-
Notifications
You must be signed in to change notification settings - Fork 0
/
align.js
124 lines (102 loc) · 3.42 KB
/
align.js
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
#!/usr/bin/env node
// Copyright (c) 2017 Intel Corporation. All rights reserved.
// Use of this source code is governed by an Apache 2.0 license
// that can be found in the LICENSE file.
'use strict';
const rs2 = require('node-librealsense');
const {GLFWWindow} = require('./glfw-window.js');
const {Rect} = require('./glfw-window.js');
const {Texture} = require('./glfw-window.js');
function tryGetDepthScale(dev) {
const sensors = dev.querySensors();
for (let i = 0; i < sensors.length; i++) {
if (sensors[i] instanceof rs2.DepthSensor) {
return sensors[i].depthScale;
}
}
return undefined;
}
function removeBackground(otherFrame, depthFrame, depthScale, clippingDist) {
let depthData = depthFrame.getData();
let otherData = otherFrame.getData();
const width = otherFrame.width;
const height = otherFrame.height;
const otherBpp = otherFrame.bytesPerPixel;
for (let y = 0; y < height; y++) {
let depthPixelIndex = y * width;
for (let x = 0; x < width; x++, ++depthPixelIndex) {
let pixelDistance = depthScale * depthData[depthPixelIndex];
if (pixelDistance <= 0 || pixelDistance > clippingDist) {
let offset = depthPixelIndex * otherBpp;
// Set pixel to background color
for (let i = 0; i < otherBpp; i++) {
otherData[offset+i] = 0x99;
}
}
}
}
}
// Open a GLFW window
const win = new GLFWWindow(1280, 720, 'Node.js Align Example');
const colorizer = new rs2.Colorizer();
const renderer = new Texture();
const align = new rs2.Align(rs2.stream.STREAM_COLOR);
const pipeline = new rs2.Pipeline();
const profile = pipeline.start();
const depthScale = tryGetDepthScale(profile.getDevice());
if (depthScale === undefined) {
console.error('Device does not have a depth sensor');
process.exit(1);
}
let clippingDistance = 1.0;
console.log('Press Up/Down to change the depth clipping distance.');
win.setKeyCallback((key, scancode, action, modes) => {
if (action != 0) return;
if (key === 265) {
// Pressed: Up arrow key
clippingDistance += 0.1;
if (clippingDistance > 6.0) {
clippingDistance = 6.0;
}
} else if (key === 264) {
// Pressed: Down arrow key
clippingDistance -= 0.1;
if (clippingDistance < 0) {
clippingDistance = 0;
}
}
console.log('Depth clipping distance:', clippingDistance.toFixed(3));
});
while (!win.shouldWindowClose()) {
const rawFrameset = pipeline.waitForFrames();
const alignedFrameset = align.process(rawFrameset);
let colorFrame = alignedFrameset.colorFrame;
let depthFrame = alignedFrameset.depthFrame;
if (!depthFrame) {
continue;
}
removeBackground(colorFrame, depthFrame, depthScale, clippingDistance);
let w = win.width;
let h = win.height;
let colorRect = new Rect(0, 0, w, h);
colorRect = colorRect.adjustRatio({
x: colorFrame.width,
y: colorFrame.height});
let pipStream = new Rect(0, 0, w / 5, h / 5);
pipStream = pipStream.adjustRatio({
x: depthFrame.width,
y: depthFrame.height});
pipStream.x = colorRect.x + colorRect.w - pipStream.w - (Math.max(w, h) / 25);
pipStream.y = colorRect.y + colorRect.h - pipStream.h - (Math.max(w, h) / 25);
const colorizedDepth = colorizer.colorize(depthFrame);
win.beginPaint();
renderer.render(colorFrame, colorRect);
renderer.upload(colorizedDepth);
renderer.show(pipStream);
win.endPaint();
}
pipeline.stop();
pipeline.destroy();
align.destroy();
win.destroy();
rs2.cleanup();