#include <visp3/sensor/vpRealSense2.h>

Public Member Functions
	vpRealSense2 ()

virtual	~vpRealSense2 ()

void	acquire (vpImage< unsigned char > &grey, double *ts=nullptr)

void	acquire (vpImage< vpRGBa > &color, double *ts=nullptr)

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=nullptr, double ts=nullptr)

void	acquire (unsigned char const data_image, unsigned char const data_depth, std::vector< vpColVector > const data_pointCloud, unsigned char const data_infrared1, unsigned char const data_infrared2, rs2::align const align_to, double *ts=nullptr)

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=nullptr, rs2::align const align_to=nullptr, double ts=nullptr)

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_infrared1, unsigned char const data_infrared2, rs2::align const align_to, double *ts=nullptr)

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=nullptr, rs2::align const align_to=nullptr, double ts=nullptr)

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_infrared1, unsigned char const data_infrared2, rs2::align const align_to, double *ts=nullptr)

void	close ()

vpCameraParameters	getCameraParameters (const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const

float	getDepthScale ()

rs2_intrinsics	getIntrinsics (const rs2_stream &stream, int index=-1) const

float	getInvalidDepthValue () const

float	getMaxZ () const

rs2::pipeline &	getPipeline ()

rs2::pipeline_profile &	getPipelineProfile ()

std::string	getProductLine ()

std::string	getSensorInfo ()

vpHomogeneousMatrix	getTransformation (const rs2_stream &from, const rs2_stream &to, int from_index=-1) const

bool	open (const rs2::config &cfg=rs2::config())

bool	open (const rs2::config &cfg, std::function< void(rs2::frame)> &callback)

void	setInvalidDepthValue (float value)

void	setMaxZ (const float maxZ)

Protected Member Functions
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)

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)

Protected Attributes
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

vpTranslationVector	m_pos

vpQuaternionVector	m_quat

vpRotationMatrix	m_rot

std::string	m_product_line

bool	m_init

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

Related Functions
(Note that these are not member functions.)
std::ostream &	operator<< (std::ostream &os, const vpRealSense2 &rs)

Detailed Description

This class provides a lightweight wrapper over the Intel librealsense2 library https://github.com/IntelRealSense/librealsense. It allows to capture data from the Intel RealSense cameras.

Note

Supported devices for Intel® RealSense™ SDK 2.0:

Intel® RealSense™ Camera D400-Series
Intel® RealSense™ Developer Kit SR300
Intel® RealSense™ Tracking Camera T265 (librealsense2 version > 2.31.0)

The usage of vpRealSense2 class is enabled when librealsense2 3rd party is successfully installed.

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 is enabled by default in ViSP when supported by the compiler. Hereafter we give an example of a CMakeLists.txt file that allows to build sample-realsense.cpp that uses vpRealSense2 class.

cmake_minimum_required(VERSION 3.5)
 
project(sample)
 
find_package(VISP REQUIRED)
include_directories(${VISP_INCLUDE_DIRS})
 
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/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs.open();
 
  vpImage<unsigned char> I(rs.getIntrinsics(RS2_STREAM_COLOR).height, rs.getIntrinsics(RS2_STREAM_COLOR).width);
#ifdef VISP_HAVE_X11
  vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI d(I);
#endif
 
  while (true) {
    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(RS2_STREAM_COLOR).height, rs.getIntrinsics(RS2_STREAM_COLOR).width);

by

vpImage<vpRGBa> I(rs.getIntrinsics(RS2_STREAM_COLOR).height, rs.getIntrinsics(RS2_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 <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <visp3/sensor/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs.open();
 
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>);
 
  rs.acquire(nullptr, nullptr, nullptr, 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->initCameraParameters();
  viewer->setCameraPosition(0, 0, -0.5, 0, -1, 0);
 
  while (true) {
    rs.acquire(nullptr, nullptr, nullptr, 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(30);
  }
  return 0;
}

If you want to change the default stream parameters, refer to the librealsense2 rs2::config documentation. The following code allows to capture the color stream in 1920x1080 at 30 Hz:

#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs2::config config;
  config.enable_stream(RS2_STREAM_COLOR, 1920, 1080, RS2_FORMAT_RGBA8, 30);
  config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
  config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
  rs.open(config);
 
  vpImage<vpRGBa> Ic(rs.getIntrinsics(RS2_STREAM_COLOR).height, rs.getIntrinsics(RS2_STREAM_COLOR).width);
  vpImage<unsigned char> Ii(rs.getIntrinsics(RS2_STREAM_INFRARED).height,
                            rs.getIntrinsics(RS2_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 (true) {
    rs.acquire((unsigned char *) Ic.bitmap, nullptr, nullptr, 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 other 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/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs2::config config;
  config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
  config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
  config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
  rs.open(config);
 
  vpImage<vpRGBa> Ic(rs.getIntrinsics(RS2_STREAM_COLOR).height, rs.getIntrinsics(RS2_STREAM_COLOR).width);
  vpImage<uint16_t> Id_raw(rs.getIntrinsics(RS2_STREAM_DEPTH).height, rs.getIntrinsics(RS2_STREAM_DEPTH).width);
  vpImage<vpRGBa> Id(rs.getIntrinsics(RS2_STREAM_DEPTH).height, rs.getIntrinsics(RS2_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
 
  rs2::align align_to(RS2_STREAM_COLOR);
  while (true) {
    rs.acquire((unsigned char *) Ic.bitmap, (unsigned char *) Id_raw.bitmap, nullptr, nullptr, &align_to);
    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;
}

References to rs2::pipeline_profile and rs2::pipeline can be retrieved with (rs.open() must be called before):

rs2::pipeline_profile& profile = rs.getPipelineProfile();

rs2::pipeline& pipeline = rs.getPipeline();

vpRealSense2::getPipelineProfile

rs2::pipeline_profile & getPipelineProfile()

Get a reference to rs2::pipeline_profile.

Definition: vpRealSense2.h:386

vpRealSense2::getPipeline

rs2::pipeline & getPipeline()

Get a reference to rs2::pipeline.

Definition: vpRealSense2.h:383

Information about the sensor can be printed with:

#include <visp3/sensor/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs.open();
  std::cout << "RealSense sensor characteristics: \n" << rs << std::endl;
 
  return 0;
}

It is also possible to use several RealSense sensors at the same time. In that case, you need to create a vpRealSense2 object for each device and use vpRealSense2::enable_device(const std::string &serial_number) to select the device explicitly by its serial number. An example is provided in tutorial-grabber-multiple-realsense.cpp.

Note: Additional information can be found in the librealsense wiki.

Examples: getRealSense2Info.cpp, grabRealSense2.cpp, grabRealSense2_T265.cpp, saveRealSenseData.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, testRealSense2_D435.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_opencv.cpp, testRealSense2_D435_pcl.cpp, testRealSense2_SR300.cpp, testRealSense2_T265_images.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_imu.cpp, testRealSense2_T265_odometry.cpp, testRealSense2_T265_undistort.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live.cpp, tutorial-grabber-realsense-T265.cpp, tutorial-grabber-realsense.cpp, tutorial-grabber-rgbd-D435-structurecore.cpp, tutorial-hsv-range-tuner.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, tutorial-hsv-segmentation.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-live.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, tutorial-pose-from-points-live.cpp, and tutorial-pose-from-points-realsense-T265.cpp.

Definition at line 311 of file vpRealSense2.h.

Constructor & Destructor Documentation

◆ vpRealSense2()

BEGIN_VISP_NAMESPACE vpRealSense2::vpRealSense2 ( )

Default constructor.

Definition at line 74 of file vpRealSense2.cpp.

◆ ~vpRealSense2()

vpRealSense2::~vpRealSense2 ( )

virtual

Default destructor that stops the streaming.

See also: stop()

Definition at line 83 of file vpRealSense2.cpp.

References close().

Member Function Documentation

◆ acquire() [1/8]

void vpRealSense2::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_infrared1,
		unsigned char *const	data_infrared2,
		rs2::align *const	align_to,
		double *	ts = `nullptr`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or nullptr if not wanted.
data_depth	: Depth image buffer or nullptr if not wanted.
data_pointCloud	: Point cloud vector pointer or nullptr if not wanted.
pointcloud	: Point cloud (in PCL format and without texture information) pointer or nullptr if not wanted.
data_infrared1	: First infrared image buffer or nullptr if not wanted.
data_infrared2	: Second infrared image (if supported by the device) buffer or nullptr if not wanted.
align_to	: Align to a reference stream or nullptr if not wanted. Only depth and color streams can be aligned.
ts	: Data timestamp or nullptr if not wanted.

Definition at line 516 of file vpRealSense2.cpp.

References getNativeFrameData(), getPointcloud(), and m_pipe.

◆ acquire() [2/8]

void vpRealSense2::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 = `nullptr`,
		rs2::align *const	align_to = `nullptr`,
		double *	ts = `nullptr`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or nullptr if not wanted.
data_depth	: Depth image buffer or nullptr if not wanted.
data_pointCloud	: Point cloud vector pointer or nullptr if not wanted.
pointcloud	: Point cloud (in PCL format and without texture information) pointer or nullptr if not wanted.
data_infrared	: Infrared image buffer or nullptr if not wanted.
align_to	: Align to a reference stream or nullptr if not wanted. Only depth and color streams can be aligned.
ts	: Data timestamp or nullptr if not wanted.

Definition at line 494 of file vpRealSense2.cpp.

References acquire().

◆ acquire() [3/8]

void vpRealSense2::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_infrared1,
		unsigned char *const	data_infrared2,
		rs2::align *const	align_to,
		double *	ts = `nullptr`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or nullptr if not wanted.
data_depth	: Depth image buffer or nullptr if not wanted.
data_pointCloud	: Point cloud vector pointer or nullptr if not wanted.
pointcloud	: Point cloud (in PCL format and with texture information) pointer or nullptr if not wanted.
data_infrared1	: First infrared image buffer or nullptr if not wanted.
data_infrared2	: Second infrared image (if supported by the device) buffer or nullptr if not wanted.
align_to	: Align to a reference stream or nullptr if not wanted. Only depth and color streams can be aligned.
ts	: Data timestamp or nullptr if not wanted.

Definition at line 601 of file vpRealSense2.cpp.

References getNativeFrameData(), getPointcloud(), and m_pipe.

◆ acquire() [4/8]

void vpRealSense2::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 = `nullptr`,
		rs2::align *const	align_to = `nullptr`,
		double *	ts = `nullptr`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or nullptr if not wanted.
data_depth	: Depth image buffer or nullptr if not wanted.
data_pointCloud	: Point cloud vector pointer or nullptr if not wanted.
pointcloud	: Point cloud (in PCL format and with texture information) pointer or nullptr if not wanted.
data_infrared	: Infrared image buffer or nullptr if not wanted.
align_to	: Align to a reference stream or nullptr if not wanted. Only depth and color streams can be aligned.
ts	: Data timestamp or nullptr if not wanted.

Definition at line 579 of file vpRealSense2.cpp.

References acquire().

◆ acquire() [5/8]

void vpRealSense2::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 = `nullptr`,
		double *	ts = `nullptr`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or nullptr if not wanted.
data_depth	: Depth image buffer or nullptr if not wanted.
data_pointCloud	: Point cloud vector pointer or nullptr if not wanted.
data_infrared	: Infrared image buffer or nullptr if not wanted.
align_to	: Align to a reference stream or nullptr if not wanted. Only depth and color streams can be aligned.
ts	: Image timestamp or nullptr if not wanted.

Definition at line 125 of file vpRealSense2.cpp.

References acquire().

◆ acquire() [6/8]

void vpRealSense2::acquire	(	unsigned char *const	data_image,
		unsigned char *const	data_depth,
		std::vector< vpColVector > *const	data_pointCloud,
		unsigned char *const	data_infrared1,
		unsigned char *const	data_infrared2,
		rs2::align *const	align_to,
		double *	ts = `nullptr`
	)

Acquire data from RealSense device.

Parameters

data_image	: Color image buffer or nullptr if not wanted.
data_depth	: Depth image buffer or nullptr if not wanted.
data_pointCloud	: Point cloud vector pointer or nullptr if not wanted.
data_infrared1	: First infrared image buffer or nullptr if not wanted.
data_infrared2	: Second infrared image buffer (if supported by the device) or nullptr if not wanted.
align_to	: Align to a reference stream or nullptr if not wanted. Only depth and color streams can be aligned.
ts	: Data timestamp or nullptr if not wanted.

The following code shows how to use this function to get color, infrared 1 and infrared 2 frames acquired by a D435 device:

#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs2::config config;
  config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
  config.enable_stream(RS2_STREAM_INFRARED, 1, 640, 480, RS2_FORMAT_Y8, 30);
  config.enable_stream(RS2_STREAM_INFRARED, 2, 640, 480, RS2_FORMAT_Y8, 30);
  rs.open(config);
  vpImage<vpRGBa> Ic(rs.getIntrinsics(RS2_STREAM_COLOR).height, rs.getIntrinsics(RS2_STREAM_COLOR).width);
  vpImage<unsigned char> Ii1(rs.getIntrinsics(RS2_STREAM_INFRARED).height,
                            rs.getIntrinsics(RS2_STREAM_INFRARED).width);
  vpImage<unsigned char> Ii2(rs.getIntrinsics(RS2_STREAM_INFRARED).height,
                            rs.getIntrinsics(RS2_STREAM_INFRARED).width);
 
#ifdef VISP_HAVE_X11
  vpDisplayX dc(Ic, 0, 0, "Color");
  vpDisplayX di1(Ii1, 100, 100, "Infrared 1");
  vpDisplayX di2(Ii2, 200, 200, "Infrared 2");
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI dc(Ic, 0, 0, "Color");
  vpDisplayGDI di1(Ii1, 100, 100, "Infrared 1");
  vpDisplayGDI di2(Ii2, 100, 100, "Infrared 2");
#endif
 
  while (true) {
    rs.acquire((unsigned char *) Ic.bitmap, nullptr, nullptr, Ii1.bitmap, Ii2.bitmap, nullptr);
    vpDisplay::display(Ic);
    vpDisplay::display(Ii1);
    vpDisplay::display(Ii2);
    vpDisplay::flush(Ic);
    vpDisplay::flush(Ii1);
    vpDisplay::flush(Ii2);
    if (vpDisplay::getClick(Ic, false) || vpDisplay::getClick(Ii1, false) || vpDisplay::getClick(Ii2, false))
      break;
  }
  return 0;
}

Definition at line 194 of file vpRealSense2.cpp.

References getNativeFrameData(), getPointcloud(), and m_pipe.

◆ acquire() [7/8]

void vpRealSense2::acquire	(	vpImage< unsigned char > &	grey,
		double *	ts = `nullptr`
	)

Acquire greyscale image from RealSense device.

Parameters

grey	: Greyscale image.
ts	: Image timestamp or nullptr if not wanted.

Examples: grabRealSense2.cpp, grabRealSense2_T265.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, testRealSense2_D435.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_pcl.cpp, testRealSense2_SR300.cpp, testRealSense2_T265_images.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_undistort.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-grabber-realsense-T265.cpp, tutorial-grabber-rgbd-D435-structurecore.cpp, tutorial-hsv-range-tuner.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, tutorial-hsv-segmentation.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-pose-from-points-realsense-T265.cpp.

Definition at line 90 of file vpRealSense2.cpp.

References getGreyFrame(), and m_pipe.

Referenced by acquire().

◆ acquire() [8/8]

void vpRealSense2::acquire	(	vpImage< vpRGBa > &	color,
		double *	ts = `nullptr`
	)

Acquire color image from RealSense device.

Parameters

color	: Color image.
ts	: Image timestamp or nullptr if not wanted.

Definition at line 105 of file vpRealSense2.cpp.

References getColorFrame(), and m_pipe.

◆ close()

void vpRealSense2::close ( )

librealsense documentation:

Stop the pipeline streaming. The pipeline stops delivering samples to the attached computer vision modules and processing blocks, stops the device streaming and releases the device resources used by the pipeline. It is the application's responsibility to release any frame reference it owns. The method takes effect only after start() was called, otherwise an exception is raised.

Examples: testRealSense2_D435.cpp, and testRealSense2_SR300.cpp.

Definition at line 664 of file vpRealSense2.cpp.

References m_init, and m_pipe.

Referenced by open(), and ~vpRealSense2().

◆ getCameraParameters()

vpCameraParameters vpRealSense2::getCameraParameters	(	const rs2_stream &	stream,
		vpCameraParameters::vpCameraParametersProjType	type = `vpCameraParameters::perspectiveProjWithDistortion`,
		int	index = `-1`
	)		const

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

Parameters

stream	: Stream for which camera intrinsic parameters are returned.
type	: Indicates if the model should include distortion parameters or not.
index	: Index of camera in T265 device, 1: Left 2. Right. Otherwise: -1(default)

See also: getIntrinsics()

Definition at line 681 of file vpRealSense2.cpp.

References vpCameraParameters::initPersProjWithDistortion(), vpCameraParameters::initPersProjWithoutDistortion(), vpCameraParameters::initProjWithKannalaBrandtDistortion(), m_pipelineProfile, vpCameraParameters::perspectiveProjWithDistortion, vpCameraParameters::perspectiveProjWithoutDistortion, and vpCameraParameters::ProjWithKannalaBrandtDistortion.

◆ getColorFrame()

void vpRealSense2::getColorFrame	(	const rs2::frame &	frame,
		vpImage< vpRGBa > &	color
	)

protected

Definition at line 734 of file vpRealSense2.cpp.

References vpImageConvert::BGRToRGBa(), vpImage< Type >::bitmap, vpException::fatalError, vpImage< Type >::resize(), and vpImageConvert::RGBToRGBa().

Referenced by acquire().

◆ getDepthScale()

float vpRealSense2::getDepthScale ( )

Get depth scale value used to convert all the uint16_t values contained in a depth frame into a distance in meter.

Examples: getRealSense2Info.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_opencv.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, and tutorial-hsv-segmentation-pcl.cpp.

Definition at line 763 of file vpRealSense2.cpp.

References m_depthScale, and m_init.

◆ getGreyFrame()

void vpRealSense2::getGreyFrame	(	const rs2::frame &	frame,
		vpImage< unsigned char > &	grey
	)

protected

Definition at line 788 of file vpRealSense2.cpp.

References vpImageConvert::BGRToGrey(), vpImage< Type >::bitmap, vpException::fatalError, vpImage< Type >::resize(), vpImageConvert::RGBaToGrey(), and vpImageConvert::RGBToGrey().

Referenced by acquire().

◆ getIntrinsics()

rs2_intrinsics vpRealSense2::getIntrinsics	(	const rs2_stream &	stream,
		int	index = `-1`
	)		const

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

Parameters

stream	: Stream for which the camera intrinsic parameters are returned.
index	: Index of the stream. Default: -1. In case of T265 camera: Left Fisheye: 1, Right Fisheye: 2

See also: getCameraParameters()

Examples: grabRealSense2.cpp, testRealSense2_T265_images.cpp, testRealSense2_T265_images_odometry_async.cpp, and testRealSense2_T265_undistort.cpp.

Definition at line 728 of file vpRealSense2.cpp.

References m_pipelineProfile.

◆ getInvalidDepthValue()

float vpRealSense2::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 372 of file vpRealSense2.h.

◆ getMaxZ()

float vpRealSense2::getMaxZ ( ) const

inline

Get the maximum Z value (used to discard bad reconstructed depth for pointcloud).

Definition at line 376 of file vpRealSense2.h.

◆ getNativeFrameData()

void vpRealSense2::getNativeFrameData	(	const rs2::frame &	frame,
		unsigned char *const	data
	)

protected

Definition at line 812 of file vpRealSense2.cpp.

Referenced by acquire().

◆ getPipeline()

rs2::pipeline& vpRealSense2::getPipeline ( )

inline

Get a reference to rs2::pipeline.

Examples: testRealSense2_D435_opencv.cpp, and testRealSense2_SR300.cpp.

Definition at line 383 of file vpRealSense2.h.

◆ getPipelineProfile()

rs2::pipeline_profile& vpRealSense2::getPipelineProfile ( )

inline

Get a reference to rs2::pipeline_profile.

Examples: testRealSense2_D435_opencv.cpp, and testRealSense2_SR300.cpp.

Definition at line 386 of file vpRealSense2.h.

◆ getPointcloud() [1/3]

void vpRealSense2::getPointcloud	(	const rs2::depth_frame &	depth_frame,
		const rs2::frame &	color_frame,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	pointcloud
	)

protected

Definition at line 961 of file vpRealSense2.cpp.

References vpException::fatalError, m_depthScale, m_invalidDepthValue, and m_max_Z.

◆ getPointcloud() [2/3]

void vpRealSense2::getPointcloud	(	const rs2::depth_frame &	depth_frame,
		pcl::PointCloud< pcl::PointXYZ >::Ptr &	pointcloud
	)

protected

Definition at line 894 of file vpRealSense2.cpp.

References vpException::fatalError, m_depthScale, m_invalidDepthValue, m_max_Z, m_pointcloud, and m_points.

◆ getPointcloud() [3/3]

void vpRealSense2::getPointcloud	(	const rs2::depth_frame &	depth_frame,
		std::vector< vpColVector > &	pointcloud
	)

protected

Definition at line 842 of file vpRealSense2.cpp.

References vpException::fatalError, m_depthScale, m_invalidDepthValue, and m_max_Z.

Referenced by acquire().

◆ getProductLine()

std::string vpRealSense2::getProductLine ( )

Get the product line of the device being used. This function need librealsense > 2.31.0. Otherwise it returns "unknown".

Examples: getRealSense2Info.cpp, grabRealSense2.cpp, grabRealSense2_T265.cpp, testRealSense2_T265_images.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_imu.cpp, testRealSense2_T265_odometry.cpp, and testRealSense2_T265_undistort.cpp.

Definition at line 1427 of file vpRealSense2.cpp.

References m_product_line.

◆ getSensorInfo()

std::string vpRealSense2::getSensorInfo ( )

Alias for the &operator<< operator. Return sensor information such as:

device info
supported options
stream profiles
intrinsics / extrinsics
[...]

Definition at line 1464 of file vpRealSense2.cpp.

◆ getTransformation()

vpHomogeneousMatrix vpRealSense2::getTransformation	(	const rs2_stream &	from,
		const rs2_stream &	to,
		int	from_index = `-1`
	)		const

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

Parameters

from,to	: Streams for which the camera extrinsic parameters are returned.
from_index	: Index of the stream from which we will calculate the transformation, 1: From left to right, 2: From right to left. Otherwise: -1(default)

Examples: grabRealSense2.cpp, testRealSense2_SR300.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, and tutorial-mb-generic-tracker-rgbd-realsense.cpp.

Definition at line 1152 of file vpRealSense2.cpp.

References m_pipelineProfile.

◆ open() [1/2]

bool vpRealSense2::open	(	const rs2::config &	cfg,
		std::function< void(rs2::frame)> &	callback
	)

Open access to the RealSense device and start the streaming.

Parameters

cfg	: A rs2::config with requested filters on the pipeline configuration. By default no filters are applied.
callback	: Stream callback, can be any callable object accepting rs2::frame. The callback is invoked immediately once a frame is ready.

Definition at line 1396 of file vpRealSense2.cpp.

References close(), m_depthScale, m_init, m_pipe, m_pipelineProfile, and m_product_line.

◆ open() [2/2]

bool vpRealSense2::open ( const rs2::config & cfg = rs2::config() )

Open access to the RealSense device and start the streaming.

Examples: getRealSense2Info.cpp, grabRealSense2.cpp, grabRealSense2_T265.cpp, saveRealSenseData.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6AprilTagIBVS.cpp, servoAfma6AprilTagPBVS.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Ellipse2DCamVelocity.cpp, servoAfma6FourPoints2DArtVelocity.cpp, servoAfma6FourPoints2DCamVelocityLs_cur.cpp, servoAfma6FourPoints2DCamVelocityLs_cur_integrator.cpp, servoAfma6FourPoints2DCamVelocityLs_des.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6MegaposePBVS.cpp, servoAfma6Point2DArtVelocity.cpp, servoAfma6Point2DCamVelocity.cpp, servoAfma6Points2DCamVelocityEyeToHand.cpp, servoAfma6Segment2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoFrankaIBVS.cpp, servoFrankaPBVS.cpp, servoPololuPtuPoint2DJointVelocity.cpp, servoUniversalRobotsIBVS.cpp, servoUniversalRobotsPBVS.cpp, testRealSense2_D435.cpp, testRealSense2_D435_align.cpp, testRealSense2_D435_opencv.cpp, testRealSense2_D435_pcl.cpp, testRealSense2_SR300.cpp, testRealSense2_T265_images.cpp, testRealSense2_T265_images_odometry.cpp, testRealSense2_T265_images_odometry_async.cpp, testRealSense2_T265_imu.cpp, testRealSense2_T265_odometry.cpp, testRealSense2_T265_undistort.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-grabber-realsense-T265.cpp, tutorial-grabber-realsense.cpp, tutorial-grabber-rgbd-D435-structurecore.cpp, tutorial-hsv-range-tuner.cpp, tutorial-hsv-segmentation-pcl-viewer.cpp, tutorial-hsv-segmentation-pcl.cpp, tutorial-hsv-segmentation.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-rgbd-realsense-json.cpp, tutorial-mb-generic-tracker-rgbd-realsense.cpp, and tutorial-pose-from-points-realsense-T265.cpp.

Definition at line 1363 of file vpRealSense2.cpp.

References close(), m_depthScale, m_init, m_pipe, m_pipelineProfile, and m_product_line.

◆ setInvalidDepthValue()

void vpRealSense2::setInvalidDepthValue ( 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 402 of file vpRealSense2.h.

◆ setMaxZ()

void vpRealSense2::setMaxZ ( const float maxZ )

inline

Set the maximum Z value (used to discard bad reconstructed depth for pointcloud).

Definition at line 406 of file vpRealSense2.h.

Friends And Related Function Documentation

◆ operator<< [1/2]

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

friend

Return information from the sensor.

Parameters

os	: Input stream.
rs	: RealSense object.

The following example shows how to use this method.

#include <visp3/sensor/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs.open();
  std::cout << "RealSense sensor information:\n" << rs << std::endl;
  return 0;
}

Definition at line 1594 of file vpRealSense2.cpp.

◆ operator<<() [2/2]

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

Parameters

os	: Input stream.
rs	: RealSense object.

The following example shows how to use this method.

#include <visp3/sensor/vpRealSense2.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
  vpRealSense2 rs;
  rs.open();
  std::cout << "RealSense sensor information:\n" << rs << std::endl;
  return 0;
}

Definition at line 1594 of file vpRealSense2.cpp.

Member Data Documentation

◆ m_depthScale

float vpRealSense2::m_depthScale

protected

Definition at line 409 of file vpRealSense2.h.

Referenced by getDepthScale(), getPointcloud(), and open().

◆ m_init

bool vpRealSense2::m_init

protected

Definition at line 420 of file vpRealSense2.h.

Referenced by close(), getDepthScale(), and open().

◆ m_invalidDepthValue

float vpRealSense2::m_invalidDepthValue

protected

Definition at line 410 of file vpRealSense2.h.

Referenced by getPointcloud().

◆ m_max_Z

float vpRealSense2::m_max_Z

protected

Definition at line 411 of file vpRealSense2.h.

Referenced by getPointcloud().

◆ m_pipe

rs2::pipeline vpRealSense2::m_pipe

protected

Definition at line 412 of file vpRealSense2.h.

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

◆ m_pipelineProfile

rs2::pipeline_profile vpRealSense2::m_pipelineProfile

protected

Definition at line 413 of file vpRealSense2.h.

Referenced by getCameraParameters(), getIntrinsics(), getTransformation(), and open().

◆ m_pointcloud

rs2::pointcloud vpRealSense2::m_pointcloud

protected

Definition at line 414 of file vpRealSense2.h.

Referenced by getPointcloud().

◆ m_points

rs2::points vpRealSense2::m_points

protected

Definition at line 415 of file vpRealSense2.h.

Referenced by getPointcloud().

◆ m_pos

vpTranslationVector vpRealSense2::m_pos

protected

Definition at line 416 of file vpRealSense2.h.

◆ m_product_line

std::string vpRealSense2::m_product_line

protected

Definition at line 419 of file vpRealSense2.h.

Referenced by getProductLine(), and open().

◆ m_quat

vpQuaternionVector vpRealSense2::m_quat

protected

Definition at line 417 of file vpRealSense2.h.

◆ m_rot

vpRotationMatrix vpRealSense2::m_rot

protected

Definition at line 418 of file vpRealSense2.h.

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ vpRealSense2()

◆ ~vpRealSense2()

Member Function Documentation

◆ acquire() [1/8]

◆ acquire() [2/8]

◆ acquire() [3/8]

◆ acquire() [4/8]

◆ acquire() [5/8]

◆ acquire() [6/8]

◆ acquire() [7/8]

◆ acquire() [8/8]

◆ close()

◆ getCameraParameters()

◆ getColorFrame()

◆ getDepthScale()

◆ getGreyFrame()

◆ getIntrinsics()

◆ getInvalidDepthValue()

◆ getMaxZ()

◆ getNativeFrameData()

◆ getPipeline()

◆ getPipelineProfile()

◆ getPointcloud() [1/3]

◆ getPointcloud() [2/3]

◆ getPointcloud() [3/3]

◆ getProductLine()

◆ getSensorInfo()

◆ getTransformation()

◆ open() [1/2]

◆ open() [2/2]

◆ setInvalidDepthValue()

◆ setMaxZ()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<<() [2/2]

Member Data Documentation

◆ m_depthScale

◆ m_init

◆ m_invalidDepthValue

◆ m_max_Z

◆ m_pipe

◆ m_pipelineProfile

◆ m_pointcloud

◆ m_points

◆ m_pos

◆ m_product_line

◆ m_quat

◆ m_rot