Visual Servoing Platform version 3.5.0
grabRealSense2.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2021 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Acquisition with RealSense RGB-D sensor and librealsense2.
33 *
34 *****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpConfig.h>
45#include <visp3/core/vpTime.h>
46
47#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
48 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
49
50#ifdef VISP_HAVE_PCL
51#include <thread>
52#include <mutex>
53
54#include <pcl/visualization/cloud_viewer.h>
55#include <pcl/visualization/pcl_visualizer.h>
56
57namespace
58{
59// Global variables
60pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
61pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
62bool cancelled = false, update_pointcloud = false;
63
64class ViewerWorker
65{
66public:
67 explicit ViewerWorker(bool color_mode, std::mutex &mutex) : m_colorMode(color_mode), m_mutex(mutex) {}
68
69 void run()
70 {
71 std::string date = vpTime::getDateTime();
72 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer " + date));
73 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud_color);
74 pcl::PointCloud<pcl::PointXYZ>::Ptr local_pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
75 pcl::PointCloud<pcl::PointXYZRGB>::Ptr local_pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
76
77 viewer->setBackgroundColor(0, 0, 0);
78 viewer->initCameraParameters();
79 viewer->setPosition(640 + 80, 480 + 80);
80 viewer->setCameraPosition(0, 0, -0.25, 0, -1, 0);
81 viewer->setSize(640, 480);
82
83 bool init = true;
84 bool local_update = false, local_cancelled = false;
85 while (!local_cancelled) {
86 {
87 std::unique_lock<std::mutex> lock(m_mutex, std::try_to_lock);
88
89 if (lock.owns_lock()) {
90 local_update = update_pointcloud;
91 update_pointcloud = false;
92 local_cancelled = cancelled;
93
94 if (local_update) {
95 if (m_colorMode) {
96 local_pointcloud_color = pointcloud_color->makeShared();
97 } else {
98 local_pointcloud = pointcloud->makeShared();
99 }
100 }
101 }
102 }
103
104 if (local_update && !local_cancelled) {
105 local_update = false;
106
107 if (init) {
108 if (m_colorMode) {
109 viewer->addPointCloud<pcl::PointXYZRGB>(local_pointcloud_color, rgb, "RGB sample cloud");
110 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1,
111 "RGB sample cloud");
112 } else {
113 viewer->addPointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
114 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
115 }
116 init = false;
117 } else {
118 if (m_colorMode) {
119 viewer->updatePointCloud<pcl::PointXYZRGB>(local_pointcloud_color, rgb, "RGB sample cloud");
120 } else {
121 viewer->updatePointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
122 }
123 }
124 }
125
126 viewer->spinOnce(5);
127 }
128
129 std::cout << "End of point cloud display thread" << std::endl;
130 }
131
132private:
133 bool m_colorMode;
134 std::mutex &m_mutex;
135};
136}
137#endif
138
139#include <visp3/core/vpImageConvert.h>
140#include <visp3/gui/vpDisplayGDI.h>
141#include <visp3/gui/vpDisplayX.h>
142#include <visp3/sensor/vpRealSense2.h>
143
144int main()
145{
146 try {
147 vpRealSense2 rs;
148
149 std::string product_line = rs.getProductLine();
150 std::cout << "Product line: " << product_line << std::endl;
151
152 if (product_line == "T200") {
153 std::cout << "This example doesn't support T200 product line family !" << std::endl;
154 return EXIT_SUCCESS;
155 }
156 rs2::config config;
157 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
158 config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
159 config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
160 rs.open(config);
161
163 << std::endl;
165 << std::endl;
166 std::cout << "Extrinsics cMd: \n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_DEPTH) << std::endl;
167 std::cout << "Extrinsics dMc: \n" << rs.getTransformation(RS2_STREAM_DEPTH, RS2_STREAM_COLOR) << std::endl;
168 std::cout << "Extrinsics cMi: \n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_INFRARED) << std::endl;
169 std::cout << "Extrinsics dMi: \n" << rs.getTransformation(RS2_STREAM_DEPTH, RS2_STREAM_INFRARED) << std::endl;
170
171 vpImage<vpRGBa> color((unsigned int)rs.getIntrinsics(RS2_STREAM_COLOR).height,
172 (unsigned int)rs.getIntrinsics(RS2_STREAM_COLOR).width);
173 vpImage<unsigned char> infrared((unsigned int)rs.getIntrinsics(RS2_STREAM_INFRARED).height,
174 (unsigned int)rs.getIntrinsics(RS2_STREAM_INFRARED).width);
175 vpImage<vpRGBa> depth_display((unsigned int)rs.getIntrinsics(RS2_STREAM_DEPTH).height,
176 (unsigned int)rs.getIntrinsics(RS2_STREAM_DEPTH).width);
177 vpImage<uint16_t> depth(depth_display.getHeight(), depth_display.getWidth());
178
179#ifdef VISP_HAVE_PCL
180 std::mutex mutex;
181 ViewerWorker viewer(true, mutex);
182 std::thread viewer_thread(&ViewerWorker::run, &viewer);
183#endif
184
185#if defined(VISP_HAVE_X11)
186 vpDisplayX dc(color, 10, 10, "Color image");
187 vpDisplayX di(infrared, (int)color.getWidth() + 80, 10, "Infrared image");
188 vpDisplayX dd(depth_display, 10, (int)color.getHeight() + 80, "Depth image");
189#elif defined(VISP_HAVE_GDI)
190 vpDisplayGDI dc(color, 10, 10, "Color image");
191 vpDisplayGDI di(infrared, color.getWidth() + 80, 10, "Infrared image");
192 vpDisplayGDI dd(depth_display, 10, color.getHeight() + 80, "Depth image");
193#endif
194
195 while (true) {
196 double t = vpTime::measureTimeMs();
197
198#ifdef VISP_HAVE_PCL
199 {
200 std::lock_guard<std::mutex> lock(mutex);
201 rs.acquire((unsigned char *)color.bitmap, (unsigned char *)depth.bitmap, NULL, pointcloud_color,
202 (unsigned char *)infrared.bitmap);
203 update_pointcloud = true;
204 }
205#else
206 rs.acquire((unsigned char *)color.bitmap, (unsigned char *)depth.bitmap, NULL, (unsigned char *)infrared.bitmap);
207#endif
208
209 vpImageConvert::createDepthHistogram(depth, depth_display);
210
211 vpDisplay::display(color);
212 vpDisplay::display(infrared);
213 vpDisplay::display(depth_display);
214
215 vpDisplay::displayText(color, 15, 15, "Click to quit", vpColor::red);
216 if (vpDisplay::getClick(color, false) || vpDisplay::getClick(infrared, false) ||
217 vpDisplay::getClick(depth_display, false)) {
218 break;
219 }
220 vpDisplay::flush(color);
221 vpDisplay::flush(infrared);
222 vpDisplay::flush(depth_display);
223
224 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
225 }
226
227 std::cout << "RealSense sensor characteristics: \n" << rs << std::endl;
228
229#ifdef VISP_HAVE_PCL
230 {
231 std::lock_guard<std::mutex> lock(mutex);
232 cancelled = true;
233 }
234
235 viewer_thread.join();
236#endif
237
238 } catch (const vpException &e) {
239 std::cerr << "RealSense error " << e.what() << std::endl;
240 } catch (const std::exception &e) {
241 std::cerr << e.what() << std::endl;
242 }
243
244 return EXIT_SUCCESS;
245}
246#else
247int main()
248{
249#if !defined(VISP_HAVE_REALSENSE2)
250 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
251 std::cout << "Tip:" << std::endl;
252 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
253 return EXIT_SUCCESS;
254#endif
255#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
256 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
257 std::cout << "Tip:" << std::endl;
258 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
259#endif
260 return EXIT_SUCCESS;
261}
262#endif
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
bool open(const rs2::config &cfg=rs2::config())
rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index=-1) const
std::string getProductLine()
vpHomogeneousMatrix getTransformation(const rs2_stream &from, const rs2_stream &to, int from_index=-1) const
VISP_EXPORT std::string getDateTime(const std::string &format="%Y/%m/%d %H:%M:%S")
VISP_EXPORT double measureTimeMs()