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Merge pull request #9352 from remibettan/android-sensor-method-getpro…
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Android - Sensor::getProfile added, sensor example using it
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@ev-mp
ev-mp authored Jul 12, 2021
2 parents 2abc726 + 04ca582 commit 5966c53
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Showing 2 changed files with 76 additions and 87 deletions.
133 changes: 46 additions & 87 deletions wrappers/android/examples/sensor/src/main/java/com/intel/realsense/sensor/MainActivity.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@
import com.intel.realsense.librealsense.StreamType;
import com.intel.realsense.librealsense.Extension;

import com.intel.realsense.librealsense.VideoStreamProfile;
import com.intel.realsense.librealsense.FrameCallback;
import com.intel.realsense.librealsense.GLRsSurfaceView;
import com.intel.realsense.librealsense.RsContext;
Expand All @@ -49,7 +48,9 @@ public class MainActivity extends AppCompatActivity {
private RsContext mRsContext;

private Device mDevice;
DepthSensor depth_sensor = null;
DepthSensor mDepthSensor = null;
StreamProfile mDepthProfile = null;
StreamProfile mIrProfile = null;


@Override
Expand Down Expand Up @@ -105,9 +106,10 @@ protected void onResume() {
protected void onPause() {
super.onPause();
stop();
releaseContext();
}

private FrameCallback mDepthFrameHandler = new FrameCallback()
private FrameCallback mFrameHandler = new FrameCallback()
{
@Override
public void onFrame(final Frame f) {
Expand Down Expand Up @@ -146,6 +148,8 @@ private void init(){
if( num_devices> 0) {
mDevice = dl.createDevice(0);
showConnectLabel(false);
assignDepthSensor();
assignProfiles();
start();
}
}
Expand Down Expand Up @@ -174,89 +178,24 @@ public void onDeviceDetach() {
};

private void configAndStart() throws Exception {
List<Sensor> sensors = mDevice.querySensors();

for(Sensor s : sensors)
{
if (s.is(Extension.DEPTH_SENSOR)) {
depth_sensor = s.as(Extension.DEPTH_SENSOR);
}
}

boolean depth_profile_found = false;
boolean ir_profile_found = false;

if (depth_sensor != null) {
List<StreamProfile> stream_profiles = depth_sensor.getStreamProfiles();
StreamProfile depth_profile = stream_profiles.get(0);
StreamProfile ir_profile = stream_profiles.get(0);

for (StreamProfile stream_profile : stream_profiles) {
if (depth_profile_found && ir_profile_found)
break;
if (!depth_profile_found && stream_profile.getType().compareTo(StreamType.DEPTH) == 0) {

if (stream_profile.is(Extension.VIDEO_PROFILE)) {
VideoStreamProfile video_stream_profile = stream_profile.as(Extension.VIDEO_PROFILE);

// After using the "as" method we can use the new data type
// for additional operations:
StreamFormat sf = video_stream_profile.getFormat();
int index = stream_profile.getIndex();
StreamType st = stream_profile.getType();
int w = video_stream_profile.getWidth();
int h = video_stream_profile.getHeight();
int fps = video_stream_profile.getFrameRate();

if (w == 640 && h == 480 && fps == 30 && (sf.compareTo(StreamFormat.Z16) == 0)) {
Log.d(TAG, "depth stream: " + index + ":" + st.name() + ":" + sf.name() + ":" + w + "x" + h + "@" + fps + "HZ");

depth_profile = stream_profile;
depth_profile_found = true;
}
}
}
if (!ir_profile_found && stream_profile.getType().compareTo(StreamType.INFRARED) == 0 && stream_profile.getIndex() == 1 ) {

if (stream_profile.is(Extension.VIDEO_PROFILE)) {
VideoStreamProfile video_stream_profile = stream_profile.as(Extension.VIDEO_PROFILE);

// After using the "as" method we can use the new data type
// for additional operations:
StreamFormat sf = video_stream_profile.getFormat();
int index = stream_profile.getIndex();
StreamType st = stream_profile.getType();
int w = video_stream_profile.getWidth();
int h = video_stream_profile.getHeight();
int fps = video_stream_profile.getFrameRate();

if (w == 640 && h == 480 && fps == 30 && (sf.compareTo(StreamFormat.Y8) == 0)) {
Log.d(TAG, "ir stream: " + index + ":" + st.name() + ":" + sf.name() + ":" + w + "x" + h + "@" + fps + "HZ");

ir_profile = stream_profile;
ir_profile_found = true;
}
}
}
}

if (!depth_profile_found && !ir_profile_found) {
if (mDepthSensor != null) {
if (mDepthProfile == null && mIrProfile == null) {
Toast.makeText(this, "The requested profiles are not available in this device ", Toast.LENGTH_LONG).show();
}
else {
List<StreamProfile> requested_profiles = new ArrayList<StreamProfile>();
if (depth_profile_found)
requested_profiles.add(depth_profile);
if (mDepthProfile != null)
requested_profiles.add(mDepthProfile);
else
Toast.makeText(this, "The depth requested profile is not available in this device ", Toast.LENGTH_LONG).show();

if (ir_profile_found)
requested_profiles.add(ir_profile);
if (mIrProfile != null)
requested_profiles.add(mIrProfile);
else
Toast.makeText(this, "The infrared requested profile is not available in this device ", Toast.LENGTH_LONG).show();

depth_sensor.openSensor(requested_profiles);
depth_sensor.start(mDepthFrameHandler);
mDepthSensor.openSensor(requested_profiles);
mDepthSensor.start(mFrameHandler);
}
}
}
Expand Down Expand Up @@ -284,17 +223,9 @@ private synchronized void stop() {
Log.d(TAG, "try stop streaming");
mIsStreaming = false;

if (depth_sensor != null) depth_sensor.stop();

if (mColorizer != null) mColorizer.close();
if (depth_sensor != null) {depth_sensor.closeSensor();}

if (mDevice != null) mDevice.close();

if(mRsContext != null) {
mRsContext.removeDevicesChangedCallback();
mRsContext.close();
mRsContext = null;
if (mDepthSensor != null){
mDepthSensor.stop();
mDepthSensor.closeSensor();
}

mGLSurfaceView.clear();
Expand All @@ -303,4 +234,32 @@ private synchronized void stop() {
Log.e(TAG, "failed to stop streaming");
}
}

private void releaseContext() {
if (mDevice != null) mDevice.close();
if (mColorizer != null) mColorizer.close();

if(mRsContext != null) {
mRsContext.removeDevicesChangedCallback();
mRsContext.close();
mRsContext = null;
}
}

private void assignDepthSensor() {
List<Sensor> sensors = mDevice.querySensors();

for(Sensor s : sensors)
{
if (s.is(Extension.DEPTH_SENSOR)) {
mDepthSensor = s.as(Extension.DEPTH_SENSOR);
}
}
}
private void assignProfiles() {
if (mDepthSensor != null) {
mDepthProfile = mDepthSensor.findProfile(StreamType.DEPTH, -1, 640, 480, StreamFormat.Z16, 30);
mIrProfile = mDepthSensor.findProfile(StreamType.INFRARED, -1, 640, 480, StreamFormat.Y8, 30);
}
}
}
30 changes: 30 additions & 0 deletions wrappers/android/librealsense/src/main/java/com/intel/realsense/librealsense/Sensor.java
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,36 @@ public void closeSensor(){
nClose(mHandle);
}

public StreamProfile findProfile(StreamType type, int index, int width, int height, StreamFormat format, int fps) {
List<StreamProfile> profiles = getStreamProfiles();
StreamProfile rv = null;

for (StreamProfile profile : profiles) {
if (profile.getType().compareTo(type) == 0) {

if (profile.is(Extension.VIDEO_PROFILE)) {
VideoStreamProfile video_stream_profile = profile.as(Extension.VIDEO_PROFILE);

// After using the "as" method we can use the new data type
// for additional operations:
StreamFormat sf = video_stream_profile.getFormat();
int idx = profile.getIndex();
int w = video_stream_profile.getWidth();
int h = video_stream_profile.getHeight();
int frameRate = video_stream_profile.getFrameRate();

if ((index == -1 || idx == index) &&
w == width && h == height &&
frameRate == fps && (sf.compareTo(format) == 0)) {
rv = profile;
break;
}
}
}
}
return rv;
}

private static native long[] nGetStreamProfiles(long handle);
private static native void nRelease(long handle);
private static native boolean nIsSensorExtendableTo(long handle, int extension);
Expand Down

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