Add RSSDK 2.0 (librealsense2) grabber #2214
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| ############################################################################### | ||
| # Find Intel RealSense SDK 2.0 (librealsense) | ||
| # | ||
| # find_package(RSSDK2) | ||
| # | ||
| # Variables defined by this module: | ||
| # | ||
| # RSSDK2_FOUND True if RealSense SDK 2.0 was found | ||
| # RSSDK2_INCLUDE_DIRS The location(s) of RealSense SDK 2.0 headers | ||
| # RSSDK2_LIBRARIES Libraries needed to use RealSense SDK 2.0 | ||
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| find_package(realsense2) | ||
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| set(RSSDK2_FOUND ${realsense2_FOUND}) | ||
| set(RSSDK2_INCLUDE_DIRS ${realsense2_INCLUDE_DIR}) | ||
| set(RSSDK2_LIBRARIES ${realsense2_LIBRARY}) | ||
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| if(RSSDK2_FOUND) | ||
| message(STATUS "RealSense SDK 2 found (include: ${RSSDK2_INCLUDE_DIRS}, lib: ${RSSDK2_LIBRARIES}, version: ${realsense2_VERSION})") | ||
| endif() | ||
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| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2018-, Open Perception, Inc. | ||
| * | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder(s) nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| */ | ||
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| #pragma once | ||
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| #include <thread> | ||
| #include <mutex> | ||
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| #include <pcl/io/boost.h> | ||
| #include <pcl/io/grabber.h> | ||
| #include <pcl/point_cloud.h> | ||
| #include <pcl/point_types.h> | ||
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| #include <librealsense2/rs.hpp> | ||
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| namespace pcl | ||
| { | ||
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| /** \brief Grabber for Intel Realsense 2 SDK devices (D400 series) | ||
| * \note Device width/height defaults to 424/240, the lowest resolutions for D400 devices. | ||
| * \note Testing on the in_hand_scanner example we found the lower default resolution allowed the app to perform adequately. | ||
| * \note Developers should use this resolution as a starting point and gradually increase to get the best results | ||
| * \author Patrick Abadi <patrickabadi@gmail.com>, Daniel Packard <pack3754@gmail.com> | ||
| * \ingroup io | ||
| */ | ||
| class PCL_EXPORTS RealSense2Grabber : public pcl::Grabber | ||
| { | ||
| public: | ||
| /** \brief Constructor | ||
| * \param[in] file_name_or_serial_number used for either loading bag file or specific device by serial number | ||
| */ | ||
| RealSense2Grabber ( const std::string& file_name_or_serial_number = "", const bool repeat_playback = true ); | ||
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| /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */ | ||
| virtual ~RealSense2Grabber () noexcept; | ||
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| /** \brief Set the device options | ||
| * \param[in] width resolution | ||
| * \param[in] height resolution | ||
| * \param[in] fps target frames per second for the device | ||
| */ | ||
| inline void | ||
| setDeviceOptions ( uint32_t width, uint32_t height, uint32_t fps = 30 ) | ||
| { | ||
| device_width_ = width; | ||
| device_height_ = height; | ||
| target_fps_ = fps; | ||
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| reInitialize (); | ||
| } | ||
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There was a problem hiding this comment. I have a consultation about the specification. There was a problem hiding this comment. I agree that this should be handled. Do you want to
There was a problem hiding this comment. I updated setDeviceOptions so it would restart if it was currently running. |
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| /** \brief Start the data acquisition. */ | ||
| void | ||
| start () override; | ||
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| /** \brief Stop the data acquisition. */ | ||
| void | ||
| stop () override; | ||
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| /** \brief Check if the data acquisition is still running. */ | ||
| bool | ||
| isRunning () const override; | ||
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| /** \brief Obtain the number of frames per second (FPS). */ | ||
| float | ||
| getFramesPerSecond () const override; | ||
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| /** \brief defined grabber name*/ | ||
| std::string | ||
| getName () const override { return std::string ( "RealSense2Grabber" ); } | ||
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| //define callback signature typedefs | ||
| typedef void (signal_librealsense_PointXYZ) ( const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& ); | ||
| typedef void (signal_librealsense_PointXYZI) ( const pcl::PointCloud<pcl::PointXYZI>::ConstPtr& ); | ||
| typedef void (signal_librealsense_PointXYZRGB) ( const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& ); | ||
| typedef void (signal_librealsense_PointXYZRGBA) ( const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& ); | ||
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| protected: | ||
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| boost::signals2::signal<signal_librealsense_PointXYZ>* signal_PointXYZ; | ||
| boost::signals2::signal<signal_librealsense_PointXYZI>* signal_PointXYZI; | ||
| boost::signals2::signal<signal_librealsense_PointXYZRGB>* signal_PointXYZRGB; | ||
| boost::signals2::signal<signal_librealsense_PointXYZRGBA>* signal_PointXYZRGBA; | ||
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| /** \brief Handle when a signal callback has been changed | ||
| */ | ||
| void | ||
| signalsChanged () override; | ||
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| /** \brief the thread function | ||
| */ | ||
| void | ||
| threadFunction (); | ||
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| /** \brief Dynamic reinitialization. | ||
| */ | ||
| void | ||
| reInitialize (); | ||
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| /** \brief Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ> | ||
| * \param[in] points the depth points | ||
| */ | ||
| pcl::PointCloud<pcl::PointXYZ>::Ptr | ||
| convertDepthToPointXYZ ( const rs2::points& points ); | ||
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| /** \brief Convert an Infrared Depth image to a pcl::PointCloud<pcl::PointXYZI> | ||
| * \param[in] points the depth points | ||
| * \param[in] ir Infrared video frame | ||
| */ | ||
| pcl::PointCloud<pcl::PointXYZI>::Ptr | ||
| convertIntensityDepthToPointXYZRGBI ( const rs2::points& points, const rs2::video_frame& ir ); | ||
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| /** \brief Convert an rgb Depth image to a pcl::PointCloud<pcl::PointXYZRGB> | ||
| * \param[in] points the depth points | ||
| * \param[in] rgb rgb video frame | ||
| */ | ||
| pcl::PointCloud<pcl::PointXYZRGB>::Ptr | ||
| convertRGBDepthToPointXYZRGB ( const rs2::points& points, const rs2::video_frame& rgb ); | ||
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| /** \brief Convert an rgb Depth image to a pcl::PointCloud<pcl::PointXYZRGBA> | ||
| * \param[in] points the depth points | ||
| * \param[in] rgb rgb video frame | ||
| */ | ||
| pcl::PointCloud<pcl::PointXYZRGBA>::Ptr | ||
| convertRGBADepthToPointXYZRGBA ( const rs2::points& points, const rs2::video_frame& rgb ); | ||
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| /** \brief template function to convert realsense point cloud to PCL point cloud | ||
| * \param[in] points - realsense point cloud array | ||
| * \param[in] dynamic function to convert individual point color or intensity values | ||
| */ | ||
| template <typename PointT, typename Functor> | ||
| typename pcl::PointCloud<PointT>::Ptr | ||
| convertRealsensePointsToPointCloud ( const rs2::points& points, Functor mapColorFunc ); | ||
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| /** \brief Retrieve pixel index for UV texture coordinate | ||
| * \param[in] texture the texture | ||
| * \param[in] u 2D coordinate | ||
| * \param[in] v 2D coordinate | ||
| */ | ||
| static size_t | ||
| getTextureIdx (const rs2::video_frame & texture, float u, float v); | ||
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| /** \brief Retrieve RGB color from texture video frame | ||
| * \param[in] texture the texture | ||
| * \param[in] u 2D coordinate | ||
| * \param[in] v 2D coordinate | ||
| */ | ||
| static pcl::RGB | ||
| getTextureColor ( const rs2::video_frame& texture, float u, float v ); | ||
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| /** \brief Retrieve color intensity from texture video frame | ||
| * \param[in] texture the texture | ||
| * \param[in] u 2D coordinate | ||
| * \param[in] v 2D coordinate | ||
| */ | ||
| static uint8_t | ||
| getTextureIntensity ( const rs2::video_frame& texture, float u, float v ); | ||
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| /** \brief handle to the thread */ | ||
| std::thread thread_; | ||
| /** \brief Defines either a file path to a bag file or a realsense device serial number. */ | ||
| std::string file_name_or_serial_number_; | ||
| /** \brief Repeat playback when reading from file */ | ||
| bool repeat_playback_; | ||
| /** \brief controlling the state of the thread. */ | ||
| bool quit_; | ||
| /** \brief Is the grabber running. */ | ||
| bool running_; | ||
| /** \brief Calculated FPS for the grabber. */ | ||
| float fps_; | ||
| /** \brief Width for the depth and color sensor. Default 424*/ | ||
| uint32_t device_width_; | ||
| /** \brief Height for the depth and color sensor. Default 240 */ | ||
| uint32_t device_height_; | ||
| /** \brief Target FPS for the device. Default 30. */ | ||
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| uint32_t target_fps_; | ||
| /** \brief Declare pointcloud object, for calculating pointclouds and texture mappings */ | ||
| rs2::pointcloud pc_; | ||
| /** \brief Declare RealSense pipeline, encapsulating the actual device and sensors */ | ||
| rs2::pipeline pipe_; | ||
| }; | ||
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| } | ||
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@UnaNancyOwen -- I feel like lines 216-221 are no longer necessary for the all-in-one installer, but can you please verify?
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It's necessary yet.
In case of PCL All-in-one Installer,
realsense2_DIRneeds to refer toPCL_ROOT/3rdParty/librealsense2.There was a problem hiding this comment.
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resolved to librealsense2 in both places