealsense2/h/rs_advanced_mode_command.h

@@ -122,6 +122,11 @@ typedef struct
     uint32_t vDiameter;
 }STCensusRadius;
 
+typedef struct
+{
+    float   amplitude;
+}STAFactor;
+
 #ifdef __cplusplus
 extern "C"{
 #endif

libs/realsense2/include/librealsense2/h/rs_config.h

@@ -0,0 +1,200 @@
+/* License: Apache 2.0. See LICENSE file in root directory.
+Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
+
+/** \file rs_pipeline.h
+* \brief
+* Exposes RealSense processing-block functionality for C compilers
+*/
+
+
+#ifndef LIBREALSENSE_RS2_CONFIG_H
+#define LIBREALSENSE_RS2_CONFIG_H
+
+#define RS2_DEFAULT_TIMEOUT 15000
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "rs_types.h"
+#include "rs_sensor.h"
+
+    /**
+    * Create a config instance
+    * The config allows pipeline users to request filters for the pipeline streams and device selection and configuration.
+    * This is an optional step in pipeline creation, as the pipeline resolves its streaming device internally.
+    * Config provides its users a way to set the filters and test if there is no conflict with the pipeline requirements
+    * from the device. It also allows the user to find a matching device for the config filters and the pipeline, in order to
+    * select a device explicitly, and modify its controls before streaming starts.
+    *
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    * \return rs2_config*  A pointer to a new config instance
+    */
+    rs2_config* rs2_create_config(rs2_error** error);
+
+    /**
+    * Deletes an instance of a config
+    *
+    * \param[in] config    A pointer to an instance of a config
+    */
+    void rs2_delete_config(rs2_config* config);
+
+    /**
+    * Enable a device stream explicitly, with selected stream parameters.
+    * The method allows the application to request a stream with specific configuration. If no stream is explicitly enabled, the pipeline
+    * configures the device and its streams according to the attached computer vision modules and processing blocks requirements, or
+    * default configuration for the first available device.
+    * The application can configure any of the input stream parameters according to its requirement, or set to 0 for don't care value.
+    * The config accumulates the application calls for enable configuration methods, until the configuration is applied. Multiple enable
+    * stream calls for the same stream with conflicting parameters override each other, and the last call is maintained.
+    * Upon calling \c resolve(), the config checks for conflicts between the application configuration requests and the attached computer
+    * vision modules and processing blocks requirements, and fails if conflicts are found. Before \c resolve() is called, no conflict
+    * check is done.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] stream    Stream type to be enabled
+    * \param[in] index     Stream index, used for multiple streams of the same type. -1 indicates any.
+    * \param[in] width     Stream image width - for images streams. 0 indicates any.
+    * \param[in] height    Stream image height - for images streams. 0 indicates any.
+    * \param[in] format    Stream data format - pixel format for images streams, of data type for other streams. RS2_FORMAT_ANY indicates any.
+    * \param[in] framerate Stream frames per second. 0 indicates any.
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_enable_stream(rs2_config* config,
+        rs2_stream stream,
+        int index,
+        int width,
+        int height,
+        rs2_format format,
+        int framerate,
+        rs2_error** error);
+
+    /**
+    * Enable all device streams explicitly.
+    * The conditions and behavior of this method are similar to those of \c enable_stream().
+    * This filter enables all raw streams of the selected device. The device is either selected explicitly by the application,
+    * or by the pipeline requirements or default. The list of streams is device dependent.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_enable_all_stream(rs2_config* config, rs2_error ** error);
+
+    /**
+    * Select a specific device explicitly by its serial number, to be used by the pipeline.
+    * The conditions and behavior of this method are similar to those of \c enable_stream().
+    * This method is required if the application needs to set device or sensor settings prior to pipeline streaming, to enforce
+    * the pipeline to use the configured device.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] serial device serial number, as returned by RS2_CAMERA_INFO_SERIAL_NUMBER
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_enable_device(rs2_config* config, const char* serial, rs2_error ** error);
+
+    /**
+    * Select a recorded device from a file, to be used by the pipeline through playback.
+    * The device available streams are as recorded to the file, and \c resolve() considers only this device and configuration
+    * as available.
+    * This request cannot be used if enable_record_to_file() is called for the current config, and vise versa
+    * By default, playback is repeated once the file ends. To control this, see 'rs2_config_enable_device_from_file_repeat_option'.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] file      The playback file of the device
+    * \param[out] error    if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_enable_device_from_file(rs2_config* config, const char* file, rs2_error ** error);
+
+    /**
+    * Select a recorded device from a file, to be used by the pipeline through playback.
+    * The device available streams are as recorded to the file, and \c resolve() considers only this device and configuration
+    * as available.
+    * This request cannot be used if enable_record_to_file() is called for the current config, and vise versa
+    *
+    * \param[in] config           A pointer to an instance of a config
+    * \param[in] file             The playback file of the device
+    * \param[in] repeat_playback  if true, when file ends the playback starts again, in an infinite loop;
+                                  if false, when file ends playback does not start again, and should by stopped manually by the user.
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_enable_device_from_file_repeat_option(rs2_config* config, const char* file, int repeat_playback, rs2_error ** error);
+
+    /**
+    * Requires that the resolved device would be recorded to file
+    * This request cannot be used if enable_device_from_file() is called for the current config, and vise versa
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] file      The desired file for the output record
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_enable_record_to_file(rs2_config* config, const char* file, rs2_error ** error);
+
+
+    /**
+    * Disable a device stream explicitly, to remove any requests on this stream type.
+    * The stream can still be enabled due to pipeline computer vision module request. This call removes any filter on the
+    * stream configuration.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] stream    Stream type, for which the filters are cleared
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_disable_stream(rs2_config* config, rs2_stream stream, rs2_error ** error);
+
+    /**
+    * Disable a device stream explicitly, to remove any requests on this stream profile.
+    * The stream can still be enabled due to pipeline computer vision module request. This call removes any filter on the
+    * stream configuration.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] stream    Stream type, for which the filters are cleared
+    * \param[in] index     Stream index, for which the filters are cleared
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_disable_indexed_stream(rs2_config* config, rs2_stream stream, int index, rs2_error ** error);
+
+    /**
+    * Disable all device stream explicitly, to remove any requests on the streams profiles.
+    * The streams can still be enabled due to pipeline computer vision module request. This call removes any filter on the
+    * streams configuration.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    */
+    void rs2_config_disable_all_streams(rs2_config* config, rs2_error ** error);
+
+    /**
+    * Resolve the configuration filters, to find a matching device and streams profiles.
+    * The method resolves the user configuration filters for the device and streams, and combines them with the requirements of
+    * the computer vision modules and processing blocks attached to the pipeline. If there are no conflicts of requests, it looks
+    * for an available device, which can satisfy all requests, and selects the first matching streams configuration. In the absence
+    * of any request, the rs2::config selects the first available device and the first color and depth streams configuration.
+    * The pipeline profile selection during \c start() follows the same method. Thus, the selected profile is the same, if no
+    * change occurs to the available devices occurs.
+    * Resolving the pipeline configuration provides the application access to the pipeline selected device for advanced control.
+    * The returned configuration is not applied to the device, so the application doesn't own the device sensors. However, the
+    * application can call \c enable_device(), to enforce the device returned by this method is selected by pipeline \c start(),
+    * and configure the device and sensors options or extensions before streaming starts.
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] pipe  The pipeline for which the selected filters are applied
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    * \return       A matching device and streams profile, which satisfies the filters and pipeline requests.
+    */
+    rs2_pipeline_profile* rs2_config_resolve(rs2_config* config, rs2_pipeline* pipe, rs2_error ** error);
+
+    /**
+    * Check if the config can resolve the configuration filters, to find a matching device and streams profiles.
+    * The resolution conditions are as described in \c resolve().
+    *
+    * \param[in] config    A pointer to an instance of a config
+    * \param[in] pipe  The pipeline for which the selected filters are applied
+    * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+    * \return       True if a valid profile selection exists, false if no selection can be found under the config filters and the available devices.
+    */
+    int rs2_config_can_resolve(rs2_config* config, rs2_pipeline* pipe, rs2_error ** error);
+
+#ifdef __cplusplus
+}
+#endif
+#endif