Visual Servoing Platform  version 3.5.1 under development (2022-08-09)
vpRealSense2.h
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31  * Description:
32  * librealSense2 interface.
33  *
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 #ifdef VISP_HAVE_PCL
47 #include <pcl/common/common_headers.h>
48 #endif
49 
50 #include <visp3/core/vpCameraParameters.h>
51 #include <visp3/core/vpImage.h>
52 
286 class VISP_EXPORT vpRealSense2
287 {
288 public:
289  vpRealSense2();
290  virtual ~vpRealSense2();
291 
292  void acquire(vpImage<unsigned char> &grey, double *ts = NULL);
293  void acquire(vpImage<vpRGBa> &color, double *ts = NULL);
294  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
295  std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared,
296  rs2::align *const align_to = NULL, double *ts = NULL);
297  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
298  std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared1,
299  unsigned char *const data_infrared2, rs2::align *const align_to, double *ts = NULL);
300 #if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
301  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, double *ts = NULL);
302  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, vpHomogeneousMatrix *cMw,
303  vpColVector *odo_vel, vpColVector *odo_acc, unsigned int *confidence = NULL, double *ts = NULL);
304  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, vpHomogeneousMatrix *cMw,
305  vpColVector *odo_vel, vpColVector *odo_acc, vpColVector *imu_vel, vpColVector *imu_acc,
306  unsigned int *tracker_confidence = NULL, double *ts = NULL);
307 #endif
308 
309 #ifdef VISP_HAVE_PCL
310  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
311  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
312  unsigned char *const data_infrared = NULL, rs2::align *const align_to = NULL, double *ts = NULL);
313  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
314  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
315  unsigned char *const data_infrared1, unsigned char *const data_infrared2, rs2::align *const align_to,
316  double *ts = NULL);
317 
318  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
319  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
320  unsigned char *const data_infrared = NULL, rs2::align *const align_to = NULL, double *ts = NULL);
321  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
322  std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
323  unsigned char *const data_infrared1, unsigned char *const data_infrared2, rs2::align *const align_to,
324  double *ts = NULL);
325 #endif
326 
327  void close();
328 
329  vpCameraParameters getCameraParameters(
330  const rs2_stream &stream,
332  int index = -1) const;
333 
334  float getDepthScale();
335 
336 #if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
337  void getIMUAcceleration(vpColVector *imu_acc, double *ts);
338  void getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts);
339  void getIMUVelocity(vpColVector *imu_vel, double *ts);
340 #endif
341 
342  rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index = -1) const;
343 
347  inline float getInvalidDepthValue() const { return m_invalidDepthValue; }
348 
351  inline float getMaxZ() const { return m_max_Z; }
352 
353 #if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
354  unsigned int getOdometryData(vpHomogeneousMatrix *cMw, vpColVector *odo_vel, vpColVector *odo_acc, double *ts = NULL);
355 #endif
356 
358  rs2::pipeline &getPipeline() { return m_pipe; }
359 
361  rs2::pipeline_profile &getPipelineProfile() { return m_pipelineProfile; }
362 
363  std::string getProductLine();
364 
365  vpHomogeneousMatrix getTransformation(const rs2_stream &from, const rs2_stream &to, int from_index = -1) const;
366 
367  bool open(const rs2::config &cfg = rs2::config());
368  bool open(const rs2::config &cfg, std::function<void(rs2::frame)> &callback);
369 
370  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpRealSense2 &rs);
371 
375  inline void setInvalidDepthValue(float value) { m_invalidDepthValue = value; }
376 
379  inline void setMaxZ(const float maxZ) { m_max_Z = maxZ; }
380 
381 protected:
384  float m_max_Z;
385  rs2::pipeline m_pipe;
386  rs2::pipeline_profile m_pipelineProfile;
387  rs2::pointcloud m_pointcloud;
388  rs2::points m_points;
392  std::string m_product_line;
393  bool m_init;
394 
395  void getColorFrame(const rs2::frame &frame, vpImage<vpRGBa> &color);
396  void getGreyFrame(const rs2::frame &frame, vpImage<unsigned char> &grey);
397  void getNativeFrameData(const rs2::frame &frame, unsigned char *const data);
398  void getPointcloud(const rs2::depth_frame &depth_frame, std::vector<vpColVector> &pointcloud);
399 #ifdef VISP_HAVE_PCL
400  void getPointcloud(const rs2::depth_frame &depth_frame, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
401  void getPointcloud(const rs2::depth_frame &depth_frame, const rs2::frame &color_frame,
402  pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
403 #endif
404 };
405 
406 #endif
407 #endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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:375
void setMaxZ(const float maxZ)
Definition: vpRealSense2.h:379
vpQuaternionVector m_quat
Definition: vpRealSense2.h:390
rs2::pipeline m_pipe
Definition: vpRealSense2.h:385
rs2::pipeline_profile & getPipelineProfile()
Get a reference to rs2::pipeline_profile.
Definition: vpRealSense2.h:361
vpRotationMatrix m_rot
Definition: vpRealSense2.h:391
rs2::pointcloud m_pointcloud
Definition: vpRealSense2.h:387
float m_depthScale
Definition: vpRealSense2.h:382
vpTranslationVector m_pos
Definition: vpRealSense2.h:389
std::string m_product_line
Definition: vpRealSense2.h:392
rs2::pipeline & getPipeline()
Get a reference to rs2::pipeline.
Definition: vpRealSense2.h:358
rs2::points m_points
Definition: vpRealSense2.h:388
float getInvalidDepthValue() const
Definition: vpRealSense2.h:347
float m_invalidDepthValue
Definition: vpRealSense2.h:383
rs2::pipeline_profile m_pipelineProfile
Definition: vpRealSense2.h:386
float getMaxZ() const
Definition: vpRealSense2.h:351
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.