vpRealSense.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:
 * RealSense SDK wrapper.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/

#ifndef _vpRealSense_h_
#define _vpRealSense_h_

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

#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/common/projection_matrix.h>
#include <pcl/point_types.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