Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
testRealSense2_D435.cpp

Test Intel RealSense D435 acquisition 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:
* Test Intel RealSense acquisition with librealsense2.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_CPP11_COMPATIBILITY) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
#ifdef VISP_HAVE_PCL
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <thread>
#include <mutex>
#endif
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#endif
namespace
{
#ifdef VISP_HAVE_PCL
// 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;
};
void getPointcloud(const rs2::depth_frame &depth_frame, std::vector<vpColVector> &pointcloud)
{
auto vf = depth_frame.as<rs2::video_frame>();
const int width = vf.get_width();
const int height = vf.get_height();
pointcloud.resize((size_t)(width * height));
rs2::pointcloud pc;
rs2::points points = pc.calculate(depth_frame);
auto vertices = points.get_vertices();
for (size_t i = 0; i < points.size(); i++) {
if (vertices[i].z) {
v[0] = vertices[i].x;
v[1] = vertices[i].y;
v[2] = vertices[i].z;
v[3] = 1.0;
} else {
v[0] = 0.0;
v[1] = 0.0;
v[2] = 0.0;
v[3] = 1.0;
}
pointcloud[i] = v;
}
}
#endif
void getNativeFrame(const rs2::frame &frame, unsigned char *const data)
{
auto vf = frame.as<rs2::video_frame>();
int size = vf.get_width() * vf.get_height();
switch (frame.get_profile().format()) {
case RS2_FORMAT_RGB8:
case RS2_FORMAT_BGR8:
memcpy(data, (void *)frame.get_data(), size * 3);
break;
case RS2_FORMAT_RGBA8:
case RS2_FORMAT_BGRA8:
memcpy(data, (void *)frame.get_data(), size * 4);
break;
case RS2_FORMAT_Y16:
case RS2_FORMAT_Z16:
memcpy(data, (unsigned char *)frame.get_data(), size * 2);
break;
case RS2_FORMAT_Y8:
memcpy(data, (unsigned char *)frame.get_data(), size);
break;
default:
break;
}
}
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
void frame_to_mat(const rs2::frame &f, cv::Mat &img)
{
auto vf = f.as<rs2::video_frame>();
const int w = vf.get_width();
const int h = vf.get_height();
const int size = w * h;
if (f.get_profile().format() == RS2_FORMAT_BGR8) {
memcpy(img.ptr<cv::Vec3b>(), f.get_data(), size * 3);
} else if (f.get_profile().format() == RS2_FORMAT_RGB8) {
cv::Mat tmp(h, w, CV_8UC3, (void *)f.get_data(), cv::Mat::AUTO_STEP);
cv::cvtColor(tmp, img, cv::COLOR_RGB2BGR);
} else if (f.get_profile().format() == RS2_FORMAT_Y8) {
memcpy(img.ptr<uchar>(), f.get_data(), size);
}
}
#endif
}
int main(int argc, char *argv[])
{
#ifdef VISP_HAVE_PCL
bool pcl_color = false;
#endif
bool show_info = false;
for (int i = 1; i < argc; i++) {
#ifdef VISP_HAVE_PCL
if (std::string(argv[i]) == "--pcl_color") {
pcl_color = true;
} else
#endif
if (std::string(argv[i]) == "--show_info") {
show_info = true;
}
}
if (show_info) {
rs.open();
std::cout << "RealSense:\n" << rs << std::endl;
return EXIT_SUCCESS;
}
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, 1280, 720, RS2_FORMAT_RGBA8, 30);
config.enable_stream(RS2_STREAM_DEPTH, 1280, 720, RS2_FORMAT_Z16, 30);
config.enable_stream(RS2_STREAM_INFRARED, 1, 1280, 720, RS2_FORMAT_Y8, 30);
config.enable_stream(RS2_STREAM_INFRARED, 2, 1280, 720, RS2_FORMAT_Y8, 30);
rs.open(config);
rs2::pipeline_profile &profile = rs.getPipelineProfile();
auto color_profile = profile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
vpImage<vpRGBa> color((unsigned int)color_profile.height(), (unsigned int)color_profile.width());
auto depth_profile = profile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
vpImage<vpRGBa> depth_color((unsigned int)depth_profile.height(), (unsigned int)depth_profile.width());
vpImage<uint16_t> depth_raw((unsigned int)depth_profile.height(), (unsigned int)depth_profile.width());
auto infrared_profile = profile.get_stream(RS2_STREAM_INFRARED).as<rs2::video_stream_profile>();
vpImage<unsigned char> infrared1((unsigned int)infrared_profile.height(), (unsigned int)infrared_profile.width());
vpImage<unsigned char> infrared2((unsigned int)infrared_profile.height(), (unsigned int)infrared_profile.width());
#ifdef VISP_HAVE_X11
vpDisplayX d1, d2, d3, d4;
#else
vpDisplayGDI d1, d2, d3, d4;
#endif
d1.init(color, 0, 0, "Color");
d2.init(depth_color, color.getWidth(), 0, "Depth");
d3.init(infrared1, 0, color.getHeight() + 100, "Infrared left");
d4.init(infrared2, color.getWidth(), color.getHeight() + 100, "Infrared right");
std::vector<vpColVector> pointcloud_colvector;
#ifdef VISP_HAVE_PCL
std::mutex mutex;
ViewerWorker viewer_colvector(false, mutex);
std::thread viewer_colvector_thread(&ViewerWorker::run, &viewer_colvector);
#endif
rs2::pipeline &pipe = rs.getPipeline();
std::cout << "Color intrinsics:\n"
<< std::endl;
std::cout << "Color intrinsics:\n"
std::cout << "Depth intrinsics:\n"
<< std::endl;
std::cout << "Depth intrinsics:\n"
std::cout << "Infrared intrinsics:\n"
<< std::endl;
std::cout << "Infrared intrinsics:\n"
<< std::endl;
std::cout << "depth_M_color:\n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_DEPTH) << std::endl;
std::cout << "color_M_infrared:\n" << rs.getTransformation(RS2_STREAM_INFRARED, RS2_STREAM_COLOR) << std::endl;
std::vector<double> time_vector;
double t_begin = vpTime::measureTimeMs();
while (vpTime::measureTimeMs() - t_begin < 10000) {
double t = vpTime::measureTimeMs();
auto data = pipe.wait_for_frames();
auto color_frame = data.get_color_frame();
getNativeFrame(color_frame, (unsigned char *)color.bitmap);
auto depth_frame = data.get_depth_frame();
getNativeFrame(depth_frame, (unsigned char *)depth_raw.bitmap);
auto infrared1_frame = data.get_infrared_frame(1);
getNativeFrame(infrared1_frame, (unsigned char *)infrared1.bitmap);
auto infrared2_frame = data.get_infrared_frame(2);
getNativeFrame(infrared2_frame, (unsigned char *)infrared2.bitmap);
#ifdef VISP_HAVE_PCL
getPointcloud(depth_frame, pointcloud_colvector);
{
std::lock_guard<std::mutex> lock(mutex);
pointcloud->width = depth_profile.width();
pointcloud->height = depth_profile.height();
pointcloud->points.resize(pointcloud_colvector.size());
for (size_t i = 0; i < pointcloud_colvector.size(); i++) {
pointcloud->points[(size_t)i].x = pointcloud_colvector[i][0];
pointcloud->points[(size_t)i].y = pointcloud_colvector[i][1];
pointcloud->points[(size_t)i].z = pointcloud_colvector[i][2];
}
update_pointcloud = true;
}
#endif
vpImageConvert::createDepthHistogram(depth_raw, depth_color);
vpDisplay::display(depth_color);
vpDisplay::display(infrared1);
vpDisplay::display(infrared2);
vpDisplay::displayText(color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(depth_color);
vpDisplay::flush(infrared1);
vpDisplay::flush(infrared2);
time_vector.push_back(vpTime::measureTimeMs() - t);
if (vpDisplay::getClick(color, false))
break;
}
rs.close();
d1.close(color);
d2.close(depth_color);
d3.close(infrared1);
d4.close(infrared2);
#ifdef VISP_HAVE_PCL
{
std::lock_guard<std::mutex> lock(mutex);
cancelled = true;
}
viewer_colvector_thread.join();
#endif
std::cout << "Acquisition1 - Mean time: " << vpMath::getMean(time_vector)
<< " ms ; Median time: " << vpMath::getMedian(time_vector) << " ms" << std::endl;
config.disable_all_streams();
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 60);
config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 60);
config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 60);
rs.open(config);
color_profile = profile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
color.init((unsigned int)color_profile.height(), (unsigned int)color_profile.width());
depth_profile = profile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
depth_color.init((unsigned int)depth_profile.height(), (unsigned int)depth_profile.width());
depth_raw.init((unsigned int)depth_profile.height(), (unsigned int)depth_profile.width());
infrared_profile = profile.get_stream(RS2_STREAM_INFRARED).as<rs2::video_stream_profile>();
infrared1.init((unsigned int)infrared_profile.height(), (unsigned int)infrared_profile.width());
d1.init(color, 0, 0, "Color");
d2.init(depth_color, color.getWidth(), 0, "Depth");
d3.init(infrared1, 0, color.getHeight() + 100, "Infrared");
#ifdef VISP_HAVE_PCL
cancelled = false;
ViewerWorker viewer(pcl_color, mutex);
std::thread viewer_thread(&ViewerWorker::run, &viewer);
#endif
std::cout << "\n" << std::endl;
std::cout << "Color intrinsics:\n"
<< std::endl;
std::cout << "Color intrinsics:\n"
std::cout << "Depth intrinsics:\n"
<< std::endl;
std::cout << "Depth intrinsics:\n"
std::cout << "Infrared intrinsics:\n"
<< std::endl;
std::cout << "Infrared intrinsics:\n"
<< std::endl;
std::cout << "depth_M_color:\n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_DEPTH) << std::endl;
std::cout << "color_M_infrared:\n" << rs.getTransformation(RS2_STREAM_INFRARED, RS2_STREAM_COLOR) << std::endl;
time_vector.clear();
t_begin = vpTime::measureTimeMs();
while (vpTime::measureTimeMs() - t_begin < 10000) {
double t = vpTime::measureTimeMs();
#ifdef VISP_HAVE_PCL
{
std::lock_guard<std::mutex> lock(mutex);
if (pcl_color) {
rs.acquire((unsigned char *)color.bitmap, (unsigned char *)depth_raw.bitmap, NULL, pointcloud_color,
(unsigned char *)infrared1.bitmap);
} else {
rs.acquire((unsigned char *)color.bitmap, (unsigned char *)depth_raw.bitmap, NULL, pointcloud,
(unsigned char *)infrared1.bitmap);
}
update_pointcloud = true;
}
#else
rs.acquire((unsigned char *)color.bitmap, (unsigned char *)depth_raw.bitmap, NULL,
(unsigned char *)infrared1.bitmap);
#endif
vpImageConvert::createDepthHistogram(depth_raw, depth_color);
vpDisplay::display(depth_color);
vpDisplay::display(infrared1);
vpDisplay::displayText(color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(depth_color);
vpDisplay::flush(infrared1);
time_vector.push_back(vpTime::measureTimeMs() - t);
if (vpDisplay::getClick(color, false))
break;
}
#ifdef VISP_HAVE_PCL
{
std::lock_guard<std::mutex> lock(mutex);
cancelled = true;
}
viewer_thread.join();
#endif
d1.close(color);
d2.close(depth_color);
d3.close(infrared1);
std::cout << "Acquisition2 - Mean time: " << vpMath::getMean(time_vector)
<< " ms ; Median time: " << vpMath::getMedian(time_vector) << " ms" << std::endl;
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
rs.close();
config.disable_all_streams();
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 60);
config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 60);
config.enable_stream(RS2_STREAM_INFRARED, 1, 640, 480, RS2_FORMAT_Y8, 60);
config.enable_stream(RS2_STREAM_INFRARED, 2, 640, 480, RS2_FORMAT_Y8, 60);
rs.open(config);
color_profile = profile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
cv::Mat mat_color(color_profile.height(), color_profile.width(), CV_8UC3);
depth_profile = profile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
cv::Mat mat_depth(depth_profile.height(), depth_profile.width(), CV_8UC3);
rs2::colorizer color_map;
infrared_profile = profile.get_stream(RS2_STREAM_INFRARED).as<rs2::video_stream_profile>();
cv::Mat mat_infrared1(infrared_profile.height(), infrared_profile.width(), CV_8U);
cv::Mat mat_infrared2(infrared_profile.height(), infrared_profile.width(), CV_8U);
time_vector.clear();
t_begin = vpTime::measureTimeMs();
while (vpTime::measureTimeMs() - t_begin < 10000) {
double t = vpTime::measureTimeMs();
auto data = pipe.wait_for_frames();
frame_to_mat(data.get_color_frame(), mat_color);
#if (RS2_API_VERSION >= ((2 * 10000) + (16 * 100) + 0))
frame_to_mat(data.get_depth_frame().apply_filter(color_map), mat_depth);
#else
frame_to_mat(color_map(data.get_depth_frame()), mat_depth);
#endif
frame_to_mat(data.get_infrared_frame(1), mat_infrared1);
frame_to_mat(data.get_infrared_frame(2), mat_infrared2);
cv::imshow("OpenCV color", mat_color);
cv::imshow("OpenCV depth", mat_depth);
cv::imshow("OpenCV infrared left", mat_infrared1);
cv::imshow("OpenCV infrared right", mat_infrared2);
time_vector.push_back(vpTime::measureTimeMs() - t);
if (cv::waitKey(10) == 27)
break;
}
std::cout << "Acquisition3 - Mean time: " << vpMath::getMean(time_vector)
<< " ms ; Median time: " << vpMath::getMedian(time_vector) << " ms" << std::endl;
#endif
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "Install librealsense2 to make this test work." << std::endl;
#endif
#if !defined(VISP_HAVE_CPP11_COMPATIBILITY)
std::cout << "Build ViSP with C++11 compiler flag (cmake -DUSE_CPP11=ON) "
"to make this test work"
<< std::endl;
#endif
#if !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_GDI)
std::cout << "X11 or GDI are needed." << std::endl;
#endif
return 0;
}
#endif