Compatibilty update for procamcalib.

src/main/java/org/bytedeco/javacv/RealSenseFrameGrabber.java

@@ -110,6 +110,7 @@ public static void tryLoad() throws FrameGrabber.Exception {
  private static context context = null;
  private int deviceNumber = 0;
  private device device = null;
+ private static device globalDevice = null;
  private boolean depth = false; // default to "video"
  private boolean colorEnabled = false;
  private boolean depthEnabled = false;
@@ -208,7 +209,10 @@ public double getFrameRate() { // TODO: check this.
  private boolean startedOnce = false;
  private boolean behaveAsColorFrameGrabber = false;
 
- public device loadDevice() throws FrameGrabber.Exception{
+ public device loadDevice() throws FrameGrabber.Exception {
+ if (context == null) {
+ context = new context();
+ }
  if (context == null || context.get_device_count() <= deviceNumber) {
  throw new Exception("FATAL error: Realsense camera: " + deviceNumber + " not connected/found");
  }
@@ -218,13 +222,41 @@ public device loadDevice() throws FrameGrabber.Exception{
 
  @Override
  public void start() throws FrameGrabber.Exception {
+
+ // There is already a device, we reboot everything (for Procamcalib).
+ if (globalDevice != null) {
+ globalDevice.close();
+ context.close();
+ globalDevice = null;
+ context = null;
+ }
+
+ if (context == null) {
+ context = new context();
+ }
  if (context == null || context.get_device_count() <= deviceNumber) {
  throw new Exception("FATAL error: Realsense camera: " + deviceNumber + " not connected/found");
  }
 
  if (device == null) {
  device = context.get_device(deviceNumber);
  }
+ globalDevice = device;
+
+ // Choose the camera to enable by format.
+ if (format != null) {
+ switch (format) {
+ case "rgb":
+ this.enableColorStream();
+ break;
+ case "ir":
+ this.enableIRStream();
+ break;
+ case "depth":
+ this.enableDepthStream();
+ break;
+ }
+ }
 
  if (colorEnabled) {
  device.enable_stream(RealSense.color, imageWidth, imageHeight, RealSense.rgb8, (int) frameRate);
@@ -237,14 +269,10 @@ public void start() throws FrameGrabber.Exception {
  }
  // if no stream is select, just get the color.
  if (!colorEnabled && !IREnabled && !depthEnabled) {
-
- if (!startedOnce) {
- enableColorStream();
- behaveAsColorFrameGrabber = true;
- this.setImageMode(ImageMode.GRAY);
- }
+ enableColorStream();
+ device.enable_stream(RealSense.color, imageWidth, imageHeight, RealSense.rgb8, (int) frameRate);
+ behaveAsColorFrameGrabber = true;
  }
- startedOnce = true;
  device.start();
  }
 
@@ -255,9 +283,9 @@ public void start() throws FrameGrabber.Exception {
  @Override
  public void stop() throws FrameGrabber.Exception {
  device.stop();
- colorEnabled = false;
- IREnabled = false;
- depthEnabled = false;
+// colorEnabled = false;
+// IREnabled = false;
+// depthEnabled = false;
  frameNumber = 0;
  }
  private Pointer rawDepthImageData = new Pointer((Pointer) null),
@@ -295,7 +323,6 @@ public IplImage grabDepth() {
 // ShortBuffer out = bb.order(ByteOrder.LITTLE_ENDIAN).asShortBuffer();
 // out.put(in);
 // }
-
  return rawDepthImage;
  }
 
@@ -384,7 +411,25 @@ public Frame grab() throws Exception {
  }
  cvCvtColor(image, returnImage, CV_BGR2GRAY);
  return converter.convert(returnImage);
+ } else {
+ if (IREnabled) {
+ return converter.convert(grabIR());
+ } else {
+ if (depthEnabled) {
+
+ // Fake colors
+ IplImage image = grabDepth();
+ if (returnImage == null) {
+ int deviceWidth = device.get_stream_width(RealSense.depth);
+ int deviceHeight = device.get_stream_height(RealSense.depth);
+// returnImage = IplImage.create(deviceWidth, deviceHeight, IPL_DEPTH_8U, 3);
+ returnImage = IplImage.create(deviceWidth, deviceHeight, IPL_DEPTH_8U, 1);
+ } 
+ return converter.convert(returnImage);
+ }
+ }
  }
+
  return null;
  }