do not load settings from json file

- set depth units via sensor.set_option instead
- also notify user what range/precision the depth units result in

main.cpp

@@ -1,15 +1,15 @@
 /*
- * Realsense D400 infrared stream to H.264 with VAAPI encoding
+ * Realsense D400 depth stream to HEVC Main10 with VAAPI encoding
  *
- * Copyright 2019 (C) Bartosz Meglicki <[email protected]>
+ * Copyright 2019-2020 (C) Bartosz Meglicki <[email protected]>
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
  * file, You can obtain one at http://mozilla.org/MPL/2.0/.
  *
  */
 
-/* This program is example how to use:
+/* TO DO This program is example how to use:
  * - VAAPI to hardware encode
  * - Realsense D400 greyscale infrared stream
  * - to H.264 raw video
@@ -25,13 +25,6 @@
 // Realsense API
 #include <librealsense2/rs.hpp>
 
-//loading json settings
-#include <librealsense2/rs_advanced_mode.hpp>
-//#include <string>
-//#include <fstream>
-//#include <streambuf>
-//end of json settings
-
 #include <fstream>
 #include <iostream>
 using namespace std;
@@ -46,13 +39,13 @@ struct input_args
 	int width;
 	int height;
 	int framerate;
+	float depth_units;
 	int seconds;
 };
 
 bool main_loop(const input_args& input, rs2::pipeline& realsense, hve *avctx, ofstream& out_file);
 void dump_frame_info(const rs2::depth_frame &frame);
 void init_realsense(rs2::pipeline& pipe, const input_args& input);
-void load_camera_json(const rs2::pipeline_profile &profile, const char *filename);
 int process_user_input(int argc, char* argv[], input_args* input, hve_config *config);
 
 int main(int argc, char* argv[])
@@ -173,50 +166,55 @@ void dump_frame_info(const rs2::depth_frame &f)
 void init_realsense(rs2::pipeline& pipe, const input_args& input)
 {
 	rs2::config cfg;
-	// depth stream seems to be required for infrared to work
 	cfg.enable_stream(RS2_STREAM_DEPTH, input.width, input.height, RS2_FORMAT_Z16, input.framerate);
-	cfg.enable_stream(RS2_STREAM_INFRARED, 1, input.width, input.height, RS2_FORMAT_Y8, input.framerate);
 
 	rs2::pipeline_profile profile = pipe.start(cfg);
+	rs2::depth_sensor depth_sensor = profile.get_device().first<rs2::depth_sensor>();
 
-	load_camera_json(profile, "../high_accuracy.json");
-}
-
-void load_camera_json(const rs2::pipeline_profile &profile, const char *filename)
-{
-	std::ifstream t(filename);
-	if(!t)
+	try
 	{
-		std::cerr << "[ERROR]: impossible to open camera config " << filename << std::endl;
-		exit(1);
+		depth_sensor.set_option(RS2_OPTION_DEPTH_UNITS, input.depth_units);
+	}
+	catch(const exception &)
+	{
+		rs2::option_range range = depth_sensor.get_option_range(RS2_OPTION_DEPTH_UNITS);
+		cerr << "failed to set depth units to " << input.depth_units << " (range is " << range.min << "-" << range.max << ")" << endl;
+		throw;
 	}
-	std::string str((std::istreambuf_iterator<char>(t)), std::istreambuf_iterator<char>());
-	rs400::advanced_mode dev = profile.get_device();
-	dev.load_json(str);
-}
-
-
 
+	cout << "Setting realsense depth units to " << input.depth_units << endl;
+	cout << "This will result in:" << endl;
+	cout << "-range " << input.depth_units * UINT16_MAX << " m" << endl;
+	cout << "-precision " << input.depth_units*64.0f << " m (" << input.depth_units*64.0f*1000 << " mm)" << endl;
+}
 
 int process_user_input(int argc, char* argv[], input_args* input, hve_config *config)
 {
-	if(argc < 5)
+	if(argc < 6)
 	{
-		cerr << "Usage: " << argv[0] << " <width> <height> <framerate> <seconds> [device]" << endl;
+		cerr << "Usage: " << argv[0] << " <width> <height> <framerate> <depth units> <seconds> [device]" << endl;
 		cerr << endl << "examples: " << endl;
-		cerr << argv[0] << " 640 360 30 5" << endl;
-		cerr << argv[0] << " 640 360 30 5 /dev/dri/renderD128" << endl;
-
+		cerr << argv[0] << " 848 480 30 0.0001 5" << endl;
+		cerr << argv[0] << " 848 480 30 0.0001 5 /dev/dri/renderD128" << endl;
 		return -1;
 	}
 
 	config->width = input->width = atoi(argv[1]);
 	config->height = input->height = atoi(argv[2]);
 	config->framerate = input->framerate = atoi(argv[3]);
+	input->depth_units = strtof(argv[4], NULL);
+	input->seconds = atoi(argv[5]);
+	config->device = argv[6]; //NULL as last argv argument, or device path
+
 
-	input->seconds = atoi(argv[4]);
+	cout << "Parsed arguments:" << endl;
+	cout << "width: " << config->width << endl;
+	cout << "height: " << config->height << endl;
+	cout << "framerate: " << config->framerate << endl;
+	cout << "depth units: " << input->depth_units << endl;
+	cout << "seconds: " << input->seconds << endl;
 
-	config->device = argv[5]; //NULL as last argv argument, or device path
+	cout << "device: " << (config->device ? config->device : "default") << endl;
 
 	return 0;
 }