vpRealSense2.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * librealSense2 interface.
 */
 
#ifndef _vpRealSense2_h_
#define _vpRealSense2_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
 
#include <librealsense2/rs.hpp>
#include <librealsense2/rsutil.h>
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
#include <pcl/common/common_headers.h>
#endif
 
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpImage.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpRealSense2
{
public:
  vpRealSense2();
  virtual ~vpRealSense2();
 
  void acquire(vpImage<unsigned char> &grey, double *ts = nullptr);
  void acquire(vpImage<vpRGBa> &color, double *ts = nullptr);
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared,
               rs2::align *const align_to = nullptr, double *ts = nullptr);
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, unsigned char *const data_infrared1,
               unsigned char *const data_infrared2, rs2::align *const align_to, double *ts = nullptr);
#if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, double *ts = nullptr);
  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, vpHomogeneousMatrix *cMw,
               vpColVector *odo_vel, vpColVector *odo_acc, unsigned int *confidence = nullptr, double *ts = nullptr);
  void acquire(vpImage<unsigned char> *left, vpImage<unsigned char> *right, vpHomogeneousMatrix *cMw,
               vpColVector *odo_vel, vpColVector *odo_acc, vpColVector *imu_vel, vpColVector *imu_acc,
               unsigned int *tracker_confidence = nullptr, double *ts = nullptr);
#endif
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
               unsigned char *const data_infrared = nullptr, rs2::align *const align_to = nullptr, double *ts = nullptr);
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud,
               unsigned char *const data_infrared1, unsigned char *const data_infrared2, rs2::align *const align_to,
               double *ts = nullptr);
 
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
               unsigned char *const data_infrared = nullptr, rs2::align *const align_to = nullptr, double *ts = nullptr);
  void acquire(unsigned char *const data_image, unsigned char *const data_depth,
               std::vector<vpColVector> *const data_pointCloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud,
               unsigned char *const data_infrared1, unsigned char *const data_infrared2, rs2::align *const align_to,
               double *ts = nullptr);
#endif
 
  void close();
 
  vpCameraParameters getCameraParameters(
      const rs2_stream &stream,
      vpCameraParameters::vpCameraParametersProjType type = vpCameraParameters::perspectiveProjWithDistortion,
      int index = -1) const;
 
  float getDepthScale();
 
#if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
  void getIMUAcceleration(vpColVector *imu_acc, double *ts);
  void getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts);
  void getIMUVelocity(vpColVector *imu_vel, double *ts);
#endif
 
  rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index = -1) const;

  inline float getInvalidDepthValue() const { return m_invalidDepthValue; }

  inline float getMaxZ() const { return m_max_Z; }
 
#if (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
  unsigned int getOdometryData(vpHomogeneousMatrix *cMw, vpColVector *odo_vel, vpColVector *odo_acc, double *ts = nullptr);
#endif

  rs2::pipeline &getPipeline() { return m_pipe; }

  rs2::pipeline_profile &getPipelineProfile() { return m_pipelineProfile; }
 
  std::string getProductLine();
 
  std::string getSensorInfo();
 
  vpHomogeneousMatrix getTransformation(const rs2_stream &from, const rs2_stream &to, int from_index = -1) const;
 
  bool open(const rs2::config &cfg = rs2::config());
  bool open(const rs2::config &cfg, std::function<void(rs2::frame)> &callback);
 
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &os, const vpRealSense2 &rs);

  inline void setInvalidDepthValue(float value) { m_invalidDepthValue = value; }

  inline void setMaxZ(const float maxZ) { m_max_Z = maxZ; }
 
protected:
  float m_depthScale;
  float m_invalidDepthValue;
  float m_max_Z;
  rs2::pipeline m_pipe;
  rs2::pipeline_profile m_pipelineProfile;
  rs2::pointcloud m_pointcloud;
  rs2::points m_points;
  vpTranslationVector m_pos;
  vpQuaternionVector m_quat;
  vpRotationMatrix m_rot;
  std::string m_product_line;
  bool m_init;
 
  void getColorFrame(const rs2::frame &frame, vpImage<vpRGBa> &color);
  void getGreyFrame(const rs2::frame &frame, vpImage<unsigned char> &grey);
  void getNativeFrameData(const rs2::frame &frame, unsigned char *const data);
  void getPointcloud(const rs2::depth_frame &depth_frame, std::vector<vpColVector> &pointcloud);
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON)
  void getPointcloud(const rs2::depth_frame &depth_frame, pcl::PointCloud<pcl::PointXYZ>::Ptr &pointcloud);
  void getPointcloud(const rs2::depth_frame &depth_frame, const rs2::frame &color_frame,
                     pcl::PointCloud<pcl::PointXYZRGB>::Ptr &pointcloud);
#endif
};
END_VISP_NAMESPACE
#endif
#endif