cpp-multicam.cpp

// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015 Intel Corporation. All Rights Reserved.

#include <librealsense/rs.hpp>
#include "example.hpp"

#include <iostream>
#include <algorithm>

std::vector<texture_buffer> buffers;

int main(int argc, char * argv[]) try
{
	rs::log_to_console(rs::log_severity::warn);
	//rs::log_to_file(rs::log_severity::debug, "librealsense.log");

	rs::context ctx;
	if (ctx.get_device_count() == 0) throw std::runtime_error("No device detected. Is it plugged in?");

	// Enumerate all devices
	std::vector<rs::device *> devices;
	for (int i = 0; i<ctx.get_device_count(); ++i)
	{
		devices.push_back(ctx.get_device(i));
	}

	// Configure and start our devices
	for (auto dev : devices)
	{
		std::cout << "Starting " << dev->get_name() << "... ";

		dev->enable_stream(rs::stream::depth, rs::preset::best_quality);
//		dev->enable_stream(rs::stream::color, rs::preset::best_quality);
		dev->start();
		std::cout << "done." << std::endl;
	}

	// Depth and color
	//buffers.resize(ctx.get_device_count() * 2);
	buffers.resize(ctx.get_device_count());

	// Open a GLFW window
	glfwInit();
	std::ostringstream ss; ss << "CPP Multi-Camera Example";
	GLFWwindow * win = glfwCreateWindow(1280, 480, ss.str().c_str(), 0, 0);
	glfwMakeContextCurrent(win);

	int windowWidth, windowHeight;
	glfwGetWindowSize(win, &windowWidth, &windowHeight);

	// Does not account for correct aspect ratios
	auto perTextureWidth = windowWidth / devices.size();
	auto perTextureHeight = 480;

	while (!glfwWindowShouldClose(win))
	{
		// Wait for new images
		glfwPollEvents();

		// Draw the images
		int w, h;
		glfwGetFramebufferSize(win, &w, &h);
		glViewport(0, 0, w, h);
		glClear(GL_COLOR_BUFFER_BIT);

		glfwGetWindowSize(win, &w, &h);
		glPushMatrix();
		glOrtho(0, w, h, 0, -1, +1);
		glPixelZoom(1, -1);
		int i = 0, x = 0;
		for (auto dev : devices)
		{
			dev->poll_for_frames();
			//const auto c = dev->get_stream_intrinsics(rs::stream::color), d = dev->get_stream_intrinsics(rs::stream::depth);
			//buffers[i++].show(*dev, rs::stream::color, x, 0, perTextureWidth, perTextureHeight);
			//buffers[i++].show(*dev, rs::stream::depth, x, perTextureHeight, perTextureWidth, perTextureHeight);
			buffers[i++].show(*dev, rs::stream::depth, x, 0, perTextureWidth, perTextureHeight);
			x += perTextureWidth;
		}

		glPopMatrix();
		glfwSwapBuffers(win);
	}

	glfwDestroyWindow(win);
	glfwTerminate();
	return EXIT_SUCCESS;
}
catch (const rs::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;
}