Visual Servoing Platform version 3.5.0
testRealSense2_D435_opencv.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test Intel RealSense acquisition with librealsense2 (OpenCV demo).
33 *
34 *****************************************************************************/
40#include <iostream>
41
42#include <visp3/core/vpConfig.h>
43
44#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
45 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (VISP_HAVE_OPENCV_VERSION >= 0x030000)
46
47#include <visp3/core/vpImage.h>
48#include <visp3/core/vpImageConvert.h>
49#include <visp3/core/vpMeterPixelConversion.h>
50#include <visp3/sensor/vpRealSense2.h>
51
52#include <opencv2/core.hpp>
53#include <opencv2/highgui.hpp>
54
55namespace
56{
57struct float3
58{
59 float x, y, z;
60 float3() : x(0), y(0), z(0) {}
61 float3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) {}
62};
63
64void getPointcloud(const rs2::depth_frame& depth_frame, std::vector<float3>& pointcloud)
65{
66 auto vf = depth_frame.as<rs2::video_frame>();
67 const int width = vf.get_width();
68 const int height = vf.get_height();
69 pointcloud.resize((size_t)(width * height));
70
71 rs2::pointcloud pc;
72 rs2::points points = pc.calculate(depth_frame);
73 auto vertices = points.get_vertices();
74 for (size_t i = 0; i < points.size(); i++) {
75 float3 pcl;
76 if (vertices[i].z > std::numeric_limits<float>::epsilon()) {
77 pcl.x = vertices[i].x;
78 pcl.y = vertices[i].y;
79 pcl.z = vertices[i].z;
80 }
81
82 pointcloud[i] = pcl;
83 }
84}
85
86void createDepthHist(std::vector<uint32_t>& histogram, const std::vector<float3>& pointcloud, float depth_scale)
87{
88 std::fill(histogram.begin(), histogram.end(), 0);
89
90 for (size_t i = 0; i < pointcloud.size(); i++) {
91 const float3& pt = pointcloud[i];
92 ++histogram[static_cast<uint32_t>(pt.z * depth_scale)];
93 }
94
95 for (int i = 2; i < 0x10000; i++)
96 histogram[i] += histogram[i - 1]; // Build a cumulative histogram for
97 // the indices in [1,0xFFFF]
98}
99
100unsigned char getDepthColor(const std::vector<uint32_t>& histogram, float z, float depth_scale)
101{
102 // 0-255 based on histogram location
103 return static_cast<unsigned char>(histogram[static_cast<uint32_t>(z*depth_scale)] * 255 / histogram[0xFFFF]);
104}
105
106void getNativeFrame(const rs2::frame& frame, unsigned char *const data)
107{
108 auto vf = frame.as<rs2::video_frame>();
109 int size = vf.get_width() * vf.get_height();
110
111 switch (frame.get_profile().format()) {
112 case RS2_FORMAT_RGB8:
113 case RS2_FORMAT_BGR8:
114 memcpy(data, frame.get_data(), size * 3);
115 break;
116
117 case RS2_FORMAT_RGBA8:
118 case RS2_FORMAT_BGRA8:
119 memcpy(data, frame.get_data(), size * 4);
120 break;
121
122 case RS2_FORMAT_Y16:
123 case RS2_FORMAT_Z16:
124 memcpy(data, frame.get_data(), size * 2);
125 break;
126
127 case RS2_FORMAT_Y8:
128 memcpy(data, frame.get_data(), size);
129 break;
130
131 default:
132 break;
133 }
134}
135
136void frame_to_mat(const rs2::frame &f, cv::Mat &img)
137{
138 auto vf = f.as<rs2::video_frame>();
139 const int w = vf.get_width();
140 const int h = vf.get_height();
141 const int size = w * h;
142
143 if (f.get_profile().format() == RS2_FORMAT_BGR8) {
144 memcpy(static_cast<void*>(img.ptr<cv::Vec3b>()), f.get_data(), size * 3);
145 } else if (f.get_profile().format() == RS2_FORMAT_RGB8) {
146 cv::Mat tmp(h, w, CV_8UC3, const_cast<void *>(f.get_data()), cv::Mat::AUTO_STEP);
147 cv::cvtColor(tmp, img, cv::COLOR_RGB2BGR);
148 } else if (f.get_profile().format() == RS2_FORMAT_Y8) {
149 memcpy(img.ptr<uchar>(), f.get_data(), size);
150 }
151}
152}
153
154int main()
155{
156 const int width = 640, height = 480, fps = 60;
157 vpRealSense2 rs;
158 rs2::config config;
159 config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_BGR8, fps);
160 config.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, fps);
161 config.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_Y8, fps);
162 config.enable_stream(RS2_STREAM_INFRARED, 2, width, height, RS2_FORMAT_Y8, fps);
163 rs.open(config);
164
165 rs2::pipeline_profile& profile = rs.getPipelineProfile();
166 rs2::pipeline& pipe = rs.getPipeline();
167 float depth_scale = 1 / rs.getDepthScale();
168
169 // initialize the image sizes
170 // width and height can also be used instead
171 auto color_profile = profile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
172 cv::Mat mat_color(color_profile.height(), color_profile.width(), CV_8UC3);
173
174 auto depth_profile = profile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
175 cv::Mat mat_depth(depth_profile.height(), depth_profile.width(), CV_8UC3);
176 rs2::colorizer color_map;
177
178 auto infrared_profile = profile.get_stream(RS2_STREAM_INFRARED).as<rs2::video_stream_profile>();
179 cv::Mat mat_infrared1(infrared_profile.height(), infrared_profile.width(), CV_8UC1);
180 cv::Mat mat_infrared2(infrared_profile.height(), infrared_profile.width(), CV_8UC1);
181
182 std::vector<float3> pointcloud;
183 cv::Mat mat_pointcloud(depth_profile.height(), depth_profile.width(), CV_8UC1);
184 std::vector<uint32_t> histogram(0x10000);
185
186 vpCameraParameters cam_projection = rs.getCameraParameters(RS2_STREAM_DEPTH);
187
188 std::vector<double> time_vector;
189 vpChrono chrono;
190 while (true) {
191 chrono.start();
192
193 auto data = pipe.wait_for_frames();
194 frame_to_mat(data.get_color_frame(), mat_color);
195#if (RS2_API_VERSION >= ((2 * 10000) + (16 * 100) + 0))
196 frame_to_mat(data.get_depth_frame().apply_filter(color_map), mat_depth);
197#else
198 frame_to_mat(color_map(data.get_depth_frame()), mat_depth);
199#endif
200
201 cv::imshow("OpenCV color", mat_color);
202 cv::imshow("OpenCV depth", mat_depth);
203
204#if (RS2_API_VERSION >= ((2 * 10000) + (10 * 100) + 0))
205 // rs2::frameset::get_infrared_frame() introduced in librealsense 2.10.0
206 frame_to_mat(data.get_infrared_frame(1), mat_infrared1);
207 frame_to_mat(data.get_infrared_frame(2), mat_infrared2);
208
209 cv::imshow("OpenCV infrared left", mat_infrared1);
210 cv::imshow("OpenCV infrared right", mat_infrared2);
211#endif
212
213 getPointcloud(data.get_depth_frame(), pointcloud);
214 createDepthHist(histogram, pointcloud, depth_scale);
215
216 mat_pointcloud = 0;
217 for (size_t i = 0; i < pointcloud.size(); i++) {
218 const float3& pt = pointcloud[i];
219 float Z = pt.z;
220 if (Z > 1e-2) {
221 double x = pt.x / Z;
222 double y = pt.y / Z;
223
224 vpImagePoint imPt;
225 vpMeterPixelConversion::convertPoint(cam_projection, x, y, imPt);
226 int u = std::min(static_cast<int>(width-1),
227 static_cast<int>(std::max(0.0, imPt.get_u())));
228 int v = std::min(static_cast<int>(height-1),
229 static_cast<int>(std::max(0.0, imPt.get_v())));
230 unsigned char depth_viz = getDepthColor(histogram, Z, depth_scale);
231 mat_pointcloud.at<uchar>(v,u) = depth_viz;
232 }
233 }
234 cv::imshow("OpenCV projected pointcloud", mat_pointcloud);
235
236 chrono.stop();
237 time_vector.push_back(chrono.getDurationMs());
238 if (cv::waitKey(5) == 27) {
239 break;
240 }
241 }
242
243 std::cout << "Acquisition - Mean time: " << vpMath::getMean(time_vector)
244 << " ms ; Median time: " << vpMath::getMedian(time_vector) << " ms" << std::endl;
245
246 return EXIT_SUCCESS;
247}
248#else
249int main()
250{
251#if !defined(VISP_HAVE_REALSENSE2)
252 std::cout << "Install librealsense2 to make this test work." << std::endl;
253#endif
254#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
255 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11) "
256 "to make this test work"
257 << std::endl;
258#endif
259#if !(VISP_HAVE_OPENCV_VERSION >= 0x030000)
260 std::cout << "Install OpenCV version >= 3 to make this test work." << std::endl;
261#endif
262 return 0;
263}
264#endif
Generic class defining intrinsic camera parameters.
void start(bool reset=true)
Definition: vpTime.cpp:409
void stop()
Definition: vpTime.cpp:424
double getDurationMs()
Definition: vpTime.cpp:392
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
double get_u() const
Definition: vpImagePoint.h:262
double get_v() const
Definition: vpImagePoint.h:273
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:261
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:241
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
rs2::pipeline & getPipeline()
Get a reference to rs2::pipeline.
Definition: vpRealSense2.h:355
bool open(const rs2::config &cfg=rs2::config())
float getDepthScale()
rs2::pipeline_profile & getPipelineProfile()
Get a reference to rs2::pipeline_profile.
Definition: vpRealSense2.h:358