Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
grabRealSense2.cpp

This example shows how to retrieve data from a RealSense RGB-D sensor with librealsense2.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Acquisition with RealSense RGB-D sensor and librealsense2.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
#if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_CPP11_COMPATIBILITY) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#ifdef VISP_HAVE_PCL
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <thread>
#include <mutex>
namespace
{
// Global variables
pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
bool cancelled = false, update_pointcloud = false;
class ViewerWorker
{
public:
explicit ViewerWorker(const bool color_mode, std::mutex &mutex) : m_colorMode(color_mode), m_mutex(mutex) {}
void run()
{
std::string date = vpTime::getDateTime();
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer " + date));
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud_color);
pcl::PointCloud<pcl::PointXYZ>::Ptr local_pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr local_pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
viewer->setBackgroundColor(0, 0, 0);
viewer->initCameraParameters();
viewer->setPosition(640 + 80, 480 + 80);
viewer->setCameraPosition(0, 0, -0.25, 0, -1, 0);
viewer->setSize(640, 480);
bool init = true;
bool local_update = false, local_cancelled = false;
while (!local_cancelled) {
{
std::unique_lock<std::mutex> lock(m_mutex, std::try_to_lock);
if (lock.owns_lock()) {
local_update = update_pointcloud;
update_pointcloud = false;
local_cancelled = cancelled;
if (local_update) {
if (m_colorMode) {
local_pointcloud_color = pointcloud_color->makeShared();
} else {
local_pointcloud = pointcloud->makeShared();
}
}
}
}
if (local_update && !local_cancelled) {
local_update = false;
if (init) {
if (m_colorMode) {
viewer->addPointCloud<pcl::PointXYZRGB>(local_pointcloud_color, rgb, "RGB sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1,
"RGB sample cloud");
} else {
viewer->addPointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
}
init = false;
} else {
if (m_colorMode) {
viewer->updatePointCloud<pcl::PointXYZRGB>(local_pointcloud_color, rgb, "RGB sample cloud");
} else {
viewer->updatePointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
}
}
}
viewer->spinOnce(5);
}
std::cout << "End of point cloud display thread" << std::endl;
}
private:
bool m_colorMode;
std::mutex &m_mutex;
};
}
#endif
int main()
{
try {
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
rs.open(config);
<< std::endl;
<< std::endl;
std::cout << "Extrinsics cMd: \n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_DEPTH) << std::endl;
std::cout << "Extrinsics dMc: \n" << rs.getTransformation(RS2_STREAM_DEPTH, RS2_STREAM_COLOR) << std::endl;
std::cout << "Extrinsics cMi: \n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_INFRARED) << std::endl;
std::cout << "Extrinsics dMi: \n" << rs.getTransformation(RS2_STREAM_DEPTH, RS2_STREAM_INFRARED) << std::endl;
vpImage<vpRGBa> color((unsigned int)rs.getIntrinsics(RS2_STREAM_COLOR).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_COLOR).width);
vpImage<unsigned char> infrared((unsigned int)rs.getIntrinsics(RS2_STREAM_INFRARED).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_INFRARED).width);
vpImage<vpRGBa> depth_display((unsigned int)rs.getIntrinsics(RS2_STREAM_DEPTH).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_DEPTH).width);
vpImage<uint16_t> depth(depth_display.getHeight(), depth_display.getWidth());
#ifdef VISP_HAVE_PCL
std::mutex mutex;
ViewerWorker viewer(true, mutex);
std::thread viewer_thread(&ViewerWorker::run, &viewer);
#endif
#if defined(VISP_HAVE_X11)
vpDisplayX dc(color, 10, 10, "Color image");
vpDisplayX di(infrared, (int)color.getWidth() + 80, 10, "Infrared image");
vpDisplayX dd(depth_display, 10, (int)color.getHeight() + 80, "Depth image");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI dc(color, 10, 10, "Color image");
vpDisplayGDI di(infrared, color.getWidth() + 80, 10, "Infrared image");
vpDisplayGDI dd(depth_display, 10, color.getHeight() + 80, "Depth image");
#endif
while (true) {
double t = vpTime::measureTimeMs();
#ifdef VISP_HAVE_PCL
{
std::lock_guard<std::mutex> lock(mutex);
rs.acquire((unsigned char *)color.bitmap, (unsigned char *)depth.bitmap, NULL, pointcloud_color,
(unsigned char *)infrared.bitmap);
update_pointcloud = true;
}
#else
rs.acquire((unsigned char *)color.bitmap, (unsigned char *)depth.bitmap, NULL, (unsigned char *)infrared.bitmap);
#endif
vpImageConvert::createDepthHistogram(depth, depth_display);
vpDisplay::display(infrared);
vpDisplay::display(depth_display);
vpDisplay::displayText(color, 15, 15, "Click to quit", vpColor::red);
if (vpDisplay::getClick(color, false) || vpDisplay::getClick(infrared, false) ||
vpDisplay::getClick(depth_display, false)) {
break;
}
vpDisplay::flush(infrared);
vpDisplay::flush(depth_display);
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
}
std::cout << "RealSense sensor characteristics: \n" << rs << std::endl;
#ifdef VISP_HAVE_PCL
{
std::lock_guard<std::mutex> lock(mutex);
cancelled = true;
}
viewer_thread.join();
#endif
} catch (const vpException &e) {
std::cerr << "RealSense error " << e.what() << std::endl;
} catch (const std::exception &e) {
std::cerr << e.what() << std::endl;
}
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
#endif
#if !defined(VISP_HAVE_CPP11_COMPATIBILITY)
std::cout << "You do not build ViSP with C++11 compiler flag" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Configure ViSP again using cmake -DUSE_CPP11=ON, and build again this example" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif