[orx-realsense2] Fix support for multiple sensors

2020-11-17 06:18:18 -08:00
parent abd52e3d65
commit 182ff7e6a1
2 changed files with 64 additions and 1 deletions
--- a/orx-realsense2/src/demo/kotlin/DemoRS202.kt
+++ b/orx-realsense2/src/demo/kotlin/DemoRS202.kt
@@ -0,0 +1,45 @@
+import org.openrndr.application
+import org.openrndr.color.ColorRGBa
+import org.openrndr.draw.ColorFormat
+import org.openrndr.draw.ColorType
+import org.openrndr.draw.colorBuffer
+import org.openrndr.draw.tint
+import org.openrndr.extra.realsense2.RS2Sensor
+
+/**
+ * show how to use multiple RealSense sensors
+ *
+ * Tested with two sensors, only uses depth stream now
+ */
+fun main() {
+    application {
+        configure {
+            width = 1280
+            height = 720
+        }
+        program {
+            val sensorDescriptions = RS2Sensor.listSensors()
+
+            val sensors = sensorDescriptions.map {
+                it.open()
+            }
+
+            val depthFrames = sensors.map {
+                colorBuffer(640, 480, format = ColorFormat.R, type = ColorType.UINT16)
+            }
+            sensors.forEachIndexed { index, it ->
+                it.depthFrameReceived.listen {
+                    it.copyTo(depthFrames[index])
+                }
+            }
+            extend {
+                drawer.drawStyle.colorMatrix = tint(ColorRGBa.WHITE.shade(20.0))
+                for ((index, sensor) in sensors.withIndex()) {
+                    sensor.waitForFrames()
+                    drawer.image(depthFrames[index])
+                    drawer.translate(640.0, 0.0)
+                }
+            }
+        }
+    }
+}