vpRealSense2.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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:
 * librealSense2 interface.
 *
 *****************************************************************************/

#ifndef _vpRealSense2_h_
#define _vpRealSense2_h_

#include <visp3/core/vpConfig.h>

#if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_CPP11_COMPATIBILITY)

#include <librealsense2/rs.hpp>
#include <librealsense2/rsutil.h>

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

#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>

class VISP_EXPORT vpRealSense2
{
public:
  vpRealSense2();
  virtual ~vpRealSense2();

  void acquire(vpImage<unsigned char> &grey);
  void acquire(vpImage<vpRGBa> &color);
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared,
               rs2::align *const align_to = NULL);

#ifdef VISP_HAVE_PCL
  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 = NULL, rs2::align *const align_to = NULL);
  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 = NULL, rs2::align *const align_to = NULL);
#endif

  void close();

  vpCameraParameters getCameraParameters(
      const rs2_stream &stream,
      vpCameraParameters::vpCameraParametersProjType type = vpCameraParameters::perspectiveProjWithDistortion) const;

  float getDepthScale();

  rs2_intrinsics getIntrinsics(const rs2_stream &stream) const;

  inline float getInvalidDepthValue() const { return m_invalidDepthValue; }

  inline float getMaxZ() const { return m_max_Z; }

  rs2::pipeline &getPipeline() { return m_pipe; }

  rs2::pipeline_profile &getPipelineProfile() { return m_pipelineProfile; }

  vpHomogeneousMatrix getTransformation(const rs2_stream &from, const rs2_stream &to) const;

  void open(const rs2::config &cfg = rs2::config());

  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpRealSense2 &rs);

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

  inline void setMaxZ(const float maxZ) { m_max_Z = maxZ; }

protected:
  rs2_intrinsics m_colorIntrinsics;
  rs2_extrinsics m_depth2ColorExtrinsics;
  rs2_intrinsics m_depthIntrinsics;
  float m_depthScale;
  float m_invalidDepthValue;
  float m_max_Z;
  rs2::pipeline m_pipe;
  rs2::pipeline_profile m_pipelineProfile;
  rs2::pointcloud m_pointcloud;
  rs2::points m_points;

  void getColorFrame(const rs2::frame &frame, vpImage<vpRGBa> &color);
  void getGreyFrame(const rs2::frame &frame, vpImage<unsigned char> &grey);
  void getNativeFrameData(const rs2::frame &frame, unsigned char *const data);
  void getPointcloud(const rs2::depth_frame &depth_frame, std::vector<vpColVector> &pointcloud);
#ifdef VISP_HAVE_PCL
  void getPointcloud(const rs2::depth_frame &depth_frame, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void getPointcloud(const rs2::depth_frame &depth_frame, const rs2::frame &color_frame,
                     pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
#endif
};

#endif
#endif