Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
testRealSense2_D435_opencv.cpp

Test Intel RealSense D435 acquisition with librealsense2 (OpenCV demo).

/****************************************************************************
*
* 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.
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* 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
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* 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:
* Test Intel RealSense acquisition with librealsense2 (OpenCV demo).
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (VISP_HAVE_OPENCV_VERSION >= 0x030000)
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/sensor/vpRealSense2.h>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
namespace
{
struct float3
{
float x, y, z;
float3() : x(0), y(0), z(0) {}
float3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) {}
};
void getPointcloud(const rs2::depth_frame& depth_frame, std::vector<float3>& pointcloud)
{
auto vf = depth_frame.as<rs2::video_frame>();
const int width = vf.get_width();
const int height = vf.get_height();
pointcloud.resize((size_t)(width * height));
rs2::pointcloud pc;
rs2::points points = pc.calculate(depth_frame);
auto vertices = points.get_vertices();
for (size_t i = 0; i < points.size(); i++) {
float3 pcl;
if (vertices[i].z > std::numeric_limits<float>::epsilon()) {
pcl.x = vertices[i].x;
pcl.y = vertices[i].y;
pcl.z = vertices[i].z;
}
pointcloud[i] = pcl;
}
}
void createDepthHist(std::vector<uint32_t>& histogram, const std::vector<float3>& pointcloud, float depth_scale)
{
std::fill(histogram.begin(), histogram.end(), 0);
for (size_t i = 0; i < pointcloud.size(); i++) {
const float3& pt = pointcloud[i];
++histogram[static_cast<uint32_t>(pt.z * depth_scale)];
}
for (int i = 2; i < 0x10000; i++)
histogram[i] += histogram[i - 1]; // Build a cumulative histogram for
// the indices in [1,0xFFFF]
}
unsigned char getDepthColor(const std::vector<uint32_t>& histogram, float z, float depth_scale)
{
// 0-255 based on histogram location
return static_cast<unsigned char>(histogram[static_cast<uint32_t>(z*depth_scale)] * 255 / histogram[0xFFFF]);
}
void getNativeFrame(const rs2::frame& frame, unsigned char *const data)
{
auto vf = frame.as<rs2::video_frame>();
int size = vf.get_width() * vf.get_height();
switch (frame.get_profile().format()) {
case RS2_FORMAT_RGB8:
case RS2_FORMAT_BGR8:
memcpy(data, frame.get_data(), size * 3);
break;
case RS2_FORMAT_RGBA8:
case RS2_FORMAT_BGRA8:
memcpy(data, frame.get_data(), size * 4);
break;
case RS2_FORMAT_Y16:
case RS2_FORMAT_Z16:
memcpy(data, frame.get_data(), size * 2);
break;
case RS2_FORMAT_Y8:
memcpy(data, frame.get_data(), size);
break;
default:
break;
}
}
void frame_to_mat(const rs2::frame &f, cv::Mat &img)
{
auto vf = f.as<rs2::video_frame>();
const int w = vf.get_width();
const int h = vf.get_height();
const int size = w * h;
if (f.get_profile().format() == RS2_FORMAT_BGR8) {
memcpy(static_cast<void*>(img.ptr<cv::Vec3b>()), f.get_data(), size * 3);
} else if (f.get_profile().format() == RS2_FORMAT_RGB8) {
cv::Mat tmp(h, w, CV_8UC3, const_cast<void *>(f.get_data()), cv::Mat::AUTO_STEP);
cv::cvtColor(tmp, img, cv::COLOR_RGB2BGR);
} else if (f.get_profile().format() == RS2_FORMAT_Y8) {
memcpy(img.ptr<uchar>(), f.get_data(), size);
}
}
}
int main()
{
const int width = 640, height = 480, fps = 60;
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_BGR8, fps);
config.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, fps);
config.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_Y8, fps);
config.enable_stream(RS2_STREAM_INFRARED, 2, width, height, RS2_FORMAT_Y8, fps);
rs.open(config);
rs2::pipeline_profile& profile = rs.getPipelineProfile();
rs2::pipeline& pipe = rs.getPipeline();
float depth_scale = 1 / rs.getDepthScale();
// initialize the image sizes
// width and height can also be used instead
auto color_profile = profile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
cv::Mat mat_color(color_profile.height(), color_profile.width(), CV_8UC3);
auto depth_profile = profile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
cv::Mat mat_depth(depth_profile.height(), depth_profile.width(), CV_8UC3);
rs2::colorizer color_map;
auto infrared_profile = profile.get_stream(RS2_STREAM_INFRARED).as<rs2::video_stream_profile>();
cv::Mat mat_infrared1(infrared_profile.height(), infrared_profile.width(), CV_8UC1);
cv::Mat mat_infrared2(infrared_profile.height(), infrared_profile.width(), CV_8UC1);
std::vector<float3> pointcloud;
cv::Mat mat_pointcloud(depth_profile.height(), depth_profile.width(), CV_8UC1);
std::vector<uint32_t> histogram(0x10000);
vpCameraParameters cam_projection = rs.getCameraParameters(RS2_STREAM_DEPTH);
std::vector<double> time_vector;
vpChrono chrono;
while (true) {
chrono.start();
auto data = pipe.wait_for_frames();
frame_to_mat(data.get_color_frame(), mat_color);
#if (RS2_API_VERSION >= ((2 * 10000) + (16 * 100) + 0))
frame_to_mat(data.get_depth_frame().apply_filter(color_map), mat_depth);
#else
frame_to_mat(color_map(data.get_depth_frame()), mat_depth);
#endif
cv::imshow("OpenCV color", mat_color);
cv::imshow("OpenCV depth", mat_depth);
#if (RS2_API_VERSION >= ((2 * 10000) + (10 * 100) + 0))
// rs2::frameset::get_infrared_frame() introduced in librealsense 2.10.0
frame_to_mat(data.get_infrared_frame(1), mat_infrared1);
frame_to_mat(data.get_infrared_frame(2), mat_infrared2);
cv::imshow("OpenCV infrared left", mat_infrared1);
cv::imshow("OpenCV infrared right", mat_infrared2);
#endif
getPointcloud(data.get_depth_frame(), pointcloud);
createDepthHist(histogram, pointcloud, depth_scale);
mat_pointcloud = 0;
for (size_t i = 0; i < pointcloud.size(); i++) {
const float3& pt = pointcloud[i];
float Z = pt.z;
if (Z > 1e-2) {
double x = pt.x / Z;
double y = pt.y / Z;
vpMeterPixelConversion::convertPoint(cam_projection, x, y, imPt);
int u = std::min(static_cast<int>(width-1),
static_cast<int>(std::max(0.0, imPt.get_u())));
int v = std::min(static_cast<int>(height-1),
static_cast<int>(std::max(0.0, imPt.get_v())));
unsigned char depth_viz = getDepthColor(histogram, Z, depth_scale);
mat_pointcloud.at<uchar>(v,u) = depth_viz;
}
}
cv::imshow("OpenCV projected pointcloud", mat_pointcloud);
chrono.stop();
time_vector.push_back(chrono.getDurationMs());
if (cv::waitKey(5) == 27) {
break;
}
}
std::cout << "Acquisition - Mean time: " << vpMath::getMean(time_vector)
<< " ms ; Median time: " << vpMath::getMedian(time_vector) << " ms" << std::endl;
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "Install librealsense2 to make this test work." << std::endl;
#endif
#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11) "
"to make this test work"
<< std::endl;
#endif
#if !(VISP_HAVE_OPENCV_VERSION >= 0x030000)
std::cout << "Install OpenCV version >= 3 to make this test work." << std::endl;
#endif
return 0;
}
#endif