vpRealSense.h

/****************************************************************************
 *
 * 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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:
 * RealSense SDK wrapper.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef __vpRealSense_h_
#define __vpRealSense_h_

#include <stdint.h>
#include <map>

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpException.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>

#if defined(VISP_HAVE_REALSENSE) && defined(VISP_HAVE_CPP11_COMPATIBILITY)

#include <librealsense/rs.hpp>

#ifdef VISP_HAVE_PCL
#  include <pcl/point_types.h>
#  include <pcl/common/projection_matrix.h>
#endif

class VISP_EXPORT vpRealSense
{
public:
  vpRealSense();
  virtual ~vpRealSense();

  void acquire(std::vector<vpColVector> &pointcloud);
#ifdef VISP_HAVE_PCL
  void acquire(pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void acquire(pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
#endif
  void acquire(vpImage<unsigned char> &grey); // tested
  void acquire(vpImage<unsigned char> &grey, std::vector<vpColVector> &pointcloud);
  void acquire(vpImage<unsigned char> &grey, vpImage<uint16_t> &infrared, vpImage<uint16_t> &depth, std::vector<vpColVector> &pointcloud);
#ifdef VISP_HAVE_PCL
  void acquire(vpImage<unsigned char> &grey, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void acquire(vpImage<unsigned char> &grey, vpImage<uint16_t> &infrared, vpImage<uint16_t> &depth, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void acquire(vpImage<unsigned char> &grey, vpImage<uint16_t> &infrared, vpImage<uint16_t> &depth, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
#endif

  void acquire(vpImage<vpRGBa> &color);  // tested
  void acquire(vpImage<vpRGBa> &color, std::vector<vpColVector> &pointcloud);
  void acquire(vpImage<vpRGBa> &color, vpImage<uint16_t> &infrared, vpImage<uint16_t> &depth, std::vector<vpColVector> &pointcloud);

  void acquire(unsigned char * const data_image, unsigned char * const data_depth, std::vector<vpColVector> * const data_pointCloud, unsigned char * const data_infrared,
               unsigned char * const data_infrared2=NULL, const rs::stream &stream_color=rs::stream::color, const rs::stream &stream_depth=rs::stream::depth,
               const rs::stream &stream_infrared=rs::stream::infrared, const rs::stream &stream_infrared2=rs::stream::infrared2);

#ifdef VISP_HAVE_PCL
  void acquire(vpImage<vpRGBa> &color, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void acquire(vpImage<vpRGBa> &color, vpImage<uint16_t> &infrared, vpImage<uint16_t> &depth, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void acquire(vpImage<vpRGBa> &color, vpImage<uint16_t> &infrared, vpImage<uint16_t> &depth, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);

  void acquire(unsigned char * const data_image, unsigned char * const data_depth, std::vector<vpColVector> * const data_pointCloud,
               pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud, unsigned char * const data_infrared, unsigned char * const data_infrared2=NULL,
               const rs::stream &stream_color=rs::stream::color, const rs::stream &stream_depth=rs::stream::depth, const rs::stream &stream_infrared=rs::stream::infrared,
               const rs::stream &stream_infrared2=rs::stream::infrared2);
  void acquire(unsigned char * const data_image, unsigned char * const data_depth, std::vector<vpColVector> * const data_pointCloud,
               pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud, unsigned char * const data_infrared, unsigned char * const data_infrared2=NULL,
               const rs::stream &stream_color=rs::stream::color, const rs::stream &stream_depth=rs::stream::depth,
               const rs::stream &stream_infrared=rs::stream::infrared, const rs::stream &stream_infrared2=rs::stream::infrared2);
#endif

  void close();

  vpCameraParameters getCameraParameters(const rs::stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion) const;
  rs::device *getHandler() const {
    return m_device;
  }

  rs::extrinsics getExtrinsics(const rs::stream &from, const rs::stream &to) const;
  rs::intrinsics getIntrinsics(const rs::stream &stream) const;

  inline float getInvalidDepthValue() const {
    return m_invalidDepthValue;
  }

  int getNumDevices() const {
    return m_context.get_device_count();
  }
  std::string getSerialNumber() const {
    return m_serial_no;
  }
  vpHomogeneousMatrix getTransformation(const rs::stream &from, const rs::stream &to) const;

  void open();

  void setDeviceBySerialNumber(const std::string &serial_no);

  friend VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpRealSense &rs);


  struct vpRsStreamParams {
    int m_streamWidth;
    int m_streamHeight;
    rs::format m_streamFormat;
    int m_streamFramerate;

    vpRsStreamParams() : m_streamWidth(640), m_streamHeight(480), m_streamFormat(rs::format::rgba8), m_streamFramerate(30) {
    }

    vpRsStreamParams(const int streamWidth, const int streamHeight, const rs::format &streamFormat, const int streamFramerate)
      : m_streamWidth(streamWidth), m_streamHeight(streamHeight), m_streamFormat(streamFormat), m_streamFramerate(streamFramerate) {
    }
  };

  void setEnableStream(const rs::stream &stream, const bool status);

  inline void setInvalidDepthValue(const float value) {
    m_invalidDepthValue = value;
  }

  void setStreamSettings(const rs::stream &stream, const rs::preset &preset);
  void setStreamSettings(const rs::stream &stream, const vpRsStreamParams &params);

protected:
  rs::context m_context;
  rs::device *m_device;
  int m_num_devices;
  std::string m_serial_no;
  std::map <rs::stream, rs::intrinsics> m_intrinsics;
  float m_max_Z; 
  std::map<rs::stream, bool> m_enableStreams;
  std::map<rs::stream, bool> m_useStreamPresets;
  std::map<rs::stream, rs::preset> m_streamPresets;
  std::map<rs::stream, vpRsStreamParams> m_streamParams;
  float m_invalidDepthValue;

  void initStream();
};

#endif
#endif