#include <visp3/sensor/vpRealSense.h>

Classes
struct	vpRsStreamParams

Public Member Functions
	vpRealSense ()

virtual	~vpRealSense ()

void	acquire (std::vector< vpColVector > &pointcloud)

void	acquire (pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud)

void	acquire (pcl::PointCloud< pcl::PointXYZRGB >::Ptr &pointcloud)

void	acquire (vpImage< unsigned char > &grey)

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)

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)

void	acquire (vpImage< vpRGBa > &color)

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)

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)

void	close ()

vpCameraParameters	getCameraParameters (const rs::stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion) const

rs::device *	getHandler () const

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

rs::intrinsics	getIntrinsics (const rs::stream &stream) const

float	getInvalidDepthValue () const

int	getNumDevices () const

std::string	getSerialNumber () const

vpHomogeneousMatrix	getTransformation (const rs::stream &from, const rs::stream &to) const

void	open ()

void	setDeviceBySerialNumber (const std::string &serial_no)

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

void	setInvalidDepthValue (const float value)

void	setStreamSettings (const rs::stream &stream, const rs::preset &preset)

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

Protected Member Functions
void	initStream ()

Protected Attributes
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

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

Detailed Description

This class is a wrapper over the Intel librealsense library https://github.com/IntelRealSense/librealsense. It allows to capture data from the Intel RealSense cameras.

The usage of vpRealSense class is enabled when librealsense 3rd party is successfully installed. Installation instructions are provided following https://github.com/IntelRealSense/librealsense#installation-guide.

Moreover, if Point Cloud Library (PCL) 3rd party is installed we also propose interfaces to retrieve point cloud as pcl::PointCloud<pcl::PointXYZ> or pcl::PointCloud<pcl::PointXYZRGB> data structures.

Warning: Notice that the usage of this class requires compiler and library support for the ISO C++ 2011 standard. This support must be enabled with the -std=c++11 compiler option. Hereafter we give an example of a CMakeLists.txt file that allows to build sample-realsense.cpp that uses vpRealSense class.
project(sample)
cmake_minimum_required(VERSION 2.6)
find_package(VISP REQUIRED)
include_directories(${VISP_INCLUDE_DIRS})
include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
endif()
add_executable(sample-realsense sample-realsense.cpp)
target_link_libraries(sample-realsense ${VISP_LIBRARIES})

To acquire images from the RealSense color camera and convert them into grey level images, a good starting is to use the following code that corresponds to the content of sample-realsense.cpp:

#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense.h>
int main()
{
  vpRealSense rs;
  rs.open();
  vpImage<unsigned char> I(rs.getIntrinsics(rs::stream::color).height, rs.getIntrinsics(rs::stream::color).width);
#ifdef VISP_HAVE_X11
  vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI d(I);
#endif
  while (1) {
    rs.acquire(I);
    vpDisplay::display(I);
    vpDisplay::flush(I);
    if (vpDisplay::getClick(I, false))
      break;
  }
  return 0;
}

If you want to acquire color images, in the previous sample replace:

vpImage<unsigned char> I(rs.getIntrinsics(rs::stream::color).height, rs.getIntrinsics(rs::stream::color).width);

by

vpImage<vpRGBa> I(rs.getIntrinsics(rs::stream::color).height, rs.getIntrinsics(rs::stream::color).width);

If you are interested in the point cloud and if ViSP is build with PCL support, you can start from the following example where we use PCL library to visualize the point cloud:

#include <visp3/sensor/vpRealSense.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
int main()
{
  vpRealSense rs;
  rs.open();
  std::cout << rs << std::endl;
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>);
  rs.acquire(pointcloud);
  pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud);
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  viewer->setCameraPosition(0,0,-0.5, 0,-1,0);
  while (1) {
    rs.acquire(pointcloud);
    static bool update = false;
    if (! update) {
      viewer->addPointCloud<pcl::PointXYZRGB> (pointcloud, rgb, "sample cloud");
      viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
      update = true;
    }
    else {
      viewer->updatePointCloud<pcl::PointXYZRGB> (pointcloud, rgb, "sample cloud");
    }
    viewer->spinOnce (100);
  }
  return 0;
}

If you want to change the default stream parameters, you can use setEnableStream() to enable only the desired stream and setStreamSettings() to set the stream settings. The following code allows to capture the color stream in 1920x1080 also with the infrared stream:

#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense.h>
int main() {
  vpRealSense rs;
  rs.setEnableStream(rs::stream::color, true);
  rs.setEnableStream(rs::stream::depth, false);
  rs.setEnableStream(rs::stream::infrared, true);
  rs.setEnableStream(rs::stream::infrared2, false);
  rs.setStreamSettings(rs::stream::color, vpRealSense::vpRsStreamParams(1920, 1080, rs::format::rgba8, 30));
  rs.setStreamSettings(rs::stream::infrared, vpRealSense::vpRsStreamParams(640, 480, rs::format::y8, 30));
  rs.open();
  vpImage<vpRGBa> Ic(rs.getIntrinsics(rs::stream::color).height, rs.getIntrinsics(rs::stream::color).width);
  vpImage<unsigned char> Ii(rs.getIntrinsics(rs::stream::infrared).height, rs.getIntrinsics(rs::stream::infrared).width);
#ifdef VISP_HAVE_X11
  vpDisplayX dc(Ic, 0, 0, "Color");
  vpDisplayX di(Ii, 100, 100, "Infrared");
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI dc(Ic, 0, 0, "Color");
  vpDisplayGDI di(Ii, 100, 100, "Infrared");
#endif
  while (1) {
    rs.acquire((unsigned char *) Ic.bitmap, NULL, NULL, Ii.bitmap);
    vpDisplay::display(Ic);
    vpDisplay::display(Ii);
    vpDisplay::flush(Ic);
    vpDisplay::flush(Ii);
    if (vpDisplay::getClick(Ic, false) || vpDisplay::getClick(Ii, false))
      break;
  }
  return 0;
}

This example shows how to get depth stream aligned on color stream:

#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense.h>
int main() {
  vpRealSense rs;
  rs.setEnableStream(rs::stream::color, true);
  rs.setEnableStream(rs::stream::depth, true);
  rs.setEnableStream(rs::stream::infrared, false);
  rs.setEnableStream(rs::stream::infrared2, false);
  rs.setStreamSettings(rs::stream::color, vpRealSense::vpRsStreamParams(640, 480, rs::format::rgba8, 30));
  rs.setStreamSettings(rs::stream::depth, vpRealSense::vpRsStreamParams(640, 480, rs::format::z16, 30));
  rs.open();
  vpImage<vpRGBa> Ic(rs.getIntrinsics(rs::stream::color).height, rs.getIntrinsics(rs::stream::color).width);
  vpImage<uint16_t> Id_raw(rs.getIntrinsics(rs::stream::depth).height, rs.getIntrinsics(rs::stream::depth).width);
  vpImage<vpRGBa> Id(rs.getIntrinsics(rs::stream::depth).height, rs.getIntrinsics(rs::stream::depth).width);
#ifdef VISP_HAVE_X11
  vpDisplayX dc(Ic, 0, 0, "Color");
  vpDisplayX dd(Id, 100, 100, "Depth aligned to color");
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI dc(Ic, 0, 0, "Color");
  vpDisplayGDI dd(Id, 100, 100, "Depth aligned to color");
#endif
  while (1) {
    rs.acquire((unsigned char *) Ic.bitmap, (unsigned char *) Id_raw.bitmap, NULL, NULL, NULL,
               rs::stream::color, rs::stream::depth_aligned_to_color);
    vpImageConvert::createDepthHistogram(Id_raw, Id);
    vpDisplay::display(Ic);
    vpDisplay::display(Id);
    vpDisplay::flush(Ic);
    vpDisplay::flush(Id);
    if (vpDisplay::getClick(Ic, false) || vpDisplay::getClick(Id, false))
      break;
  }
  return 0;
}

This is how you get intrinsics for non native stream (the native stream has to be enabled!):

#include <visp3/sensor/vpRealSense.h>
int main() {
  vpRealSense rs;
  rs.setEnableStream(rs::stream::color, true);
  rs.setEnableStream(rs::stream::depth, true);
  rs.setEnableStream(rs::stream::infrared, false);
  rs.setEnableStream(rs::stream::infrared2, false);
  rs.setStreamSettings(rs::stream::color, vpRealSense::vpRsStreamParams(640, 480, rs::format::rgba8, 30));
  rs.setStreamSettings(rs::stream::depth, vpRealSense::vpRsStreamParams(640, 480, rs::format::z16, 30));
  rs.open();
  rs::device * dev = rs.getHandler();
  rs::intrinsics depth_aligned_intrinsic = dev->get_stream_intrinsics(rs::stream::depth_aligned_to_color);
  std::cout << "Intrinsics [fx, fy, ppx, ppy]: " << depth_aligned_intrinsic.fx << " ; " << depth_aligned_intrinsic.fy
            << " ; " << depth_aligned_intrinsic.ppx << " ; " << depth_aligned_intrinsic.ppy << std::endl; return 0;
}

Useful information can be retrieved using getHandler():

#include <librealsense/rs.hpp>
#include <visp3/sensor/vpRealSense.h>
int main() {
  vpRealSense rs;
  rs.open();
  rs::device *device = rs.getHandler();
  std::cout << "Stream width: " << device->get_stream_width(rs::stream::color) << std::endl;
  std::cout << "Stream height: " << device->get_stream_height(rs::stream::color) << std::endl;
  std::cout << "Stream format: " << device->get_stream_format(rs::stream::color) << std::endl;
  std::cout << "Stream framerate: " << device->get_stream_framerate(rs::stream::color) << std::endl;
  std::cout << "API version: " << rs_get_api_version(nullptr) << std::endl;
  std::cout << "Firmware: " << rs_get_device_firmware_version((const rs_device *) device, nullptr) << std::endl;
  std::cout << "RealSense sensor characteristics: \n" << rs << std::endl;
  return 0;
}

Camera parameters can be set in the following manner:

rs::device * dev = rs.getHandler();

dev->set_option(rs::option::r200_lr_auto_exposure_enabled, 1); //enable lr auto exposure for the R200

Note

This class has been tested with the Intel RealSense SR300 (Firmware: 3.15.0.0) and R200 (Firmware: 1.0.71.06) using librealsense (API version: 1.12.01). The following streams are enabled by default:

Color stream with preset: best quality
Depth stream with preset: best quality
Infrared stream with preset: best quality
Infrared2 if supported with preset: best quality

Examples:: grabRealSense.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, and tutorial-grabber-realsense.cpp.

Definition at line 333 of file vpRealSense.h.

Constructor & Destructor Documentation

◆ vpRealSense()

vpRealSense::vpRealSense ( )

Default constructor.

Definition at line 52 of file vpRealSense.cpp.

References initStream().

◆ ~vpRealSense()

vpRealSense::~vpRealSense ( )

virtual

Default destructor that stops the streaming.

See also: stop()

Definition at line 63 of file vpRealSense.cpp.

References close().

Member Function Documentation

◆ acquire() [1/18]

void vpRealSense::acquire ( std::vector< vpColVector > & pointcloud )

Acquire data from RealSense device.

Parameters

pointcloud : Point cloud data as a vector of column vectors. Each column vector is 4-dimension and contains X,Y,Z,1 normalized coordinates of a point.

Examples:: grabRealSense.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, and tutorial-grabber-realsense.cpp.

Definition at line 431 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [2/18]

void vpRealSense::acquire ( pcl::PointCloud< pcl::PointXYZ >::Ptr & pointcloud )

Acquire data from RealSense device.

Parameters

pointcloud : Point cloud data information.

Definition at line 686 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [3/18]

void vpRealSense::acquire ( pcl::PointCloud< pcl::PointXYZRGB >::Ptr & pointcloud )

Acquire data from RealSense device.

Parameters

pointcloud : Point cloud data with texture information.

Definition at line 705 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [4/18]

void vpRealSense::acquire ( vpImage< unsigned char > & grey )

Acquire data from RealSense device.

Parameters

grey	: Grey level image.

Definition at line 385 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, and open().

◆ acquire() [5/18]

void vpRealSense::acquire	(	vpImage< unsigned char > &	grey,
		std::vector< vpColVector > &	pointcloud
	)

Acquire data from RealSense device.

Parameters

grey	: Grey level image.
pointcloud	: Point cloud data as a vector of column vectors. Each column vector is 4-dimension and contains X,Y,Z,1 normalized coordinates of a point.

Definition at line 407 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [6/18]

void vpRealSense::acquire	(	vpImage< unsigned char > &	grey,
		vpImage< uint16_t > &	infrared,
		vpImage< uint16_t > &	depth,
		std::vector< vpColVector > &	pointcloud
	)

Acquire data from RealSense device.

Parameters

grey	: Grey level image.
infrared	: Infrared image.
depth	: Depth image.
pointcloud	: Point cloud data as a vector of column vectors. Each column vector is 4-dimension and contains X,Y,Z,1 normalized coordinates of a point.

Definition at line 508 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [7/18]

void vpRealSense::acquire	(	vpImage< unsigned char > &	grey,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pointcloud
	)

Acquire data from RealSense device.

Parameters

grey	: Grey level image.
pointcloud	: Point cloud data information.

Definition at line 725 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [8/18]

void vpRealSense::acquire	(	vpImage< unsigned char > &	grey,
		vpImage< uint16_t > &	infrared,
		vpImage< uint16_t > &	depth,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pointcloud
	)

Acquire data from RealSense device.

Parameters

grey	: Grey level image.
infrared	: Infrared image.
depth	: Depth image.
pointcloud	: Point cloud data information.

Definition at line 805 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [9/18]

void vpRealSense::acquire	(	vpImage< unsigned char > &	grey,
		vpImage< uint16_t > &	infrared,
		vpImage< uint16_t > &	depth,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pointcloud
	)

Acquire data from RealSense device.

Parameters

grey	: Grey level image.
infrared	: Infrared image.
depth	: Depth image.
pointcloud	: Point cloud data with texture information.

Definition at line 869 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [10/18]

void vpRealSense::acquire ( vpImage< vpRGBa > & color )

Acquire data from RealSense device.

Parameters

color : Color image.

Definition at line 450 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, and open().

◆ acquire() [11/18]

void vpRealSense::acquire	(	vpImage< vpRGBa > &	color,
		std::vector< vpColVector > &	pointcloud
	)

Acquire data from RealSense device.

Parameters

color	: Color image.
pointcloud	: Point cloud data as a vector of column vectors. Each column vector is 4-dimension and contains X,Y,Z,1 normalized coordinates of a point.

Definition at line 540 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [12/18]

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

Acquire data from RealSense device.

Parameters

color	: Color image.
infrared	: Infrared image.
depth	: Depth image.
pointcloud	: Point cloud data as a vector of column vectors. Each column vector is 4-dimension and contains X,Y,Z,1 normalized coordinates of a point.

Definition at line 474 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [13/18]

void vpRealSense::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`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or NULL if not wanted.
data_depth	: Depth image buffer or NULL if not wanted.
data_pointCloud	: Point cloud vector pointer or NULL if not wanted.
data_infrared	: Infrared image buffer or NULL if not wanted.
data_infrared2	: Infrared (for the second IR camera if available) image buffer or NULL if not wanted.
stream_color	: Type of color stream (e.g. rs::stream::color, rs::stream::rectified_color, rs::stream::color_aligned_to_depth).
stream_depth	: Type of depth stream (e.g. rs::stream::depth, rs::stream::depth_aligned_to_color, rs::stream::depth_aligned_to_rectified_color, rs::stream::depth_aligned_to_infrared2).
stream_infrared	: Type of infrared stream (only rs::stream::infrared should be possible).
stream_infrared2	: Type of infrared2 stream (e.g. rs::stream::infrared2, rs::stream::infrared2_aligned_to_depth) if supported by the camera.

Definition at line 575 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [14/18]

void vpRealSense::acquire	(	vpImage< vpRGBa > &	color,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pointcloud
	)

Acquire data from RealSense device.

Parameters

color	: Color image.
pointcloud	: Point cloud data information.

Definition at line 748 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [15/18]

void vpRealSense::acquire	(	vpImage< vpRGBa > &	color,
		vpImage< uint16_t > &	infrared,
		vpImage< uint16_t > &	depth,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pointcloud
	)

Acquire data from RealSense device.

Parameters

color	: Color image.
infrared	: Infrared image.
depth	: Depth image.
pointcloud	: Point cloud data information.

Definition at line 773 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [16/18]

void vpRealSense::acquire	(	vpImage< vpRGBa > &	color,
		vpImage< uint16_t > &	infrared,
		vpImage< uint16_t > &	depth,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pointcloud
	)

Acquire data from RealSense device.

Parameters

color	: Color image.
infrared	: Infrared image.
depth	: Depth image.
pointcloud	: Point cloud data with texture information.

Definition at line 837 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [17/18]

void vpRealSense::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`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or NULL if not wanted.
data_depth	: Depth image buffer or NULL if not wanted.
data_pointCloud	: Point cloud vector pointer or NULL if not wanted.
pointcloud	: Point cloud (in PCL format and without texture information) pointer or NULL if not wanted.
data_infrared	: Infrared image buffer or NULL if not wanted.
data_infrared2	: Infrared (for the second IR camera if available) image buffer or NULL if not wanted.
stream_color	: Type of color stream (e.g. rs::stream::color, rs::stream::rectified_color, rs::stream::color_aligned_to_depth).
stream_depth	: Type of depth stream (e.g. rs::stream::depth, rs::stream::depth_aligned_to_color, rs::stream::depth_aligned_to_rectified_color, rs::stream::depth_aligned_to_infrared2).
stream_infrared	: Type of infrared stream (only rs::stream::infrared should be possible).
stream_infrared2	: Type of infrared2 stream (e.g. rs::stream::infrared2, rs::stream::infrared2_aligned_to_depth) if supported by the camera.

Definition at line 913 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ acquire() [18/18]

void vpRealSense::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`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or NULL if not wanted.
data_depth	: Depth image buffer or NULL if not wanted.
data_pointCloud	: Point cloud vector pointer or NULL if not wanted.
pointcloud	: Point cloud (in PCL format and with texture information) pointer or NULL if not wanted.
data_infrared	: Infrared image buffer or NULL if not wanted.
data_infrared2	: Infrared (for the second IR camera if available) image buffer or NULL if not wanted.
stream_color	: Type of color stream (e.g. rs::stream::color, rs::stream::rectified_color, rs::stream::color_aligned_to_depth).
stream_depth	: Type of depth stream (e.g. rs::stream::depth, rs::stream::depth_aligned_to_color, rs::stream::depth_aligned_to_rectified_color, rs::stream::depth_aligned_to_infrared2).
stream_infrared	: Type of infrared stream (only rs::stream::infrared should be possible).
stream_infrared2	: Type of infrared2 stream (e.g. rs::stream::infrared2, rs::stream::infrared2_aligned_to_depth) if supported by the camera.

Definition at line 973 of file vpRealSense.cpp.

References vpException::fatalError, m_device, m_intrinsics, m_invalidDepthValue, m_max_Z, and open().

◆ close()

void vpRealSense::close ( )

Stop device streaming.

Examples:: grabRealSense.cpp, testRealSense_R200.cpp, and testRealSense_SR300.cpp.

Definition at line 240 of file vpRealSense.cpp.

References m_device.

Referenced by ~vpRealSense().

◆ getCameraParameters()

vpCameraParameters vpRealSense::getCameraParameters	(	const rs::stream &	stream,
		vpCameraParameters::vpCameraParametersProjType	type = `vpCameraParameters::perspectiveProjWithDistortion`
	)		const

Return camera parameters corresponding to a specific stream. This function has to be called after open().

Parameters

stream	: color, depth, infrared or infrared2 stream for which camera intrinsic parameters are returned.
type	: Indicate if the model should include distorsion paramater or not.

See also: getIntrinsics()

Examples:: grabRealSense.cpp, and servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp.

Definition at line 286 of file vpRealSense.cpp.

References getIntrinsics(), vpCameraParameters::initPersProjWithDistortion(), vpCameraParameters::initPersProjWithoutDistortion(), and vpCameraParameters::perspectiveProjWithDistortion.

◆ getExtrinsics()

rs::extrinsics vpRealSense::getExtrinsics	(	const rs::stream &	from,
		const rs::stream &	to
	)		const

Get extrinsic transformation from one stream to an other. This function has to be called after open().

Parameters

from,to : color, depth, infrared or infrared2 stream between which camera extrinsic parameters are returned.

See also: getTransformation()

Definition at line 339 of file vpRealSense.cpp.

References vpException::fatalError, and m_device.

Referenced by getTransformation().

◆ getHandler()

rs::device* vpRealSense::getHandler ( ) const

inline

Get access to device handler.

Examples:: grabRealSense.cpp, testRealSense_R200.cpp, and testRealSense_SR300.cpp.

Definition at line 395 of file vpRealSense.h.

◆ getIntrinsics()

rs::intrinsics vpRealSense::getIntrinsics ( const rs::stream & stream ) const

Get intrinsic parameters corresponding to the stream. This function has to be called after open().

Parameters

stream : color, depth, infrared or infrared2 stream for which camera intrinsic parameters are returned.

See also: getCameraParameters()

Examples:: grabRealSense.cpp, testRealSense_R200.cpp, and testRealSense_SR300.cpp.

Definition at line 311 of file vpRealSense.cpp.

References vpException::fatalError, m_device, and m_intrinsics.

Referenced by getCameraParameters().

◆ getInvalidDepthValue()

float vpRealSense::getInvalidDepthValue ( ) const

inline

Get the value used when the pixel value (u, v) in the depth map is invalid for the point cloud. For instance, the Point Cloud Library (PCL) uses NAN values for points where the depth is invalid.

Definition at line 403 of file vpRealSense.h.

◆ getNumDevices()

int vpRealSense::getNumDevices ( ) const

inline

Get number of devices that are detected.

Definition at line 406 of file vpRealSense.h.

◆ getSerialNumber()

std::string vpRealSense::getSerialNumber ( ) const

inline

Get device serial number.

See also: setDeviceBySerialNumber()

Definition at line 409 of file vpRealSense.h.

◆ getTransformation()

vpHomogeneousMatrix vpRealSense::getTransformation	(	const rs::stream &	from,
		const rs::stream &	to
	)		const

Get extrinsic transformation from one stream to an other. This function has to be called after open().

Parameters

from,to : color, depth, infrared or infrared2 stream between which camera extrinsic parameters are returned.

See also: getExtrinsics()

Examples:: grabRealSense.cpp.

Definition at line 367 of file vpRealSense.cpp.

References getExtrinsics().

◆ initStream()

void vpRealSense::initStream ( )

protected

Definition at line 65 of file vpRealSense.cpp.

References m_enableStreams, m_streamParams, m_streamPresets, and m_useStreamPresets.

Referenced by vpRealSense().

◆ open()

void vpRealSense::open ( )

Open access to the RealSense device and start the streaming.

Examples:: grabRealSense.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, and tutorial-grabber-realsense.cpp.

Definition at line 98 of file vpRealSense.cpp.

References vpException::fatalError, m_context, m_device, m_enableStreams, m_intrinsics, m_num_devices, m_serial_no, m_streamParams, m_streamPresets, and m_useStreamPresets.

Referenced by acquire().

◆ setDeviceBySerialNumber()

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

Set active RealSence device using its serial number.

Parameters

serial_no : Device serial number.

#include <visp3/sensor/vpRealSense.h>
int main()
{
  vpRealSense rs;
  rs.setDeviceBySerialNumber("541142003219");
  rs.open();
}

Definition at line 265 of file vpRealSense.cpp.

References vpException::fatalError, m_num_devices, and m_serial_no.

◆ setEnableStream()

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

Enable or disable a stream.

Parameters

stream	: Stream type (color / depth / infrared).
status	: Stream status.

#include <visp3/sensor/vpRealSense.h>
int main()
{
  vpRealSense rs;
  rs.setEnableStream(rs::stream::color, true);
  rs.setEnableStream(rs::stream::depth, false);
  rs.setEnableStream(rs::stream::infrared, false);
  rs.setStreamSettings(rs::stream::color, vpRealSense::vpRsStreamParams(1920, 1080, rs::format::rgba8, 30));
  rs.open();
  //[...]
}

Examples:: servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, testRealSense_R200.cpp, and testRealSense_SR300.cpp.

Definition at line 679 of file vpRealSense.cpp.

References m_enableStreams.

◆ setInvalidDepthValue()

void vpRealSense::setInvalidDepthValue ( const float value )

inline

Set the value used when the pixel value (u, v) in the depth map is invalid for the point cloud. For instance, the Point Cloud Library (PCL) uses NAN values for points where the depth is invalid.

Definition at line 442 of file vpRealSense.h.

◆ setStreamSettings() [1/2]

void vpRealSense::setStreamSettings	(	const rs::stream &	stream,
		const rs::preset &	preset
	)

Set stream settings.

Parameters

stream	: Stream type (color / depth / infrared).
preset	: Preset to use.

Examples:: grabRealSense.cpp, servoViper650FourPoints2DCamVelocityInteractionCurrent-SR300.cpp, testRealSense_R200.cpp, testRealSense_SR300.cpp, and tutorial-grabber-realsense.cpp.

Definition at line 617 of file vpRealSense.cpp.

References m_streamPresets, and m_useStreamPresets.

◆ setStreamSettings() [2/2]

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

Set stream settings.

Parameters

stream	: Stream type (color / depth / infrared).
params	: Stream parameters to use.

Note: You can find the stream settings of the different Intel RealSense cameras at this url.

#include <visp3/sensor/vpRealSense.h>
int main()
{
  vpRealSense rs;
  rs.setEnableStream(rs::stream::color, true);
  rs.setEnableStream(rs::stream::depth, false);
  rs.setEnableStream(rs::stream::infrared, false);
  rs.setStreamSettings(rs::stream::color, vpRealSense::vpRsStreamParams(1920, 1080, rs::format::rgba8, 30));
  rs.open();
  //[...]
}

Definition at line 650 of file vpRealSense.cpp.

References m_streamParams, and m_useStreamPresets.

Friends And Related Function Documentation

◆ operator<<

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

friend

Return information from sensor.

Parameters

os	: Input stream.
rs	: RealSense interface.

The following example shows how to use this method.

#include <visp3/sensor/vpRealSense.h>
int main()
{
  vpRealSense rs;
  rs.open();
  std::cout << "RealSense sensor characteristics: \n" << rs << std::endl;
  return 0;
}

Definition at line 1037 of file vpRealSense.cpp.

Member Data Documentation

◆ m_context

rs::context vpRealSense::m_context

protected

Definition at line 448 of file vpRealSense.h.

Referenced by open().

◆ m_device

rs::device* vpRealSense::m_device

protected

Definition at line 449 of file vpRealSense.h.

Referenced by acquire(), close(), getExtrinsics(), getIntrinsics(), and open().

◆ m_enableStreams

std::map<rs::stream, bool> vpRealSense::m_enableStreams

protected

Definition at line 454 of file vpRealSense.h.

Referenced by initStream(), open(), and setEnableStream().

◆ m_intrinsics

std::map<rs::stream, rs::intrinsics> vpRealSense::m_intrinsics

protected

Definition at line 452 of file vpRealSense.h.

Referenced by acquire(), getIntrinsics(), and open().

◆ m_invalidDepthValue

float vpRealSense::m_invalidDepthValue

protected

Definition at line 458 of file vpRealSense.h.

Referenced by acquire().

◆ m_max_Z

float vpRealSense::m_max_Z

protected

Maximal Z depth in meter.

Definition at line 453 of file vpRealSense.h.

Referenced by acquire().

◆ m_num_devices

int vpRealSense::m_num_devices

protected

Definition at line 450 of file vpRealSense.h.

Referenced by open(), and setDeviceBySerialNumber().

◆ m_serial_no

std::string vpRealSense::m_serial_no

protected

Definition at line 451 of file vpRealSense.h.

Referenced by open(), and setDeviceBySerialNumber().

◆ m_streamParams

std::map<rs::stream, vpRsStreamParams> vpRealSense::m_streamParams

protected

Definition at line 457 of file vpRealSense.h.

Referenced by initStream(), open(), and setStreamSettings().

◆ m_streamPresets

std::map<rs::stream, rs::preset> vpRealSense::m_streamPresets

protected

Definition at line 456 of file vpRealSense.h.

Referenced by initStream(), open(), and setStreamSettings().

◆ m_useStreamPresets

std::map<rs::stream, bool> vpRealSense::m_useStreamPresets

protected

Definition at line 455 of file vpRealSense.h.

Referenced by initStream(), open(), and setStreamSettings().

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ vpRealSense()

◆ ~vpRealSense()

Member Function Documentation

◆ acquire() [1/18]

◆ acquire() [2/18]

◆ acquire() [3/18]

◆ acquire() [4/18]

◆ acquire() [5/18]

◆ acquire() [6/18]

◆ acquire() [7/18]

◆ acquire() [8/18]

◆ acquire() [9/18]

◆ acquire() [10/18]

◆ acquire() [11/18]

◆ acquire() [12/18]

◆ acquire() [13/18]

◆ acquire() [14/18]

◆ acquire() [15/18]

◆ acquire() [16/18]

◆ acquire() [17/18]

◆ acquire() [18/18]

◆ close()

◆ getCameraParameters()

◆ getExtrinsics()

◆ getHandler()

◆ getIntrinsics()

◆ getInvalidDepthValue()

◆ getNumDevices()

◆ getSerialNumber()

◆ getTransformation()

◆ initStream()

◆ open()

◆ setDeviceBySerialNumber()

◆ setEnableStream()

◆ setInvalidDepthValue()

◆ setStreamSettings() [1/2]

◆ setStreamSettings() [2/2]

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ m_context

◆ m_device

◆ m_enableStreams

◆ m_intrinsics

◆ m_invalidDepthValue

◆ m_max_Z

◆ m_num_devices

◆ m_serial_no

◆ m_streamParams

◆ m_streamPresets

◆ m_useStreamPresets