R200 - Unrectified IR streams will not initialize

[SMali10]

Hi everyone,

I previously posted an issue I've been having with the R200, in that I cannot access the calibration data for the left and right infrared cameras. You can read the thread here: https://software.intel.com/en-us/forums/realsense/topic/594070

In trying to solve this I believe I've come across another issue. I thought maybe by initializing the IR cameras as unrectified streams it would let me access the calibration data. However when I follow the C# code in the documentation, the intialization fails.

Here is my "Start" function code in Unity:

psm = PXCMSenseManager.CreateInstance();
if (psm == null) {
	Debug.LogError ("SenseManager Initialization Failed");
	return;
}

PXCMVideoModule.DataDesc ddesc = new PXCMVideoModule.DataDesc ();
ddesc.deviceInfo.streams = PXCMCapture.StreamType.STREAM_TYPE_LEFT;
ddesc.streams.left.options = PXCMCapture.Device.StreamOption.STREAM_OPTION_UNRECTIFIED;
psm.EnableStreams (ddesc);

pxcmStatus sts = psm.Init();
if (sts != pxcmStatus.PXCM_STATUS_NO_ERROR) {
	Debug.LogError ("PXCMSenseManager.Init Failed");
	OnDisable (); // Clean-up
	return;
}

If I comment out "ddesc.streams.color.options = PXCMCapture.Device.StreamOption.STREAM_OPTION_UNRECTIFIED;" the IR camera will initialize fine and I will get a video stream.

If I change the stream and the option type to the color camera, everything runs fine.

I've had some issues initializing the right IR camera without initializing the left camera first. So I thought maybe both cameras need to be initialized. I am able to get both cameras to stream normally, but when I apply the unrectified option, the initialization fails.

In addition it still does not see possible to access any calibration data. Even if I initialize the color camera as unrectified, whenever I run the function "QueryStreamProjectionParameters"  Unity will crash.

I believe I have done everything possible to make sure the error isn't happening on my end.

Has anyone gotten unrectified IR streams or calibration data to work in C++ or Java? If not it would be great to get an official response from intel regarding the status of the IR streams.

Thanks for your time!

[Xusheng_L_Intel]

Sam, sorry for late response. R200 supports limited set of stream combinations. You can enumerate all available stream combinations through the QueryProfileSet function of the PXCCapture interface. Only those enumerated stream combination can be successfully set and streamed. Please check the flags on the enumerated streams to see if what you are looking for is supported.

[SMali10]

Thanks for the reply David!

I cannot find the "QueryProfileSet" function, or the "PXCCAPTURE" interface in the documentation. Did you mean the "QueryStreamProfileSet" function in "PXCMCapture.Device"?

I will try and see what the function returns. However it would be great to get confirmation if it is possible to get the left and right IR streams unrectified, as well as their calibration data.

Thanks again, I really appreciate it!

[Xusheng_L_Intel]

Yes, it was "QueryStreamProfileSet" function in "PXCMCapture.Device". sorry for the confusing. 

[SMali10]

All good. Using "QueryStreamProfileSet" it seems that only the Color camera lists unrectified as an option. I think my confusion stems from the documentation saying that multiple streams can be accessed unrectified, when in reality it is only the color camera.

Really I'm just trying to figure out how to access the calibration data. But unfortunately, contrary to the documentation, that doesn't seem to be supported either: https://software.intel.com/en-us/forums/realsense/topic/594070

Thanks again!