RealSense SDK 开发笔记（二）枚举DCM下的摄像机与支持的影像串流

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我真的不是故意把标题写这么严肃的

这节重点解释SDK里那些看起来比较晦涩的，剩下那些简那些单的、能在chm文档里查到的粗略提一下或者不说废话。

PS：至于我们所关注的获取视频流，SDK给出了两种方式，一种是用PXCSenseManager获取默认设备上的数据。另一种是完全自定义的方法，一步一步地配置并获取更详细更有（加）价（无）值（聊）的数据。为了满（装）足（一）好（手）奇（好）心（B），我们暂时不用SenseManager。

关于怎么用另一种方式获取视频流，个人稍微总结了一下流（套）程（路）：

简直蛋疼

来来来，先理解几个SDK中会经常见到的单词，否则你会怀疑你的阅读能力：
Implementation // 装置，这里对应着DCM服务（DCM是深度相机管理器的意思）
Instance            // 看得见摸得着的（雾）玩意儿
Capture           // 采集，特指信息采集
Device           // 设备IO、硬件IO、摄像头IO。。。反正看到Device 就知道这是在控制硬件（激光器、曝光乱七八糟的）

这里写图片描述 ……不说人话。

下面上代码，两大步：枚举设备、枚举视频流。

枚举设备并查看信息：

不说废话，直接上代码：

    pxcStatus retStatus;// 函数返回状态    // Realsense会话    PXCSession *Session = PXCSession::CreateInstance();    PXCSession::ImplVersion ver = Session->QueryVersion();    cout << "Realsense SDK 版本 " << ver.major << "." << ver.minor << endl;    cout << "==================================================" << endl;    // 收集信息-----------------------------------------------------------------------------\\    cout << "Checking Cable..." << endl;    cout << "-----------------" << endl;    // 限定为RealSense DCM视频服务    PXCSession::ImplDesc Qtemplat = {};    Qtemplat.group = PXCSession::IMPL_GROUP_SENSOR;// 分组于传感器    Qtemplat.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;// 子分组于视频采集    for (size_t DCMidx = 0; ; DCMidx += 1)    {        // 查询可用的DCM服务        PXCSession::ImplDesc Impl;        retStatus = Session->QueryImpl(&Qtemplat, DCMidx, &Impl);        if (retStatus < PXC_STATUS_NO_ERROR)break;        wcout << "Enum_Index[" << DCMidx << "]" << "@" << Impl.friendlyName<< ":" << endl;        // 尝试初始化信息采集        PXCCapture *Capture = NULL;        retStatus = Session->CreateImpl<PXCCapture>(&Impl, &Capture);        if (retStatus<PXC_STATUS_NO_ERROR) continue;        // 输出硬件信息        for (size_t Didx = 0;; Didx += 1)        {            PXCCapture::DeviceInfo dinfo;            retStatus = Capture->QueryDeviceInfo(Didx, &dinfo);            if (retStatus < PXC_STATUS_NO_ERROR) break;            // 硬件名称            wcout << "  |___DEVICE[" << Didx << "]" << ":" << dinfo.name<< endl;            // 输出影像串流类型            if (dinfo.streams&PXCCapture::STREAM_TYPE_COLOR)                wprintf_s(L"             |___COLOR ----- STREAM\n");            if (dinfo.streams&PXCCapture::STREAM_TYPE_DEPTH)                wprintf_s(L"             |___DEPTH ----- STREAM\n");            if (dinfo.streams&PXCCapture::STREAM_TYPE_IR)                wprintf_s(L"             |___IRTOF ----- STREAM\n");            if (dinfo.streams&PXCCapture::STREAM_TYPE_LEFT)                wprintf_s(L"             |___STEIR L --- STREAM \n");            if (dinfo.streams&PXCCapture::STREAM_TYPE_RIGHT)                wprintf_s(L"             |___STEIR R --- STREAM\n");        }        Capture->Release();    }

执行结果如下：（我只连接了R200，以前对概念理解有误，module就是上面说的DCM服务）

枚举RealSenseDCM服务需要你限定分组：ImplDesc(RealSenseDCM描述)类型是一个结构体，枚举的话你可以在结构体例事先限定好信息。
SDK中写到：

The group and subgroup values uniquely identify an SDK interface. The iuid value uniquely identifies a module implementation that implements a particular SDK interface. Thus within an SDK session, the following combinations uniquely identify a module implementation:
(1) group, subgroup, and iuid
(2) cuid and iuid
Here cuid refers to the identifier of the primary interface implemented by the module.

理解如下：
你限定了基组和亚组就确定了你在SDK中应该使用哪个DCM服务。
IUID是Implementation Unique Identifier的缩写，代表DCM的唯一标识。
不就是个摄像机，搞得这么高端这里写图片描述
知道了IUID就知道了在SDK中具体是那个RealSenseDCM服务在调用SDK中的API。
这样，在一个RealSense SDK的会话中，我们可以通过以下方式确知（限定）一个RealSenseDCM：
1.限定基组、亚组和IUID
2.限定CUID和IUID
这，这里怎么又蹦出来个CUID 这里写图片描述？
查查看：

interfaces supported by implementation

反正就是能够通过上面两种方式来知道你现在对应着什么DCM服务。
QueryImpl来查询符合你描述的可用装置，CreateImpl来初始化信息采集。
之后就可以用采集器获取设备详细信息，PXCCapture::DeviceInfo是一个结构体，包含装置内含的设备的信息：设备名称、序列号、型号、固件版本、设备在DCM内排在索引的第几号等。
PS:
看到Video Capture（Media Foundation）了吗？
看来RealSense装置还是能把自己当成摄像头的==
熟悉OpenCV的同学不要想当然地用VideoCapture类的方法打开它，对于R200我是没打开成功过（F200没来得及测）.
如何用OpenCV处理获得的图像将在下一节说。

枚举视频流并查看信息：

代码（R200）：

// 接上面代码cout << "\n请输入需要查询的模组编号："; int Module_nIdx = cin.get() - 48;    // 重新打开设备    PXCSession::ImplDesc Impl;                                      // 会话    PXCCapture *Capture = NULL;                                     // 采集    PXCCapture::Device *RS_Device = NULL;                           // 设备    retStatus = Session->QueryImpl(&Qtemplat, Module_nIdx, &Impl);  // 查询当前会话    if (retStatus < PXC_STATUS_NO_ERROR) exit(0);                   //     retStatus = Session->CreateImpl<PXCCapture>(&Impl, &Capture);   // 尝试打开采集器    if (retStatus < PXC_STATUS_NO_ERROR) exit(0);                   //     RS_Device = Capture->CreateDevice(Module_nIdx);                 // 连接到设备    if (RS_Device == NULL) exit(0);    // 查询可使用的影像串流类型    cout << "Checking Streams..." << endl;    cout << "--------------------" << endl;    PXCCapture::StreamType flag_Streams = PXCCapture::STREAM_TYPE_COLOR | PXCCapture::STREAM_TYPE_DEPTH | PXCCapture::STREAM_TYPE_LEFT | PXCCapture::STREAM_TYPE_RIGHT;    cout << "流类型" << "          分辨率" << "         帧速率" << "  像素格式" << "  RAW流传输" << endl;    cout << "----------------------------------------------------------------------------------" << endl;    for (size_t  Profile_nIdx = 0;; Profile_nIdx += 1)    {        PXCCapture::Device::StreamProfileSet ProfileSet = {};        retStatus = RS_Device->QueryStreamProfileSet(flag_Streams, Profile_nIdx, &ProfileSet);        if (retStatus<PXC_STATUS_NO_ERROR) break;        wprintf_s(L"Color[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",                  Profile_nIdx, ProfileSet.color.imageInfo.width,                  ProfileSet.color.imageInfo.height, ProfileSet.color.frameRate.max, ProfileSet.color.imageInfo.format, ProfileSet.color.options);        wprintf_s(L"Depth[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",                  Profile_nIdx, ProfileSet.depth.imageInfo.width,                  ProfileSet.depth.imageInfo.height, ProfileSet.depth.frameRate.max, ProfileSet.depth.imageInfo.format, ProfileSet.depth.options);        wprintf_s(L"DualL[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",                  Profile_nIdx, ProfileSet.left.imageInfo.width,                  ProfileSet.left.imageInfo.height, ProfileSet.left.frameRate.max, ProfileSet.left.imageInfo.format, ProfileSet.left.options);        wprintf_s(L"DualR[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",                  Profile_nIdx, ProfileSet.right.imageInfo.width,                  ProfileSet.right.imageInfo.height, ProfileSet.right.frameRate.max, ProfileSet.right.imageInfo.format, ProfileSet.right.options);        cout << "----------------------------------------------------------------------------------" << endl;    }    // 典型的流信息 彩色RGB24 1920 1080 双目IR int16 628 468 硬件帧同步 30FPS    PXCCapture::Device::StreamProfileSet ProfileSet = {};    ProfileSet.color.imageInfo.width = 1920; ProfileSet.color.imageInfo.height = 1080;    ProfileSet.color.imageInfo.format = PXCImage::PIXEL_FORMAT_RGB32;    ProfileSet.color.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;    ProfileSet.color.frameRate = { 30,30 };    ProfileSet.depth.imageInfo.width = 628; ProfileSet.depth.imageInfo.height = 468;    ProfileSet.depth.imageInfo.format = PXCImage::PIXEL_FORMAT_DEPTH;    ProfileSet.depth.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;    ProfileSet.depth.frameRate = { 30,30 };    ProfileSet.left.imageInfo.width = 628; ProfileSet.left.imageInfo.height = 468;    ProfileSet.left.imageInfo.format = PXCImage::PIXEL_FORMAT_Y16;    ProfileSet.left.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;    ProfileSet.left.frameRate = { 30,30 };    ProfileSet.right.imageInfo.width = 628; ProfileSet.right.imageInfo.height = 468;    ProfileSet.right.imageInfo.format = PXCImage::PIXEL_FORMAT_Y16;    ProfileSet.right.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;    ProfileSet.right.frameRate = { 30,30 };    cout << "配置影像串流...";    if (RS_Device->IsStreamProfileSetValid(&ProfileSet))    {        RS_Device->SetStreamProfileSet(&ProfileSet);        cout << "就绪" << endl;    }    else        cout << "不支持的串流组合" << endl;    system("pause");

执行结果如下（我只连接了R200）：
这里写图片描述
根据枚举设备的信息输入设备索引号打开指定设备。
StreamType 用来设定所需要获得的视频流内容，QueryStreamProfileSet可以查询设备支持的流有哪些，你可以在函数填充后的StreamProfileSet结构体里看出摄像头能接受的串流组合。
如果不支持则返回false，分辨率、帧率不允许随便设定，像素格式也不支持你把彩色像素设置成位深16的单通道灰度等等。
彩色像素格式有RGB和YUV两大种，单通道像素灰度全是16bit的。
至于options，我们可以查到如下定义：

enum StreamOption
{
STREAM_OPTION_ANY = 0,
/* Optional options */
STREAM_OPTION_OPTIONAL_MASK = 0x0000FFFF, /*
The option can be added to any profile, but not necessarily supported for any profile */
STREAM_OPTION_DEPTH_PRECALCULATE_UVMAP = 0x00000001, /*
A flag to ask the device to precalculate UVMap */
STREAM_OPTION_STRONG_STREAM_SYNC = 0x00000002, /*
A flag to ask the device to perform strong (HW-based) synchronization on the streams with this flag. */
/* Mandatory options */
STREAM_OPTION_MANDATORY_MASK = 0xFFFF0000, /*
If the option is supported - the device sets this flag in the profile */
STREAM_OPTION_UNRECTIFIED = 0x00010000 /*
A mandatory flag to ask the device to stream unrectified images on the stream with this flag */
};

顾名思义，可选选项是：
STREAM_OPTION_ANY                   // 兼容设置
STREAM_OPTION_DEPTH_PRECALCULATE_UVMAP // 针对3D贴图的同步帧
STREAM_OPTION_STRONG_STREAM_SYNC    // 基于硬件的原生同步帧
强制选项：
STREAM_OPTION_UNRECTIFIED             // 未标定的图像

可选选项的意思是这些选项我们可以根据需要“勾选”，也可以不选。
从运行见结果看出，SDK不会主动选中这个选项，默认是STREAM_OPTION_ANY
强制选项这个叫法有点牵强，从运行结果我们可以看出来，当你在枚举影像串流的时候设备会主动设定。
强制选项为0的时候是标定过的图像，如果需要其他用途可以尝试使用未标定的（比如你更换了电路板上的摄像头）。
以上两类选项可以通过位或运算符叠加。
查来查去的只为满足好奇心，如果你要乖乖地打开摄像头直接给结构体赋值就行。

好了，我们就差获取视频流数据了，下节单独说。

进入吐槽时间：
这个SDK给我的第一印象就是蛋疼、冗杂，好在做了个chm。
可以理解，Intel是为了RealSense SDK的长期发展做准备：命名严谨，数据类型尽量统一，详细的描述变量，各种query函数……
当然！！！这也是偷懒，自己管理项目的结构用得着用户去理解吗！？
而对于目的简单的开发者而言，你家OpenCV在这面前简直是件艺术品（其实还有个更蛋疼的PCL垫底）。
在目前用法单一的情况下做出来这么多函数，真是不嫌累这里写图片描述 ……。

其实KinectV2的SDK也是这毛病，但是面对intel，M$可算是小巫见大巫了。

最后附上程序输出的结果,供大家查阅：

建议大家多多实践一下，换了2016R1的sdk好像有些对应起来的不一样了==

idxR200:

流类型分辨率帧速率像素格式 Options *Color[0]: 320x240 @30.0FPS *00010002 _00000000 Depth[0]: 320x240 @30.0FPS *00020000 _00000000 Dual L[0]: 320x240 @30.0FPS *00040000 _00000000 Dual R[0]: 320x240 @30.0FPS *00040000 _00000000 *Color[1]: 320x240 @30.0FPS *00010002 _00000000 Depth[1]: 320x240 @60.0FPS *00020000 _00000000 Dual L[1]: 320x240 @60.0FPS *00040000 _00000000 Dual R[1]: 320x240 @60.0FPS *00040000 _00000000 *Color[2]: 320x240 @30.0FPS *00010002 _00000000 Depth[2]: 480x360 @30.0FPS *00020000 _00000000 Dual L[2]: 480x360 @30.0FPS *00040000 _00000000 Dual R[2]: 480x360 @30.0FPS *00040000 _00000000 *Color[3]: 320x240 @30.0FPS *00010002 _00000000 Depth[3]: 480x360 @30.0FPS *00020000 _00000000 Dual L[3]: 480x360 @30.0FPS *00010004 _00000000 Dual R[3]: 480x360 @30.0FPS *00010004 _00000000 *Color[4]: 320x240 @30.0FPS *00010002 _00000000 Depth[4]: 480x360 @60.0FPS *00020000 _00000000 Dual L[4]: 480x360 @60.0FPS *00040000 _00000000 Dual R[4]: 480x360 @60.0FPS *00040000 _00000000 *Color[5]: 320x240 @30.0FPS *00010002 _00000000 Depth[5]: 480x360 @60.0FPS *00020000 _00000000 Dual L[5]: 480x360 @60.0FPS *00010004 _00000000 Dual R[5]: 480x360 @60.0FPS *00010004 _00000000 *Color[6]: 320x240 @30.0FPS *00010002 _00000000 Depth[6]: 628x468 @30.0FPS *00020000 _00000000 Dual L[6]: 628x468 @30.0FPS *00040000 _00000000 Dual R[6]: 628x468 @30.0FPS *00040000 _00000000 *Color[7]: 320x240 @30.0FPS *00010002 _00000000 Depth[7]: 628x468 @60.0FPS *00020000 _00000000 Dual L[7]: 628x468 @60.0FPS *00040000 _00000000 Dual R[7]: 628x468 @60.0FPS *00040000 _00000000 *Color[8]: 320x240 @60.0FPS *00010002 _00000000 Depth[8]: 320x240 @60.0FPS *00020000 _00000000 Dual L[8]: 320x240 @60.0FPS *00040000 _00000000 Dual R[8]: 320x240 @60.0FPS *00040000 _00000000 *Color[9]: 320x240 @60.0FPS *00010002 _00000000 Depth[9]: 480x360 @60.0FPS *00020000 _00000000 Dual L[9]: 480x360 @60.0FPS *00040000 _00000000 Dual R[9]: 480x360 @60.0FPS *00040000 _00000000 *Color[10]: 320x240 @60.0FPS *00010002 _00000000 Depth[10]: 480x360 @60.0FPS *00020000 _00000000 Dual L[10]: 480x360 @60.0FPS *00010004 _00000000 Dual R[10]: 480x360 @60.0FPS *00010004 _00000000 *Color[11]: 320x240 @60.0FPS *00010002 _00000000 Depth[11]: 628x468 @60.0FPS *00020000 _00000000 Dual L[11]: 628x468 @60.0FPS *00040000 _00000000 Dual R[11]: 628x468 @60.0FPS *00040000 _00000000 *Color[12]: 640x480 @30.0FPS *00010002 _00000000 Depth[12]: 320x240 @30.0FPS *00020000 _00000000 Dual L[12]: 320x240 @30.0FPS *00040000 _00000000 Dual R[12]: 320x240 @30.0FPS *00040000 _00000000 *Color[13]: 640x480 @30.0FPS *00010002 _00000000 Depth[13]: 320x240 @60.0FPS *00020000 _00000000 Dual L[13]: 320x240 @60.0FPS *00040000 _00000000 Dual R[13]: 320x240 @60.0FPS *00040000 _00000000 *Color[14]: 640x480 @30.0FPS *00010002 _00000000 Depth[14]: 480x360 @30.0FPS *00020000 _00000000 Dual L[14]: 480x360 @30.0FPS *00040000 _00000000 Dual R[14]: 480x360 @30.0FPS *00040000 _00000000 *Color[15]: 640x480 @30.0FPS *00010002 _00000000 Depth[15]: 480x360 @30.0FPS *00020000 _00000000 Dual L[15]: 480x360 @30.0FPS *00010004 _00000000 Dual R[15]: 480x360 @30.0FPS *00010004 _00000000 *Color[16]: 640x480 @30.0FPS *00010002 _00000000 Depth[16]: 480x360 @60.0FPS *00020000 _00000000 Dual L[16]: 480x360 @60.0FPS *00040000 _00000000 Dual R[16]: 480x360 @60.0FPS *00040000 _00000000 *Color[17]: 640x480 @30.0FPS *00010002 _00000000 Depth[17]: 480x360 @60.0FPS *00020000 _00000000 Dual L[17]: 480x360 @60.0FPS *00010004 _00000000 Dual R[17]: 480x360 @60.0FPS *00010004 _00000000 *Color[18]: 640x480 @30.0FPS *00010002 _00000000 Depth[18]: 628x468 @30.0FPS *00020000 _00000000 Dual L[18]: 628x468 @30.0FPS *00040000 _00000000 Dual R[18]: 628x468 @30.0FPS *00040000 _00000000 *Color[19]: 640x480 @30.0FPS *00010002 _00000000 Depth[19]: 628x468 @60.0FPS *00020000 _00000000 Dual L[19]: 628x468 @60.0FPS *00040000 _00000000 Dual R[19]: 628x468 @60.0FPS *00040000 _00000000 *Color[20]: 640x480 @60.0FPS *00010002 _00000000 Depth[20]: 320x240 @60.0FPS *00020000 _00000000 Dual L[20]: 320x240 @60.0FPS *00040000 _00000000 Dual R[20]: 320x240 @60.0FPS *00040000 _00000000 *Color[21]: 640x480 @60.0FPS *00010002 _00000000 Depth[21]: 480x360 @60.0FPS *00020000 _00000000 Dual L[21]: 480x360 @60.0FPS *00040000 _00000000 Dual R[21]: 480x360 @60.0FPS *00040000 _00000000 *Color[22]: 640x480 @60.0FPS *00010002 _00000000 Depth[22]: 480x360 @60.0FPS *00020000 _00000000 Dual L[22]: 480x360 @60.0FPS *00010004 _00000000 Dual R[22]: 480x360 @60.0FPS *00010004 _00000000 *Color[23]: 640x480 @60.0FPS *00010002 _00000000 Depth[23]: 628x468 @60.0FPS *00020000 _00000000 Dual L[23]: 628x468 @60.0FPS *00040000 _00000000 Dual R[23]: 628x468 @60.0FPS *00040000 _00000000 *Color[24]: 1280x720 @30.0FPS *00010002 _00000000 Depth[24]: 320x240 @30.0FPS *00020000 _00000000 Dual L[24]: 320x240 @30.0FPS *00040000 _00000000 Dual R[24]: 320x240 @30.0FPS *00040000 _00000000 *Color[25]: 1280x720 @30.0FPS *00010002 _00000000 Depth[25]: 320x240 @60.0FPS *00020000 _00000000 Dual L[25]: 320x240 @60.0FPS *00040000 _00000000 Dual R[25]: 320x240 @60.0FPS *00040000 _00000000 *Color[26]: 1280x720 @30.0FPS *00010002 _00000000 Depth[26]: 480x360 @30.0FPS *00020000 _00000000 Dual L[26]: 480x360 @30.0FPS *00040000 _00000000 Dual R[26]: 480x360 @30.0FPS *00040000 _00000000 *Color[27]: 1280x720 @30.0FPS *00010002 _00000000 Depth[27]: 480x360 @30.0FPS *00020000 _00000000 Dual L[27]: 480x360 @30.0FPS *00010004 _00000000 Dual R[27]: 480x360 @30.0FPS *00010004 _00000000 *Color[28]: 1280x720 @30.0FPS *00010002 _00000000 Depth[28]: 480x360 @60.0FPS *00020000 _00000000 Dual L[28]: 480x360 @60.0FPS *00040000 _00000000 Dual R[28]: 480x360 @60.0FPS *00040000 _00000000 *Color[29]: 1280x720 @30.0FPS *00010002 _00000000 Depth[29]: 480x360 @60.0FPS *00020000 _00000000 Dual L[29]: 480x360 @60.0FPS *00010004 _00000000 Dual R[29]: 480x360 @60.0FPS *00010004 _00000000 *Color[30]: 1280x720 @30.0FPS *00010002 _00000000 Depth[30]: 628x468 @30.0FPS *00020000 _00000000 Dual L[30]: 628x468 @30.0FPS *00040000 _00000000 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