Dev

examples/cpp-multicam.cpp

@@ -8,17 +8,17 @@
 #include <algorithm>
 
 std::vector<texture_buffer> buffers;
+std::vector<rs::device *> devices;
 
 int main(int argc, char * argv[]) try
 {
-    rs::log_to_console(rs::log_severity::warn);
+    rs::log_to_console(rs::log_severity::debug);
     //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));
@@ -41,14 +41,49 @@ int main(int argc, char * argv[]) try
     glfwInit();
     std::ostringstream ss; ss << "CPP Multi-Camera Example";
     GLFWwindow * win = glfwCreateWindow(1280, 960, ss.str().c_str(), 0, 0);
-    glfwMakeContextCurrent(win);
+    glfwSetWindowUserPointer(win, &ctx);
+    glfwSetKeyCallback(win, [](GLFWwindow * win, int key, int scancode, int action, int mods) 
+    { 
+        auto ctx = (rs::context *)glfwGetWindowUserPointer(win);
+        if(action != GLFW_RELEASE)
+        {
+            if(key >= GLFW_KEY_0 && key <= GLFW_KEY_9)
+            {
+                int index = key - GLFW_KEY_0;
+                if(index < ctx->get_device_count())
+                {
+                    auto * dev = ctx->get_device(index);
+                    std::cout << "Resetting device " << index << " (" << dev->get_name() << ")" << std::endl;
+                    dev->reset();
 
-	int windowWidth, windowHeight;
-    glfwGetWindowSize(win, &windowWidth, &windowHeight);
+                    std::cout << "Device reset. Restarting streaming..." << std::endl;
+                    dev->enable_stream(rs::stream::depth, rs::preset::best_quality);
+                    dev->enable_stream(rs::stream::color, rs::preset::best_quality);
+                    dev->start();
+                }
+            }
 
-	// Does not account for correct aspect ratios
-	auto perTextureWidth = windowWidth / devices.size();
-	auto perTextureHeight = 480;
+            if(key == GLFW_KEY_R)
+            {
+                int old_count = ctx->get_device_count();
+                ctx->enumerate_devices();
+                int new_count = ctx->get_device_count();
+                for(int i=old_count; i<new_count; ++i)
+                {
+                    auto dev = ctx->get_device(i);
+
+                    devices.push_back(dev);
+                    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;
+                }
+                buffers.resize(new_count * 2);
+            }
+        }
+    });
+    glfwMakeContextCurrent(win);
 
     while (!glfwWindowShouldClose(win))
     {
@@ -65,6 +100,11 @@ int main(int argc, char * argv[]) try
         glPushMatrix();
         glOrtho(0, w, h, 0, -1, +1);
         glPixelZoom(1, -1);
+
+	    // Does not account for correct aspect ratios
+	    auto perTextureWidth = w / devices.size();
+	    auto perTextureHeight = h / 2;
+
         int i=0, x=0;
         for(auto dev : devices)
         {

include/librealsense/rs.h

@@ -8,7 +8,7 @@
 extern "C" {
 #endif
 
-#define RS_API_VERSION 4
+#define RS_API_VERSION 5
 
 typedef enum rs_stream
 {
@@ -150,6 +150,12 @@ typedef struct rs_error rs_error;
 rs_context * rs_create_context(int api_version, rs_error ** error);
 void rs_delete_context(rs_context * context, rs_error ** error);
 
+/**
+ * refresh the list of available devices associated with this context
+ * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+ */
+void rs_enumerate_devices(rs_context * context, rs_error ** error);
+
 /**
  * determine number of connected devices
  * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
@@ -395,6 +401,12 @@ int rs_get_frame_timestamp(const rs_device * device, rs_stream stream, rs_error
  * \return            the pointer to the start of the frame data
  */
 const void * rs_get_frame_data(const rs_device * device, rs_stream stream, rs_error ** error);
+
+/**
+ * force the device hardware to reset, and block until a connection to the device can be reestablished
+ * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+ */
+void rs_reset_device(rs_device * device, rs_error ** error);
 
 const char * rs_get_failed_function  (const rs_error * error);
 const char * rs_get_failed_args      (const rs_error * error);

include/librealsense/rs.hpp

@@ -170,7 +170,7 @@ namespace rs
         context()
         {
             rs_error * e = nullptr;
-            handle = rs_create_context(4, &e);
+            handle = rs_create_context(RS_API_VERSION, &e);
             error::handle(e);
         }
 
@@ -179,6 +179,15 @@ namespace rs
             rs_delete_context(handle, nullptr);
         }
 
+        /// refresh the list of available devices associated with this context
+        ///
+        void enumerate_devices()
+        {
+            rs_error * e = nullptr;
+            rs_enumerate_devices(handle, &e);
+            error::handle(e);
+        }
+
         /// determine number of connected devices
         /// \return  the count of devices
         int get_device_count() const
@@ -519,6 +528,15 @@ namespace rs
             error::handle(e);
             return r;
         }
+
+        /// force the device hardware to reset, and block until a connection to the device can be reestablished
+        /// \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+        void reset()
+        {
+            rs_error * e = nullptr;
+            rs_reset_device((rs_device *)this, &e);
+            error::handle(e);
+        }
     };
 
     inline std::ostream & operator << (std::ostream & o, stream stream) { return o << rs_stream_to_string((rs_stream)stream); }

librealsense.vc12/realsense-s/realsense-s.vcxproj

@@ -0,0 +1,187 @@
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+    </ProjectConfiguration>
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+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
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+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\..\src\context.cpp" />
+    <ClCompile Include="..\..\src\device.cpp" />
+    <ClCompile Include="..\..\src\f200-private.cpp" />
+    <ClCompile Include="..\..\src\f200.cpp" />
+    <ClCompile Include="..\..\src\image.cpp" />
+    <ClCompile Include="..\..\src\log.cpp" />
+    <ClCompile Include="..\..\src\r200-private.cpp" />
+    <ClCompile Include="..\..\src\r200.cpp" />
+    <ClCompile Include="..\..\src\rs.cpp" />
+    <ClCompile Include="..\..\src\stream.cpp" />
+    <ClCompile Include="..\..\src\sync.cpp" />
+    <ClCompile Include="..\..\src\types.cpp" />
+    <ClCompile Include="..\..\src\uvc-libuvc.cpp" />
+    <ClCompile Include="..\..\src\uvc-v4l2.cpp" />
+    <ClCompile Include="..\..\src\uvc-wmf.cpp" />
+    <ClCompile Include="..\..\src\uvc.cpp" />
+    <ClCompile Include="..\..\src\verify.c" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\..\include\librealsense\rs.h" />
+    <ClInclude Include="..\..\include\librealsense\rs.hpp" />
+    <ClInclude Include="..\..\include\librealsense\rsutil.h" />
+    <ClInclude Include="..\..\src\context.h" />
+    <ClInclude Include="..\..\src\device.h" />
+    <ClInclude Include="..\..\src\f200-private.h" />
+    <ClInclude Include="..\..\src\f200.h" />
+    <ClInclude Include="..\..\src\image.h" />
+    <ClInclude Include="..\..\src\r200-private.h" />
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+    <ClInclude Include="..\..\src\types.h" />
+    <ClInclude Include="..\..\src\uvc.h" />
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+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{FD3A32E5-FD0B-4802-AED9-4260DF436FE0}</ProjectGuid>
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+    <RootNamespace>realsenses</RootNamespace>
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