RealSense SDK 開發筆記（二）枚舉DCM下的攝像機與支持的影像串流

(轉載請註明出處)

我真的不是故意把標題寫這麼嚴肅的

這節重點解釋SDK裏那些看起來比較晦澀的，剩下那些簡那些單的、能在chm文檔裏查到的粗略提一下或者不說廢話。

PS：至於我們所關注的獲取視頻流，SDK給出了兩種方式，一種是用PXCSenseManager獲取默認設備上的數據。另一種是完全自定義的方法，一步一步地配置並獲取更詳細更有（加）價（無）值（聊）的數據。爲了滿（裝）足（一）好（手）奇（好）心（B），我們暫時不用SenseManager。

關於怎麼用另一種方式獲取視頻流，個人稍微總結了一下流（套）程（路）：

簡直蛋疼

來來來，先理解幾個SDK中會經常見到的單詞，否則你會懷疑你的閱讀能力：
Implementation // 裝置，這裏對應着DCM服務（DCM是深度相機管理器的意思）
Instance            // 看得見摸得着的（霧）玩意兒
Capture           // 採集，特指信息採集
Device           // 設備IO、硬件IO、攝像頭IO。。。反正看到Device 就知道這是在控制硬件（激光器、曝光亂七八糟的）

……不說人話。

下面上代碼，兩大步：枚舉設備、枚舉視頻流。

枚舉設備並查看信息：

不說廢話，直接上代碼：

    pxcStatus retStatus;// 函數返回狀態
    // Realsense會話
    PXCSession *Session = PXCSession::CreateInstance();
    PXCSession::ImplVersion ver = Session->QueryVersion();
    cout << "Realsense SDK 版本 " << ver.major << "." << ver.minor << endl;
    cout << "==================================================" << endl;
    // 收集信息-----------------------------------------------------------------------------\\
    cout << "Checking Cable..." << endl;
    cout << "-----------------" << endl;
    // 限定爲RealSense DCM視頻服務
    PXCSession::ImplDesc Qtemplat = {};
    Qtemplat.group = PXCSession::IMPL_GROUP_SENSOR;// 分組於傳感器
    Qtemplat.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;// 子分組於視頻採集
    for (size_t DCMidx = 0; ; DCMidx += 1)
    {
        // 查詢可用的DCM服務
        PXCSession::ImplDesc Impl;
        retStatus = Session->QueryImpl(&Qtemplat, DCMidx, &Impl);
        if (retStatus < PXC_STATUS_NO_ERROR)break;
        wcout << "Enum_Index[" << DCMidx << "]" << "@" << Impl.friendlyName<< ":" << endl;

        // 嘗試初始化信息採集
        PXCCapture *Capture = NULL;
        retStatus = Session->CreateImpl<PXCCapture>(&Impl, &Capture);
        if (retStatus<PXC_STATUS_NO_ERROR) continue;

        // 輸出硬件信息
        for (size_t Didx = 0;; Didx += 1)
        {
            PXCCapture::DeviceInfo dinfo;
            retStatus = Capture->QueryDeviceInfo(Didx, &dinfo);
            if (retStatus < PXC_STATUS_NO_ERROR) break;
            // 硬件名稱
            wcout << "  |___DEVICE[" << Didx << "]" << ":" << dinfo.name<< endl;
            // 輸出影像串流類型
            if (dinfo.streams&PXCCapture::STREAM_TYPE_COLOR)
                wprintf_s(L"             |___COLOR ----- STREAM\n");
            if (dinfo.streams&PXCCapture::STREAM_TYPE_DEPTH)
                wprintf_s(L"             |___DEPTH ----- STREAM\n");
            if (dinfo.streams&PXCCapture::STREAM_TYPE_IR)
                wprintf_s(L"             |___IRTOF ----- STREAM\n");
            if (dinfo.streams&PXCCapture::STREAM_TYPE_LEFT)
                wprintf_s(L"             |___STEIR L --- STREAM \n");
            if (dinfo.streams&PXCCapture::STREAM_TYPE_RIGHT)
                wprintf_s(L"             |___STEIR R --- STREAM\n");
        }
        Capture->Release();
    }

執行結果如下：（我只連接了R200，以前對概念理解有誤，module就是上面說的DCM服務）

枚舉RealSenseDCM服務需要你限定分組：ImplDesc(RealSenseDCM描述)類型是一個結構體，枚舉的話你可以在結構體例事先限定好信息。
SDK中寫到：

The group and subgroup values uniquely identify an SDK interface. The iuid value uniquely identifies a module implementation that implements a particular SDK interface. Thus within an SDK session, the following combinations uniquely identify a module implementation:
(1) group, subgroup, and iuid
(2) cuid and iuid
Here cuid refers to the identifier of the primary interface implemented by the module.

理解如下：
你限定了基組和亞組就確定了你在SDK中應該使用哪個DCM服務。
IUID是Implementation Unique Identifier的縮寫，代表DCM的唯一標識。
不就是個攝像機，搞得這麼高端
知道了IUID就知道了在SDK中具體是那個RealSenseDCM服務在調用SDK中的API。
這樣，在一個RealSense SDK的會話中，我們可以通過以下方式確知（限定）一個RealSenseDCM：
1.限定基組、亞組和IUID
2.限定CUID和IUID
這，這裏怎麼又蹦出來個CUID？
查查看：

interfaces supported by implementation

反正就是能夠通過上面兩種方式來知道你現在對應着什麼DCM服務。
QueryImpl來查詢符合你描述的可用裝置，CreateImpl來初始化信息採集。
之後就可以用採集器獲取設備詳細信息，PXCCapture::DeviceInfo是一個結構體，包含裝置內含的設備的信息：設備名稱、序列號、型號、固件版本、設備在DCM內排在索引的第幾號等。
PS:
看到Video Capture（Media Foundation）了嗎？
看來RealSense裝置還是能把自己當成攝像頭的==
熟悉OpenCV的同學不要想當然地用VideoCapture類的方法打開它，對於R200我是沒打開成功過（F200沒來得及測）.
如何用OpenCV處理獲得的圖像將在下一節說。

枚舉視頻流並查看信息：

代碼（R200）：

// 接上面代碼
cout << "\n請輸入需要查詢的模組編號："; int Module_nIdx = cin.get() - 48;

    // 重新打開設備
    PXCSession::ImplDesc Impl;                                      // 會話
    PXCCapture *Capture = NULL;                                     // 採集
    PXCCapture::Device *RS_Device = NULL;                           // 設備
    retStatus = Session->QueryImpl(&Qtemplat, Module_nIdx, &Impl);  // 查詢當前會話
    if (retStatus < PXC_STATUS_NO_ERROR) exit(0);                   // 
    retStatus = Session->CreateImpl<PXCCapture>(&Impl, &Capture);   // 嘗試打開採集器
    if (retStatus < PXC_STATUS_NO_ERROR) exit(0);                   // 
    RS_Device = Capture->CreateDevice(Module_nIdx);                 // 連接到設備
    if (RS_Device == NULL) exit(0);

    // 查詢可使用的影像串流類型
    cout << "Checking Streams..." << endl;
    cout << "--------------------" << endl;
    PXCCapture::StreamType flag_Streams = PXCCapture::STREAM_TYPE_COLOR | PXCCapture::STREAM_TYPE_DEPTH | PXCCapture::STREAM_TYPE_LEFT | PXCCapture::STREAM_TYPE_RIGHT;
    cout << "流類型" << "          分辨率" << "         幀速率" << "  像素格式" << "  RAW流傳輸" << endl;
    cout << "----------------------------------------------------------------------------------" << endl;
    for (size_t  Profile_nIdx = 0;; Profile_nIdx += 1)
    {
        PXCCapture::Device::StreamProfileSet ProfileSet = {};
        retStatus = RS_Device->QueryStreamProfileSet(flag_Streams, Profile_nIdx, &ProfileSet);
        if (retStatus<PXC_STATUS_NO_ERROR) break;
        wprintf_s(L"Color[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",
                  Profile_nIdx, ProfileSet.color.imageInfo.width,
                  ProfileSet.color.imageInfo.height, ProfileSet.color.frameRate.max, ProfileSet.color.imageInfo.format, ProfileSet.color.options);
        wprintf_s(L"Depth[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",
                  Profile_nIdx, ProfileSet.depth.imageInfo.width,
                  ProfileSet.depth.imageInfo.height, ProfileSet.depth.frameRate.max, ProfileSet.depth.imageInfo.format, ProfileSet.depth.options);
        wprintf_s(L"DualL[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",
                  Profile_nIdx, ProfileSet.left.imageInfo.width,
                  ProfileSet.left.imageInfo.height, ProfileSet.left.frameRate.max, ProfileSet.left.imageInfo.format, ProfileSet.left.options);
        wprintf_s(L"DualR[%d]:  |   %dx%d   | @%.1fFPS  |*%08X  |_%08X\n",
                  Profile_nIdx, ProfileSet.right.imageInfo.width,
                  ProfileSet.right.imageInfo.height, ProfileSet.right.frameRate.max, ProfileSet.right.imageInfo.format, ProfileSet.right.options);
        cout << "----------------------------------------------------------------------------------" << endl;
    }
    // 典型的流信息 彩色RGB24 1920 1080 雙目IR int16 628 468 硬件幀同步 30FPS
    PXCCapture::Device::StreamProfileSet ProfileSet = {};
    ProfileSet.color.imageInfo.width = 1920; ProfileSet.color.imageInfo.height = 1080;
    ProfileSet.color.imageInfo.format = PXCImage::PIXEL_FORMAT_RGB32;
    ProfileSet.color.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;
    ProfileSet.color.frameRate = { 30,30 };
    ProfileSet.depth.imageInfo.width = 628; ProfileSet.depth.imageInfo.height = 468;
    ProfileSet.depth.imageInfo.format = PXCImage::PIXEL_FORMAT_DEPTH;
    ProfileSet.depth.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;
    ProfileSet.depth.frameRate = { 30,30 };
    ProfileSet.left.imageInfo.width = 628; ProfileSet.left.imageInfo.height = 468;
    ProfileSet.left.imageInfo.format = PXCImage::PIXEL_FORMAT_Y16;
    ProfileSet.left.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;
    ProfileSet.left.frameRate = { 30,30 };
    ProfileSet.right.imageInfo.width = 628; ProfileSet.right.imageInfo.height = 468;
    ProfileSet.right.imageInfo.format = PXCImage::PIXEL_FORMAT_Y16;
    ProfileSet.right.options = PXCCapture::Device::STREAM_OPTION_STRONG_STREAM_SYNC;
    ProfileSet.right.frameRate = { 30,30 };

    cout << "配置影像串流...";
    if (RS_Device->IsStreamProfileSetValid(&ProfileSet))
    {
        RS_Device->SetStreamProfileSet(&ProfileSet);
        cout << "就緒" << endl;
    }
    else
        cout << "不支持的串流組合" << endl;
    system("pause");

執行結果如下（我只連接了R200）：

根據枚舉設備的信息輸入設備索引號打開指定設備。
StreamType 用來設定所需要獲得的視頻流內容，QueryStreamProfileSet可以查詢設備支持的流有哪些，你可以在函數填充後的StreamProfileSet結構體裏看出攝像頭能接受的串流組合。
如果不支持則返回false，分辨率、幀率不允許隨便設定，像素格式也不支持你把彩色像素設置成位深16的單通道灰度等等。
彩色像素格式有RGB和YUV兩大種，單通道像素灰度全是16bit的。
至於options，我們可以查到如下定義：

enum StreamOption
{
STREAM_OPTION_ANY = 0,
/* Optional options */
STREAM_OPTION_OPTIONAL_MASK = 0x0000FFFF, /*
The option can be added to any profile, but not necessarily supported for any profile */
STREAM_OPTION_DEPTH_PRECALCULATE_UVMAP = 0x00000001, /*
A flag to ask the device to precalculate UVMap */
STREAM_OPTION_STRONG_STREAM_SYNC = 0x00000002, /*
A flag to ask the device to perform strong (HW-based) synchronization on the streams with this flag. */
/* Mandatory options */
STREAM_OPTION_MANDATORY_MASK = 0xFFFF0000, /*
If the option is supported - the device sets this flag in the profile */
STREAM_OPTION_UNRECTIFIED = 0x00010000 /*
A mandatory flag to ask the device to stream unrectified images on the stream with this flag */
};

顧名思義，可選選項是：
STREAM_OPTION_ANY                   // 兼容設置
STREAM_OPTION_DEPTH_PRECALCULATE_UVMAP // 針對3D貼圖的同步幀
STREAM_OPTION_STRONG_STREAM_SYNC    // 基於硬件的原生同步幀
強制選項：
STREAM_OPTION_UNRECTIFIED             // 未標定的圖像

可選選項的意思是這些選項我們可以根據需要“勾選”，也可以不選。
從運行見結果看出，SDK不會主動選中這個選項，默認是STREAM_OPTION_ANY
強制選項這個叫法有點牽強，從運行結果我們可以看出來，當你在枚舉影像串流的時候設備會主動設定。
強制選項爲0的時候是標定過的圖像，如果需要其他用途可以嘗試使用未標定的（比如你更換了電路板上的攝像頭）。
以上兩類選項可以通過位或運算符疊加。
查來查去的只爲滿足好奇心，如果你要乖乖地打開攝像頭直接給結構體賦值就行。

好了，我們就差獲取視頻流數據了，下節單獨說。

進入吐槽時間：
這個SDK給我的第一印象就是蛋疼、冗雜，好在做了個chm。
可以理解，Intel是爲了RealSense SDK的長期發展做準備：命名嚴謹，數據類型儘量統一，詳細的描述變量，各種query函數……
當然！！！這也是偷懶，自己管理項目的結構用得着用戶去理解嗎！？
而對於目的簡單的開發者而言，你家OpenCV在這面前簡直是件藝術品（其實還有個更蛋疼的PCL墊底）。
在目前用法單一的情況下做出來這麼多函數，真是不嫌累……。

其實KinectV2的SDK也是這毛病，但是面對intel，M$可算是小巫見大巫了。

最後附上程序輸出的結果,供大家查閱：

建議大家多多實踐一下，換了2016R1的sdk好像有些對應起來的不一樣了==

idxR200:

流類型	分辨率	幀速率	像素格式	Options
*Color[0]:	320x240	@30.0FPS	*00010002	_00000000
Depth[0]:	320x240	@30.0FPS	*00020000	_00000000
Dual L[0]:	320x240	@30.0FPS	*00040000	_00000000
Dual R[0]:	320x240	@30.0FPS	*00040000	_00000000
*Color[1]:	320x240	@30.0FPS	*00010002	_00000000
Depth[1]:	320x240	@60.0FPS	*00020000	_00000000
Dual L[1]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[1]:	320x240	@60.0FPS	*00040000	_00000000
*Color[2]:	320x240	@30.0FPS	*00010002	_00000000
Depth[2]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[2]:	480x360	@30.0FPS	*00040000	_00000000
Dual R[2]:	480x360	@30.0FPS	*00040000	_00000000
*Color[3]:	320x240	@30.0FPS	*00010002	_00000000
Depth[3]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[3]:	480x360	@30.0FPS	*00010004	_00000000
Dual R[3]:	480x360	@30.0FPS	*00010004	_00000000
*Color[4]:	320x240	@30.0FPS	*00010002	_00000000
Depth[4]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[4]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[4]:	480x360	@60.0FPS	*00040000	_00000000
*Color[5]:	320x240	@30.0FPS	*00010002	_00000000
Depth[5]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[5]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[5]:	480x360	@60.0FPS	*00010004	_00000000
*Color[6]:	320x240	@30.0FPS	*00010002	_00000000
Depth[6]:	628x468	@30.0FPS	*00020000	_00000000
Dual L[6]:	628x468	@30.0FPS	*00040000	_00000000
Dual R[6]:	628x468	@30.0FPS	*00040000	_00000000
*Color[7]:	320x240	@30.0FPS	*00010002	_00000000
Depth[7]:	628x468	@60.0FPS	*00020000	_00000000
Dual L[7]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[7]:	628x468	@60.0FPS	*00040000	_00000000
*Color[8]:	320x240	@60.0FPS	*00010002	_00000000
Depth[8]:	320x240	@60.0FPS	*00020000	_00000000
Dual L[8]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[8]:	320x240	@60.0FPS	*00040000	_00000000
*Color[9]:	320x240	@60.0FPS	*00010002	_00000000
Depth[9]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[9]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[9]:	480x360	@60.0FPS	*00040000	_00000000
*Color[10]:	320x240	@60.0FPS	*00010002	_00000000
Depth[10]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[10]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[10]:	480x360	@60.0FPS	*00010004	_00000000
*Color[11]:	320x240	@60.0FPS	*00010002	_00000000
Depth[11]:	628x468	@60.0FPS	*00020000	_00000000
Dual L[11]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[11]:	628x468	@60.0FPS	*00040000	_00000000
*Color[12]:	640x480	@30.0FPS	*00010002	_00000000
Depth[12]:	320x240	@30.0FPS	*00020000	_00000000
Dual L[12]:	320x240	@30.0FPS	*00040000	_00000000
Dual R[12]:	320x240	@30.0FPS	*00040000	_00000000
*Color[13]:	640x480	@30.0FPS	*00010002	_00000000
Depth[13]:	320x240	@60.0FPS	*00020000	_00000000
Dual L[13]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[13]:	320x240	@60.0FPS	*00040000	_00000000
*Color[14]:	640x480	@30.0FPS	*00010002	_00000000
Depth[14]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[14]:	480x360	@30.0FPS	*00040000	_00000000
Dual R[14]:	480x360	@30.0FPS	*00040000	_00000000
*Color[15]:	640x480	@30.0FPS	*00010002	_00000000
Depth[15]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[15]:	480x360	@30.0FPS	*00010004	_00000000
Dual R[15]:	480x360	@30.0FPS	*00010004	_00000000
*Color[16]:	640x480	@30.0FPS	*00010002	_00000000
Depth[16]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[16]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[16]:	480x360	@60.0FPS	*00040000	_00000000
*Color[17]:	640x480	@30.0FPS	*00010002	_00000000
Depth[17]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[17]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[17]:	480x360	@60.0FPS	*00010004	_00000000
*Color[18]:	640x480	@30.0FPS	*00010002	_00000000
Depth[18]:	628x468	@30.0FPS	*00020000	_00000000
Dual L[18]:	628x468	@30.0FPS	*00040000	_00000000
Dual R[18]:	628x468	@30.0FPS	*00040000	_00000000
*Color[19]:	640x480	@30.0FPS	*00010002	_00000000
Depth[19]:	628x468	@60.0FPS	*00020000	_00000000
Dual L[19]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[19]:	628x468	@60.0FPS	*00040000	_00000000
*Color[20]:	640x480	@60.0FPS	*00010002	_00000000
Depth[20]:	320x240	@60.0FPS	*00020000	_00000000
Dual L[20]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[20]:	320x240	@60.0FPS	*00040000	_00000000
*Color[21]:	640x480	@60.0FPS	*00010002	_00000000
Depth[21]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[21]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[21]:	480x360	@60.0FPS	*00040000	_00000000
*Color[22]:	640x480	@60.0FPS	*00010002	_00000000
Depth[22]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[22]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[22]:	480x360	@60.0FPS	*00010004	_00000000
*Color[23]:	640x480	@60.0FPS	*00010002	_00000000
Depth[23]:	628x468	@60.0FPS	*00020000	_00000000
Dual L[23]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[23]:	628x468	@60.0FPS	*00040000	_00000000
*Color[24]:	1280x720	@30.0FPS	*00010002	_00000000
Depth[24]:	320x240	@30.0FPS	*00020000	_00000000
Dual L[24]:	320x240	@30.0FPS	*00040000	_00000000
Dual R[24]:	320x240	@30.0FPS	*00040000	_00000000
*Color[25]:	1280x720	@30.0FPS	*00010002	_00000000
Depth[25]:	320x240	@60.0FPS	*00020000	_00000000
Dual L[25]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[25]:	320x240	@60.0FPS	*00040000	_00000000
*Color[26]:	1280x720	@30.0FPS	*00010002	_00000000
Depth[26]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[26]:	480x360	@30.0FPS	*00040000	_00000000
Dual R[26]:	480x360	@30.0FPS	*00040000	_00000000
*Color[27]:	1280x720	@30.0FPS	*00010002	_00000000
Depth[27]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[27]:	480x360	@30.0FPS	*00010004	_00000000
Dual R[27]:	480x360	@30.0FPS	*00010004	_00000000
*Color[28]:	1280x720	@30.0FPS	*00010002	_00000000
Depth[28]:	480x360	@60.0FPS	*00020000	_00000000
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Dual R[28]:	480x360	@60.0FPS	*00040000	_00000000
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Dual L[29]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[29]:	480x360	@60.0FPS	*00010004	_00000000
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Dual R[30]:	628x468	@30.0FPS	*00040000	_00000000
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Dual R[31]:	628x468	@60.0FPS	*00040000	_00000000
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Dual R[32]:	320x240	@30.0FPS	*00040000	_00000000
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Dual R[33]:	320x240	@60.0FPS	*00040000	_00000000
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Dual R[34]:	480x360	@30.0FPS	*00040000	_00000000
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Dual R[35]:	480x360	@30.0FPS	*00010004	_00000000
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Dual R[36]:	480x360	@60.0FPS	*00040000	_00000000
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Dual L[37]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[37]:	480x360	@60.0FPS	*00010004	_00000000
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Dual L[38]:	628x468	@30.0FPS	*00040000	_00000000
Dual R[38]:	628x468	@30.0FPS	*00040000	_00000000
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Dual L[39]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[39]:	628x468	@60.0FPS	*00040000	_00000000
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Dual R[40]:	320x240	@30.0FPS	*00040000	_00000000
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Dual L[41]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[41]:	320x240	@60.0FPS	*00040000	_00000000
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Dual L[42]:	480x360	@30.0FPS	*00040000	_00000000
Dual R[42]:	480x360	@30.0FPS	*00040000	_00000000
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Dual L[43]:	480x360	@30.0FPS	*00010004	_00000000
Dual R[43]:	480x360	@30.0FPS	*00010004	_00000000
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Dual L[44]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[44]:	480x360	@60.0FPS	*00040000	_00000000
*Color[45]:	640x480	@30.0FPS	*00010002	_00010000
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Dual L[45]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[45]:	480x360	@60.0FPS	*00010004	_00000000
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Dual R[46]:	628x468	@30.0FPS	*00040000	_00000000
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Dual L[47]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[47]:	628x468	@60.0FPS	*00040000	_00000000
*Color[48]:	640x480	@60.0FPS	*00010002	_00010000
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Dual L[48]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[48]:	320x240	@60.0FPS	*00040000	_00000000
*Color[49]:	640x480	@60.0FPS	*00010002	_00010000
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Dual L[49]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[49]:	480x360	@60.0FPS	*00040000	_00000000
*Color[50]:	640x480	@60.0FPS	*00010002	_00010000
Depth[50]:	480x360	@60.0FPS	*00020000	_00000000
Dual L[50]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[50]:	480x360	@60.0FPS	*00010004	_00000000
*Color[51]:	640x480	@60.0FPS	*00010002	_00010000
Depth[51]:	628x468	@60.0FPS	*00020000	_00000000
Dual L[51]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[51]:	628x468	@60.0FPS	*00040000	_00000000
*Color[52]:	1920x1080	@30.0FPS	*00010002	_00010000
Depth[52]:	320x240	@30.0FPS	*00020000	_00000000
Dual L[52]:	320x240	@30.0FPS	*00040000	_00000000
Dual R[52]:	320x240	@30.0FPS	*00040000	_00000000
*Color[53]:	1920x1080	@30.0FPS	*00010002	_00010000
Depth[53]:	320x240	@60.0FPS	*00020000	_00000000
Dual L[53]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[53]:	320x240	@60.0FPS	*00040000	_00000000
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Depth[54]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[54]:	480x360	@30.0FPS	*00040000	_00000000
Dual R[54]:	480x360	@30.0FPS	*00040000	_00000000
*Color[55]:	1920x1080	@30.0FPS	*00010002	_00010000
Depth[55]:	480x360	@30.0FPS	*00020000	_00000000
Dual L[55]:	480x360	@30.0FPS	*00010004	_00000000
Dual R[55]:	480x360	@30.0FPS	*00010004	_00000000
*Color[56]:	1920x1080	@30.0FPS	*00010002	_00010000
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Dual L[56]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[56]:	480x360	@60.0FPS	*00040000	_00000000
*Color[57]:	1920x1080	@30.0FPS	*00010002	_00010000
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Dual L[57]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[57]:	480x360	@60.0FPS	*00010004	_00000000
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Dual L[58]:	628x468	@30.0FPS	*00040000	_00000000
Dual R[58]:	628x468	@30.0FPS	*00040000	_00000000
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Depth[59]:	628x468	@60.0FPS	*00020000	_00000000
Dual L[59]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[59]:	628x468	@60.0FPS	*00040000	_00000000
*Color[60]:	640x480	@30.0FPS	*00010000	_00010000
Depth[60]:	320x240	@30.0FPS	*00020000	_00000000
Dual L[60]:	320x240	@30.0FPS	*00040000	_00000000
Dual R[60]:	320x240	@30.0FPS	*00040000	_00000000
*Color[61]:	640x480	@30.0FPS	*00010000	_00010000
Depth[61]:	320x240	@60.0FPS	*00020000	_00000000
Dual L[61]:	320x240	@60.0FPS	*00040000	_00000000
Dual R[61]:	320x240	@60.0FPS	*00040000	_00000000
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Dual L[62]:	480x360	@30.0FPS	*00040000	_00000000
Dual R[62]:	480x360	@30.0FPS	*00040000	_00000000
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Dual R[63]:	480x360	@30.0FPS	*00010004	_00000000
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Dual L[64]:	480x360	@60.0FPS	*00040000	_00000000
Dual R[64]:	480x360	@60.0FPS	*00040000	_00000000
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Dual L[65]:	480x360	@60.0FPS	*00010004	_00000000
Dual R[65]:	480x360	@60.0FPS	*00010004	_00000000
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Dual L[66]:	628x468	@30.0FPS	*00040000	_00000000
Dual R[66]:	628x468	@30.0FPS	*00040000	_00000000
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Dual L[67]:	628x468	@60.0FPS	*00040000	_00000000
Dual R[67]:	628x468	@60.0FPS	*00040000	_00000000
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Dual R[68]:	320x240	@60.0FPS	*00040000	_00000000
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Dual R[79]:	628x468	@60.0FPS	*00040000	_00000000

RealSense SDK 開發筆記（二）枚舉DCM下的攝像機與支持的影像串流

我真的不是故意把標題寫這麼嚴肅的

枚舉設備並查看信息：

枚舉視頻流並查看信息：

建議大家多多實踐一下，換了2016R1的sdk好像有些對應起來的不一樣了==

idxR200:

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RealSense SDK 開發筆記（二）枚舉DCM下的攝像機與支持的影像串流

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RealSense SDK 開發筆記 （二）枚舉DCM下的攝像機與支持的影像串流

我真的不是故意把標題寫這麼嚴肅的

枚舉設備並查看信息：

枚舉視頻流並查看信息：

建議大家多多實踐一下，換了2016R1的sdk好像有些對應起來的不一樣了==

idxR200:

RealSense SDK 開發筆記（二）枚舉DCM下的攝像機與支持的影像串流