Visual Servoing Platform  version 3.6.1 under development (2024-05-28)
vpRealSense2.h
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31  * Description:
32  * librealSense2 interface.
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34 *****************************************************************************/
35 
36 #ifndef _vpRealSense2_h_
37 #define _vpRealSense2_h_
38 
39 #include <visp3/core/vpConfig.h>
40 
41 #if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
42 
43 #include <librealsense2/rs.hpp>
44 #include <librealsense2/rsutil.h>
45 
46 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
47 #include <pcl/common/common_headers.h>
48 #endif
49 
50 #include <visp3/core/vpCameraParameters.h>
51 #include <visp3/core/vpImage.h>
52 
287 class VISP_EXPORT vpRealSense2
288 {
289 public:
290  vpRealSense2();
291  virtual ~vpRealSense2();
292 
293  void acquire(vpImage<unsigned char> &grey, double *ts = nullptr);
294  void acquire(vpImage<vpRGBa> &color, double *ts = nullptr);
295  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
296  std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared,
297  rs2::align *const align_to = nullptr, double *ts = nullptr);
298  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
299  std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared1,
300  unsigned char *const data_infrared2, rs2::align *const align_to, double *ts = nullptr);
301 #if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
302  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, double *ts = nullptr);
303  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, vpHomogeneousMatrix *cMw,
304  vpColVector *odo_vel, vpColVector *odo_acc, unsigned int *confidence = nullptr, double *ts = nullptr);
305  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, vpHomogeneousMatrix *cMw,
306  vpColVector *odo_vel, vpColVector *odo_acc, vpColVector *imu_vel, vpColVector *imu_acc,
307  unsigned int *tracker_confidence = nullptr, double *ts = nullptr);
308 #endif
309 
310 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
311  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
312  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
313  unsigned char *const data_infrared = nullptr, rs2::align *const align_to = nullptr, double *ts = nullptr);
314  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
315  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
316  unsigned char *const data_infrared1, unsigned char *const data_infrared2, rs2::align *const align_to,
317  double *ts = nullptr);
318 
319  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
320  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
321  unsigned char *const data_infrared = nullptr, rs2::align *const align_to = nullptr, double *ts = nullptr);
322  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
323  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
324  unsigned char *const data_infrared1, unsigned char *const data_infrared2, rs2::align *const align_to,
325  double *ts = nullptr);
326 #endif
327 
328  void close();
329 
330  vpCameraParameters getCameraParameters(
331  const rs2_stream &stream,
333  int index = -1) const;
334 
335  float getDepthScale();
336 
337 #if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
338  void getIMUAcceleration(vpColVector *imu_acc, double *ts);
339  void getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts);
340  void getIMUVelocity(vpColVector *imu_vel, double *ts);
341 #endif
342 
343  rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index = -1) const;
344 
348  inline float getInvalidDepthValue() const { return m_invalidDepthValue; }
349 
352  inline float getMaxZ() const { return m_max_Z; }
353 
354 #if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
355  unsigned int getOdometryData(vpHomogeneousMatrix *cMw, vpColVector *odo_vel, vpColVector *odo_acc, double *ts = nullptr);
356 #endif
357 
359  rs2::pipeline &getPipeline() { return m_pipe; }
360 
362  rs2::pipeline_profile &getPipelineProfile() { return m_pipelineProfile; }
363 
364  std::string getProductLine();
365 
366  std::string getSensorInfo();
367 
368  vpHomogeneousMatrix getTransformation(const rs2_stream &from, const rs2_stream &to, int from_index = -1) const;
369 
370  bool open(const rs2::config &cfg = rs2::config());
371  bool open(const rs2::config &cfg, std::function<void(rs2::frame)> &callback);
372 
373  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpRealSense2 &rs);
374 
378  inline void setInvalidDepthValue(float value) { m_invalidDepthValue = value; }
379 
382  inline void setMaxZ(const float maxZ) { m_max_Z = maxZ; }
383 
384 protected:
387  float m_max_Z;
388  rs2::pipeline m_pipe;
389  rs2::pipeline_profile m_pipelineProfile;
390  rs2::pointcloud m_pointcloud;
391  rs2::points m_points;
395  std::string m_product_line;
396  bool m_init;
397 
398  void getColorFrame(const rs2::frame &frame, vpImage<vpRGBa> &color);
399  void getGreyFrame(const rs2::frame &frame, vpImage<unsigned char> &grey);
400  void getNativeFrameData(const rs2::frame &frame, unsigned char *const data);
401  void getPointcloud(const rs2::depth_frame &depth_frame, std::vector<vpColVector> &pointcloud);
402 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
403  void getPointcloud(const rs2::depth_frame &depth_frame, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
404  void getPointcloud(const rs2::depth_frame &depth_frame, const rs2::frame &color_frame,
405  pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
406 #endif
407 };
408 
409 #endif
410 #endif
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a rotation vector as quaternion angle minimal representation.
void setInvalidDepthValue(float value)
Definition: vpRealSense2.h:378
void setMaxZ(const float maxZ)
Definition: vpRealSense2.h:382
vpQuaternionVector m_quat
Definition: vpRealSense2.h:393
rs2::pipeline m_pipe
Definition: vpRealSense2.h:388
rs2::pipeline_profile & getPipelineProfile()
Get a reference to rs2::pipeline_profile.
Definition: vpRealSense2.h:362
vpRotationMatrix m_rot
Definition: vpRealSense2.h:394
rs2::pointcloud m_pointcloud
Definition: vpRealSense2.h:390
float m_depthScale
Definition: vpRealSense2.h:385
vpTranslationVector m_pos
Definition: vpRealSense2.h:392
std::string m_product_line
Definition: vpRealSense2.h:395
rs2::pipeline & getPipeline()
Get a reference to rs2::pipeline.
Definition: vpRealSense2.h:359
rs2::points m_points
Definition: vpRealSense2.h:391
float getInvalidDepthValue() const
Definition: vpRealSense2.h:348
float m_invalidDepthValue
Definition: vpRealSense2.h:386
rs2::pipeline_profile m_pipelineProfile
Definition: vpRealSense2.h:389
float getMaxZ() const
Definition: vpRealSense2.h:352
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.