Visual Servoing Platform  version 3.6.1 under development (2024-05-26)
tutorial-hsv-segmentation-pcl-viewer.cpp
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION) && defined(VISP_HAVE_THREADS) && defined(VISP_HAVE_X11)
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpColorDepthConversion.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayPCL.h>
#include <visp3/sensor/vpRealSense2.h>
int main(int argc, const char *argv[])
{
std::string opt_hsv_filename = "calib/hsv-thresholds.yml";
bool opt_pcl_textured = false;
bool opt_verbose = false;
int opt_width = 848;
int opt_height = 480;
int opt_fps = 60;
for (int i = 1; i < argc; i++) {
if (((std::string(argv[i]) == "--width") || (std::string(argv[i]) == "-v")) && ((i+1) < argc)) {
opt_width = std::atoi(argv[++i]);
}
else if (((std::string(argv[i]) == "--height") || (std::string(argv[i]) == "-h")) && ((i+1) < argc)) {
opt_height = std::atoi(argv[++i]);
}
else if ((std::string(argv[i]) == "--fps") && ((i+1) < argc)) {
opt_fps = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--texture") {
opt_pcl_textured = true;
}
else if ((std::string(argv[i]) == "--hsv-thresholds") && ((i+1) < argc)) {
opt_hsv_filename = std::string(argv[++i]);
}
else if ((std::string(argv[i]) == "--verbose") || (std::string(argv[i]) == "-v")) {
opt_verbose = true;
}
else if ((std::string(argv[i]) == "--help") || (std::string(argv[i]) == "-h")) {
std::cout << "\nSYNOPSIS " << std::endl
<< argv[0]
<< " [--width,-w <image width>]"
<< " [--height,-h <image height>]"
<< " [--fps <framerate>]"
<< " [--texture]"
<< " [--hsv-thresholds <filename.yml>]"
<< " [--verbose,-v]"
<< " [--help,-h]"
<< std::endl;
std::cout << "\nOPTIONS " << std::endl
<< " --width,-w <image width>" << std::endl
<< " Realsense camera image width." << std::endl
<< " Default: " << opt_width << std::endl
<< std::endl
<< " --height,-h <image height>" << std::endl
<< " Realsense camera image height." << std::endl
<< " Default: " << opt_height << std::endl
<< std::endl
<< " --fps <framerate>" << std::endl
<< " Realsense camera framerate." << std::endl
<< " Default: " << opt_fps << std::endl
<< std::endl
<< " --texture" << std::endl
<< " Enable textured point cloud adding RGB information to the 3D point." << std::endl
<< std::endl
<< " --hsv-thresholds <filename.yaml>" << std::endl
<< " Path to a yaml filename that contains H <min,max>, S <min,max>, V <min,max> threshold values." << std::endl
<< " An Example of such a file could be:" << std::endl
<< " rows: 6" << std::endl
<< " cols: 1" << std::endl
<< " data:" << std::endl
<< " - [0]" << std::endl
<< " - [42]" << std::endl
<< " - [177]" << std::endl
<< " - [237]" << std::endl
<< " - [148]" << std::endl
<< " - [208]" << std::endl
<< std::endl
<< " --verbose, -v" << std::endl
<< " Enable verbose mode." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Display this helper message." << std::endl
<< std::endl;
return EXIT_SUCCESS;
}
}
vpColVector hsv_values;
if (vpColVector::loadYAML(opt_hsv_filename, hsv_values)) {
std::cout << "Load HSV threshold values from " << opt_hsv_filename << std::endl;
std::cout << "HSV low/high values: " << hsv_values.t() << std::endl;
}
else {
std::cout << "Warning: unable to load HSV thresholds values from " << opt_hsv_filename << std::endl;
return EXIT_FAILURE;
}
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, opt_width, opt_height, RS2_FORMAT_RGBA8, opt_fps);
config.enable_stream(RS2_STREAM_DEPTH, opt_width, opt_height, RS2_FORMAT_Z16, opt_fps);
config.disable_stream(RS2_STREAM_INFRARED, 1);
config.disable_stream(RS2_STREAM_INFRARED, 2);
rs2::align align_to(RS2_STREAM_COLOR);
rs.open(config);
float depth_scale = rs.getDepthScale();
vpCameraParameters cam_depth = rs.getCameraParameters(RS2_STREAM_DEPTH,
vpImage<vpRGBa> I(opt_height, opt_width);
vpImage<unsigned char> H(opt_height, opt_width);
vpImage<unsigned char> S(opt_height, opt_width);
vpImage<unsigned char> V(opt_height, opt_width);
vpImage<unsigned char> mask(opt_height, opt_width);
vpImage<uint16_t> depth_raw(opt_height, opt_width);
vpImage<vpRGBa> I_segmented(opt_height, opt_width);
vpDisplayX d_I(I, 0, 0, "Current frame");
vpDisplayX d_I_segmented(I_segmented, I.getWidth()+75, 0, "HSV segmented frame");
bool quit = false;
double loop_time = 0., total_loop_time = 0.;
long nb_iter = 0;
float Z_min = 0.1;
float Z_max = 2.5;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud_color(new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
std::mutex pointcloud_mutex;
vpDisplayPCL pcl_viewer(opt_width, opt_height);
if (opt_pcl_textured) {
pcl_viewer.startThread(std::ref(pointcloud_mutex), pointcloud_color);
}
else {
pcl_viewer.startThread(std::ref(pointcloud_mutex), pointcloud);
}
while (!quit) {
double t = vpTime::measureTimeMs();
rs.acquire((unsigned char *)I.bitmap, (unsigned char *)(depth_raw.bitmap), NULL, NULL, &align_to);
vpImageConvert::RGBaToHSV(reinterpret_cast<unsigned char *>(I.bitmap),
reinterpret_cast<unsigned char *>(H.bitmap),
reinterpret_cast<unsigned char *>(S.bitmap),
reinterpret_cast<unsigned char *>(V.bitmap), I.getSize());
vpImageTools::inRange(reinterpret_cast<unsigned char *>(H.bitmap),
reinterpret_cast<unsigned char *>(S.bitmap),
reinterpret_cast<unsigned char *>(V.bitmap),
hsv_values,
reinterpret_cast<unsigned char *>(mask.bitmap),
mask.getSize());
vpImageTools::inMask(I, mask, I_segmented);
int pcl_size;
if (opt_pcl_textured) {
pcl_size = vpImageConvert::depthToPointCloud(I, depth_raw, depth_scale, cam_depth, pointcloud_color, &pointcloud_mutex, &mask, Z_min, Z_max);
}
else {
pcl_size = vpImageConvert::depthToPointCloud(depth_raw, depth_scale, cam_depth, pointcloud, &pointcloud_mutex, &mask, Z_min, Z_max);
}
if (opt_verbose) {
std::cout << "Segmented point cloud size: " << pcl_size << std::endl;
}
vpDisplay::display(I_segmented);
vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false)) {
quit = true;
}
vpDisplay::flush(I_segmented);
nb_iter++;
loop_time = vpTime::measureTimeMs() - t;
total_loop_time += loop_time;
}
std::cout << "Mean loop time: " << total_loop_time / nb_iter << std::endl;
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "This tutorial needs librealsense as 3rd party." << std::endl;
#endif
#if !defined(VISP_HAVE_PCL)
std::cout << "This tutorial needs pcl library as 3rd party." << std::endl;
#endif
#if !defined(VISP_HAVE_PCL_VISUALIZATION)
std::cout << "This tutorial needs pcl visualization module." << std::endl;
#endif
#if !defined(VISP_HAVE_X11)
std::cout << "This tutorial needs X11 3rd party enabled." << std::endl;
#endif
std::cout << "Install missing 3rd party, configure and rebuild ViSP." << std::endl;
return EXIT_SUCCESS;
}
#endif
static bool loadYAML(const std::string &filename, vpArray2D< double > &A, char *header=nullptr)
Definition: vpArray2D.h:772
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
vpRowVector t() const
static const vpColor red
Definition: vpColor.h:211
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)
static void RGBaToHSV(const unsigned char *rgba, double *hue, double *saturation, double *value, unsigned int size)
static int inMask(const vpImage< unsigned char > &I, const vpImage< unsigned char > &mask, vpImage< unsigned char > &I_mask)
static int inRange(const unsigned char *hue, const unsigned char *saturation, const unsigned char *value, const vpColVector &hsv_range, unsigned char *mask, unsigned int size)
unsigned int getWidth() const
Definition: vpImage.h:245
unsigned int getSize() const
Definition: vpImage.h:224
Type * bitmap
points toward the bitmap
Definition: vpImage.h:139
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())
float getDepthScale()
VISP_EXPORT double measureTimeMs()