Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
testRealSense2_D435_pcl.cpp

Test Intel RealSense D435 acquisition with librealsense2 (PCL 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.
*
* 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:
* Test Intel RealSense acquisition with librealsense2 (PCL 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)) && defined(VISP_HAVE_PCL)
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <thread>
#include <mutex>
namespace
{
// Global variables
pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
bool cancelled = false, update_pointcloud = false;
class ViewerWorker
{
public:
explicit ViewerWorker(bool color_mode, std::mutex &mutex) : m_colorMode(color_mode), m_mutex(mutex) {}
void run()
{
std::string date = vpTime::getDateTime();
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer " + date));
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud_color);
pcl::PointCloud<pcl::PointXYZ>::Ptr local_pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr local_pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
viewer->setBackgroundColor(0, 0, 0);
viewer->initCameraParameters();
viewer->setPosition(640 + 80, 480 + 80);
viewer->setCameraPosition(0, 0, -0.25, 0, -1, 0);
viewer->setSize(640, 480);
bool init = true;
bool local_update = false, local_cancelled = false;
while (!local_cancelled) {
{
std::unique_lock<std::mutex> lock(m_mutex, std::try_to_lock);
if (lock.owns_lock()) {
local_update = update_pointcloud;
update_pointcloud = false;
local_cancelled = cancelled;
if (local_update) {
if (m_colorMode) {
local_pointcloud_color = pointcloud_color->makeShared();
} else {
local_pointcloud = pointcloud->makeShared();
}
}
}
}
if (local_update && !local_cancelled) {
local_update = false;
if (init) {
if (m_colorMode) {
viewer->addPointCloud<pcl::PointXYZRGB>(local_pointcloud_color, rgb, "RGB sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1,
"RGB sample cloud");
} else {
viewer->addPointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
}
init = false;
} else {
if (m_colorMode) {
viewer->updatePointCloud<pcl::PointXYZRGB>(local_pointcloud_color, rgb, "RGB sample cloud");
} else {
viewer->updatePointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
}
}
}
viewer->spinOnce(5);
}
std::cout << "End of point cloud display thread" << std::endl;
}
private:
bool m_colorMode;
std::mutex &m_mutex;
};
}
int main(int argc, char *argv[])
{
bool pcl_color = false;
bool show_infrared2 = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--pcl_color") {
pcl_color = true;
} else if (std::string(argv[i]) == "--show_infrared2") {
show_infrared2 = true;
}
}
const int width = 640, height = 480, fps = 30;
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, 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);
vpImage<vpRGBa> color(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<vpRGBa> depth_color(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<uint16_t> depth_raw(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<unsigned char> infrared1(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<unsigned char> infrared2(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
#ifdef VISP_HAVE_X11
vpDisplayX d1, d2, d3, d4;
#else
vpDisplayGDI d1, d2, d3, d4;
#endif
d1.init(color, 0, 0, "Color");
d2.init(depth_color, color.getWidth(), 0, "Depth");
d3.init(infrared1, 0, color.getHeight() + 100, "Infrared left");
if (show_infrared2) {
d4.init(infrared2, color.getWidth(), color.getHeight() + 100, "Infrared right");
}
std::mutex mutex;
ViewerWorker viewer_pointcloud(pcl_color, mutex);
std::thread viewer_thread(&ViewerWorker::run, &viewer_pointcloud);
std::vector<double> time_vector;
vpChrono chrono;
while (true) {
chrono.start();
{
std::lock_guard<std::mutex> lock(mutex);
if (pcl_color) {
rs.acquire(reinterpret_cast<unsigned char *>(color.bitmap),
reinterpret_cast<unsigned char *>(depth_raw.bitmap),
NULL, pointcloud_color,
reinterpret_cast<unsigned char *>(infrared1.bitmap),
show_infrared2 ? reinterpret_cast<unsigned char *>(infrared2.bitmap) : NULL,
NULL);
} else {
rs.acquire(reinterpret_cast<unsigned char *>(color.bitmap),
reinterpret_cast<unsigned char *>(depth_raw.bitmap),
NULL, pointcloud,
reinterpret_cast<unsigned char *>(infrared1.bitmap),
show_infrared2 ? reinterpret_cast<unsigned char *>(infrared2.bitmap) : NULL,
NULL);
}
update_pointcloud = true;
}
vpImageConvert::createDepthHistogram(depth_raw, depth_color);
vpDisplay::display(depth_color);
vpDisplay::display(infrared1);
vpDisplay::display(infrared2);
vpDisplay::displayText(color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(depth_color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(infrared1, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(infrared2, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(depth_color);
vpDisplay::flush(infrared1);
vpDisplay::flush(infrared2);
chrono.stop();
time_vector.push_back(chrono.getDurationMs());
if (vpDisplay::getClick(color, false) ||
vpDisplay::getClick(depth_color, false) ||
vpDisplay::getClick(infrared1, false) ||
vpDisplay::getClick(infrared2, false)) {
break;
}
}
{
std::lock_guard<std::mutex> lock(mutex);
cancelled = true;
}
viewer_thread.join();
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 !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_GDI)
std::cout << "X11 or GDI are needed." << std::endl;
#endif
#if !defined(VISP_HAVE_PCL)
std::cout << "Install PCL to make this test work." << std::endl;
#endif
return 0;
}
#endif