RealSenseSensor.cpp

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#include "RealSenseSensor.h"
#include "PCH.h"

URealSenseSensor::URealSenseSensor(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
{
        //REALSENSE_TRACE(TEXT("+URealSenseSensor_%p"), this);
}

URealSenseSensor::~URealSenseSensor()
{
        //REALSENSE_TRACE(TEXT("~URealSenseSensor_%p"), this);

        SetHandle(nullptr);
}

void URealSenseSensor::SetHandle(rs2_sensor* Handle)
{
        if (RsSensor) rs2_delete_sensor(RsSensor);
        RsSensor = Handle;
}

rs2_sensor* URealSenseSensor::GetHandle()
{
        return RsSensor;
}

URealSenseOption* URealSenseSensor::NewOption(rs2_options* Handle, ERealSenseOptionType Type, const TCHAR* ObjName)
{
        auto Option = NewNamedObject<URealSenseOption>(this, ObjName);
        Option->SetHandle(Handle);
        Option->SetType(Type);
        return Option;
}

void URealSenseSensor::QueryData()
{
        Options.Empty();
        StreamProfiles.Empty();

        rs2::error_ref e;
        Name = uestr(rs2_get_sensor_info(RsSensor, RS2_CAMERA_INFO_NAME, &e));

        for (int i = 0; i < RS2_OPTION_COUNT; ++i)
        {
                if (SupportsOption((ERealSenseOptionType)i))
                {
                        Options.Add(NewOption((rs2_options*)RsSensor, (ERealSenseOptionType)i, TEXT("RealSenseOption")));
                }
        }

        rs2_stream_profile_list* ProfileList = rs2_get_stream_profiles(RsSensor, &e);
        if (ProfileList)
        {
                const int NumProfiles = rs2_get_stream_profiles_count(ProfileList, &e);
                for (int Id = 0; Id < NumProfiles; Id++)
                {
                        const rs2_stream_profile* Profile = rs2_get_stream_profile(ProfileList, Id, &e);
                        if (Profile)
                        {
                                rs2_stream Stream;
                                rs2_format Format;
                                int StreamId;
                                int ProfileId;
                                int Framerate;
                                rs2_get_stream_profile_data(Profile, &Stream, &Format, &StreamId, &ProfileId, &Framerate, &e);

                                if (e.success())
                                {
                                        if ((Stream == RS2_STREAM_DEPTH && Format == RS2_FORMAT_Z16)
                                                || (Stream == RS2_STREAM_COLOR && Format == RS2_FORMAT_RGBA8)
                                                || (Stream == RS2_STREAM_INFRARED && Format == RS2_FORMAT_Y8))
                                        {
                                                FRealSenseStreamProfile spi;
                                                spi.StreamType = (ERealSenseStreamType)Stream;
                                                spi.Format = (ERealSenseFormatType)Format;
                                                spi.Rate = Framerate;
                                                rs2_get_video_stream_resolution(Profile, &spi.Width, &spi.Height, &e);

                                                if (e.success())
                                                {
                                                        StreamProfiles.Add(spi);
                                                }
                                        }
                                }
                        }
                }
        }

        for (auto* Option : Options)
        {
                Option->QueryData();
        }
}

bool URealSenseSensor::SupportsOption(ERealSenseOptionType Option)
{
        rs2::error_ref e;
        const int Value = rs2_supports_option((const rs2_options*)RsSensor, (rs2_option)Option, &e);
        return (e.success() && Value == (int)true);
}

bool URealSenseSensor::SupportsProfile(FRealSenseStreamProfile Profile)
{
        for (const auto& Iter : StreamProfiles)
        {
                if (Iter.StreamType == Profile.StreamType 
                        && Iter.Format == Profile.Format 
                        && Iter.Width == Profile.Width 
                        && Iter.Height == Profile.Height 
                        && Iter.Rate == Profile.Rate)
                {
                        return true;
                }
        }
        return false;
}

URealSenseOption* URealSenseSensor::GetOption(ERealSenseOptionType OptionType)
{
        URealSenseOption* Result = nullptr;

        for (auto* Option : Options)
        {
                if (Option->Type == OptionType)
                {
                        Result = Option;
                        break;
                }
        }

        return Result;
}