RealSense

ofApp-basic.cpp

#include "ofApp.h"

void ofApp::setup()
{
    // Default RS resolution.
    ofSetWindowShape(640, 360);

    // true parameter starts the camera automatically.
    rsContext.setup(true);
}

void ofApp::update()
{
    rsContext.update();
}

void ofApp::draw()
{
    // Try to get a pointer to a device.
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        // Draw the depth texture.
        rsDevice->getDepthTex().draw(0, 0);
    }
}

ofApp-basic.h

#pragma once

#include "ofMain.h"

#include "ofxRealSense2.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();
    ofxRealSense2::Context rsContext;
};

ofApp-cv.cpp

#include "ofApp.h"

void ofApp::setup()
{
    // Default RS resolution.
    ofSetWindowShape(640, 720);

    // Start the sensor.
    rsContext.setup(true);

    // Setup the parameters.
    nearThreshold.set("Near Threshold", 0.01f, 0.0f, 0.1f);
    farThreshold.set("Far Threshold", 0.02f, 0.0f, 0.1f);

    // Setup the gui.
    guiPanel.setup("Depth Threshold", "settings.json");
    guiPanel.add(nearThreshold);
    guiPanel.add(farThreshold);
}

void ofApp::update()
{
    rsContext.update();
}

void ofApp::draw()
{
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        rsDevice->getDepthTex().draw(0, 0);

        // Get the point distance using the SDK function.
        float distAtMouse = rsDevice->getDistance(ofGetMouseX(), ofGetMouseY());
        ofDrawBitmapStringHighlight(ofToString(distAtMouse, 3), ofGetMouseX(), ofGetMouseY());

        // Threshold the depth.
        ofFloatPixels rawDepthPix = rsDevice->getRawDepthPix();
        ofFloatPixels thresholdNear, thresholdFar, thresholdResult;
        ofxCv::threshold(rawDepthPix, thresholdNear, nearThreshold);
        ofxCv::threshold(rawDepthPix, thresholdFar, farThreshold, true);
        ofxCv::bitwise_and(thresholdNear, thresholdFar, thresholdResult);

        // Upload pixels to image.
        thresholdImg.setFromPixels(thresholdResult);

        // Draw the result image.
        thresholdImg.draw(0, 360);
    }

    // Draw the gui.
    guiPanel.draw();
}

ofApp-cv.h

#pragma once

#include "ofMain.h"

#include "ofxCv.h"
#include "ofxGui.h"
#include "ofxRealSense2.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofxRealSense2::Context rsContext;

    ofImage thresholdImg;

    ofParameter<float> nearThreshold;
    ofParameter<float> farThreshold;

    ofxPanel guiPanel;
};

ofApp-distance.cpp

include "ofApp.h"

void ofApp::setup()
{
    // Default RS resolution.
    ofSetWindowShape(640, 360);

    rsContext.setup(true);
}

void ofApp::update()
{
    rsContext.update();
}

void ofApp::draw()
{
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        rsDevice->getDepthTex().draw(0, 0);

        float distAtMouse = rsDevice->getDistance(ofGetMouseX(), ofGetMouseY());
        ofDrawBitmapStringHighlight(ofToString(distAtMouse, 3), ofGetMouseX(), ofGetMouseY());
    }
}

ofApp-gui.cpp

#include "ofApp.h"

void ofApp::setup()
{
    // Default RS resolution.
    ofSetWindowShape(640, 360);

    guiPanel.setup("Depth", "settings.json");

    rsContext.setup(true);

    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        guiPanel.add(rsDevice->params);
    }
}

void ofApp::update()
{
    rsContext.update();
}

void ofApp::draw()
{
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        rsDevice->getDepthTex().draw(0, 0);

        float distAtMouse = rsDevice->getDistance(ofGetMouseX(), ofGetMouseY());
        ofDrawBitmapStringHighlight(ofToString(distAtMouse, 3), ofGetMouseX(), ofGetMouseY());
    }

    guiPanel.draw();
}

ofApp-gui.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"
#include "ofxRealSense2.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofxRealSense2::Context rsContext;

    ofxPanel guiPanel;
};

ofApp-rawDepth.cpp

include "ofApp.h"

void ofApp::setup()
{
    // Default RS resolution.
    ofSetWindowShape(640, 360);

    rsContext.setup(true);
}

void ofApp::update()
{
    rsContext.update();
}

void ofApp::draw()
{
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        rsDevice->getDepthTex().draw(0, 0);

        // Get the point distance using the SDK function.
        float distAtMouse = rsDevice->getDistance(ofGetMouseX(), ofGetMouseY());
        ofDrawBitmapStringHighlight(ofToString(distAtMouse, 3), ofGetMouseX(), ofGetMouseY() - 10);

        // Get the point depth using the texture directly.
        ofShortPixels rawDepthPix = rsDevice->getRawDepthPix();
        int depthAtMouse = rawDepthPix.getColor(ofGetMouseX(), ofGetMouseY()).r;
        ofDrawBitmapStringHighlight(ofToString(depthAtMouse), ofGetMouseX() + 16, ofGetMouseY() + 10);
    }
}

ofApp-threshold.cpp

#include "ofApp.h"

void ofApp::setup()
{
    // Default RS resolution.
    ofSetWindowShape(640, 720);

    // Start the sensor.
    rsContext.setup(true);

    // Allocate the image.
    thresholdImg.allocate(640, 360, OF_IMAGE_GRAYSCALE);

    // Setup the parameters.
    nearThreshold.set("Near Threshold", 10, 0, 4000);
    farThreshold.set("Far Threshold", 1000, 0, 4000);

    // Setup the gui.
    guiPanel.setup("Depth Threshold", "settings.json");
    guiPanel.add(nearThreshold);
    guiPanel.add(farThreshold);
}

void ofApp::update()
{
    rsContext.update();
}

void ofApp::draw()
{
    std::shared_ptr<ofxRealSense2::Device> rsDevice = rsContext.getDevice(0);
    if (rsDevice)
    {
        rsDevice->getDepthTex().draw(0, 0);

        // Get the point distance using the SDK function.
        float distAtMouse = rsDevice->getDistance(ofGetMouseX(), ofGetMouseY());
        ofDrawBitmapStringHighlight(ofToString(distAtMouse, 3), ofGetMouseX(), ofGetMouseY());

        // Threshold the depth.
        ofShortPixels rawDepthPix = rsDevice->getRawDepthPix();
        ofPixels& thresholdPix = thresholdImg.getPixels();
        for (int y = 0; y < rawDepthPix.getHeight(); y++)
        {
            for (int x = 0; x < rawDepthPix.getWidth(); x++)
            {
                int depth = rawDepthPix.getColor(x, y).r;
                if (nearThreshold < depth && depth < farThreshold)
                {
                    thresholdPix.setColor(x, y, ofColor(255));
                }
                else
                {
                    thresholdPix.setColor(x, y, ofColor(0));
                }
            }
        }

        // Upload pixels to texture.
        thresholdImg.update();

        // Draw the result image.
        thresholdImg.draw(0, 360);
    }

    // Draw the gui.
    guiPanel.draw();
}

ofApp-threshold.h

#pragma once

#include "ofMain.h"

#include "ofxGui.h"
#include "ofxRealSense2.h"

class ofApp : public ofBaseApp
{
public:
    void setup();
    void update();
    void draw();

    ofxRealSense2::Context rsContext;

    ofImage thresholdImg;

    ofParameter<int> nearThreshold;
    ofParameter<int> farThreshold;

    ofxPanel guiPanel;
};