Visual Servoing Platform  version 3.6.1 under development (2024-05-21)
grabRealSense2.cpp

This example shows how to retrieve data from a RealSense RGB-D sensor with librealsense2.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 https://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:
* Acquisition with RealSense RGB-D sensor and librealsense2.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_REALSENSE2) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpTime.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayPCL.h>
#include <visp3/sensor/vpRealSense2.h>
int main()
{
try {
std::string product_line = rs.getProductLine();
std::cout << "Product line: " << product_line << std::endl;
if (product_line == "T200") {
std::cout << "This example doesn't support T200 product line family !" << std::endl;
return EXIT_SUCCESS;
}
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);
<< std::endl;
<< std::endl;
std::cout << "Extrinsics cMd: \n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_DEPTH) << std::endl;
std::cout << "Extrinsics dMc: \n" << rs.getTransformation(RS2_STREAM_DEPTH, RS2_STREAM_COLOR) << std::endl;
std::cout << "Extrinsics cMi: \n" << rs.getTransformation(RS2_STREAM_COLOR, RS2_STREAM_INFRARED) << std::endl;
std::cout << "Extrinsics dMi: \n" << rs.getTransformation(RS2_STREAM_DEPTH, RS2_STREAM_INFRARED) << std::endl;
vpImage<vpRGBa> color((unsigned int)rs.getIntrinsics(RS2_STREAM_COLOR).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_COLOR).width);
vpImage<unsigned char> infrared((unsigned int)rs.getIntrinsics(RS2_STREAM_INFRARED).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_INFRARED).width);
vpImage<vpRGBa> depth_display((unsigned int)rs.getIntrinsics(RS2_STREAM_DEPTH).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_DEPTH).width);
vpImage<uint16_t> depth(depth_display.getHeight(), depth_display.getWidth());
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_THREADS)
std::mutex mutex;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
#if defined(VISP_HAVE_PCL_VISUALIZATION)
vpDisplayPCL pcl_viewer(color.getWidth() + 80, color.getHeight() + 70, "3D viewer " + vpTime::getDateTime());
pcl_viewer.startThread(std::ref(mutex), pointcloud_color);
#endif
#endif
#if defined(VISP_HAVE_X11)
vpDisplayX dc(color, 10, 10, "Color image");
vpDisplayX di(infrared, static_cast<int>(color.getWidth()) + 80, 10, "Infrared image");
vpDisplayX dd(depth_display, 10, static_cast<int>(color.getHeight()) + 70, "Depth image");
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI dc(color, 10, 10, "Color image");
vpDisplayGDI di(infrared, color.getWidth() + 80, 10, "Infrared image");
vpDisplayGDI dd(depth_display, 10, color.getHeight() + 70, "Depth image");
#endif
while (true) {
double t = vpTime::measureTimeMs();
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_THREADS)
{
std::lock_guard<std::mutex> lock(mutex);
rs.acquire(reinterpret_cast<unsigned char *>(color.bitmap), reinterpret_cast<unsigned char *>(depth.bitmap), nullptr, pointcloud_color,
reinterpret_cast<unsigned char *>(infrared.bitmap));
}
#else
rs.acquire(reinterpret_cast<unsigned char *>(color.bitmap), reinterpret_cast<unsigned char *>(depth.bitmap), nullptr, reinterpret_cast<unsigned char *>(infrared.bitmap));
#endif
vpImageConvert::createDepthHistogram(depth, depth_display);
vpDisplay::display(infrared);
vpDisplay::display(depth_display);
vpDisplay::displayText(color, 15, 15, "Click to quit", vpColor::red);
if (vpDisplay::getClick(color, false) || vpDisplay::getClick(infrared, false) ||
vpDisplay::getClick(depth_display, false)) {
break;
}
vpDisplay::flush(infrared);
vpDisplay::flush(depth_display);
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
}
std::cout << "RealSense sensor characteristics: \n" << rs << std::endl;
}
catch (const vpException &e) {
std::cerr << "RealSense error " << e.what() << std::endl;
}
catch (const std::exception &e) {
std::cerr << e.what() << std::endl;
}
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "You do not have realsense2 SDK functionality enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
#endif
return EXIT_SUCCESS;
}
#endif
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
static const vpColor red
Definition: vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:128
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition: vpException.h:59
const char * what() const
Definition: vpException.cpp:70
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
unsigned int getWidth() const
Definition: vpImage.h:245
Type * bitmap
points toward the bitmap
Definition: vpImage.h:139
unsigned int getHeight() const
Definition: vpImage.h:184
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index=-1) const
std::string getProductLine()
vpHomogeneousMatrix getTransformation(const rs2_stream &from, const rs2_stream &to, int from_index=-1) const
VISP_EXPORT std::string getDateTime(const std::string &format="%Y/%m/%d %H:%M:%S")
VISP_EXPORT double measureTimeMs()