Visual Servoing Platform version 3.6.0
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readRealSenseData.cpp

Example that show how to replay realsense data saved with saveRealSenseData.cpp.

Example that show how to replay realsense data saved with saveRealSenseData.cpp

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <condition_variable>
#include <fstream>
#include <mutex>
#include <queue>
#include <thread>
#ifdef VISP_HAVE_PCL
#include <pcl/common/common.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#endif
#if defined(VISP_HAVE_PCL) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#define USE_PCL_VIEWER
#endif
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoWriter.h>
#define GETOPTARGS "ci:bodh"
namespace
{
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Read RealSense data.\n\
\n\
%s\
OPTIONS: \n\
-i <directory> \n\
Input directory.\n\
\n\
-c \n\
Click enable.\n\
\n\
-b \n\
Pointcloud is in binary format.\n\
\n\
-o \n\
Save color and depth side by side to image sequence.\n\
\n\
-d \n\
Display depth in color.\n\
\n\
-h \n\
Print the help.\n\n",
name);
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, char **argv, std::string &input_directory, bool &click, bool &pointcloud_binary_format,
bool &save_video, bool &color_depth)
{
const char *optarg;
const char **argv1 = (const char **)argv;
int c;
while ((c = vpParseArgv::parse(argc, argv1, GETOPTARGS, &optarg)) > 1) {
switch (c) {
case 'i':
input_directory = optarg;
break;
case 'c':
click = true;
break;
case 'b':
pointcloud_binary_format = true;
break;
case 'o':
save_video = true;
break;
case 'd':
color_depth = true;
break;
case 'h':
usage(argv[0], NULL);
return false;
break;
default:
usage(argv[0], optarg);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
return false;
}
return true;
}
#ifdef USE_PCL_VIEWER
pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
bool cancelled = false, update_pointcloud = false;
class ViewerWorker
{
public:
explicit ViewerWorker(std::mutex &mutex) : m_mutex(mutex) { }
void run()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr local_pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
bool local_update = false, local_cancelled = false;
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
viewer->initCameraParameters();
viewer->setPosition(640 + 80, 480 + 80);
viewer->setCameraPosition(0, 0, -0.25, 0, -1, 0);
viewer->setSize(640, 480);
bool first_init = true;
while (!local_cancelled) {
{
std::unique_lock<std::mutex> lock(m_mutex, std::try_to_lock);
if (lock.owns_lock()) {
local_update = update_pointcloud;
update_pointcloud = false;
local_cancelled = cancelled;
local_pointcloud = pointcloud->makeShared();
}
}
if (local_update && !local_cancelled) {
local_update = false;
if (first_init) {
viewer->addPointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
first_init = false;
}
else {
viewer->updatePointCloud<pcl::PointXYZ>(local_pointcloud, "sample cloud");
}
}
viewer->spinOnce(10);
}
std::cout << "End of point cloud display thread" << std::endl;
}
private:
std::mutex &m_mutex;
};
#endif
bool readData(int cpt, const std::string &input_directory, vpImage<vpRGBa> &I_color, vpImage<uint16_t> &I_depth_raw,
bool pointcloud_binary_format
#ifdef USE_PCL_VIEWER
,
pcl::PointCloud<pcl::PointXYZ>::Ptr point_cloud
#endif
)
{
char buffer[FILENAME_MAX];
std::stringstream ss;
ss << input_directory << "/color_image_%04d.jpg";
snprintf(buffer, FILENAME_MAX, ss.str().c_str(), cpt);
std::string filename_color = buffer;
ss.str("");
ss << input_directory << "/depth_image_%04d.bin";
snprintf(buffer, FILENAME_MAX, ss.str().c_str(), cpt);
std::string filename_depth = buffer;
ss.str("");
ss << input_directory << "/point_cloud_%04d" << (pointcloud_binary_format ? ".bin" : ".pcd");
snprintf(buffer, FILENAME_MAX, ss.str().c_str(), cpt);
std::string filename_pointcloud = buffer;
if (!vpIoTools::checkFilename(filename_color) && !vpIoTools::checkFilename(filename_depth) &&
!vpIoTools::checkFilename(filename_pointcloud)) {
std::cerr << "End of sequence." << std::endl;
return false;
}
// Read color
if (vpIoTools::checkFilename(filename_color))
vpImageIo::read(I_color, filename_color);
// Read raw depth
std::ifstream file_depth(filename_depth.c_str(), std::ios::in | std::ios::binary);
if (file_depth.is_open()) {
unsigned int height = 0, width = 0;
vpIoTools::readBinaryValueLE(file_depth, height);
vpIoTools::readBinaryValueLE(file_depth, width);
I_depth_raw.resize(height, width);
uint16_t depth_value = 0;
for (unsigned int i = 0; i < height; i++) {
for (unsigned int j = 0; j < width; j++) {
vpIoTools::readBinaryValueLE(file_depth, depth_value);
I_depth_raw[i][j] = depth_value;
}
}
}
// Read pointcloud
#ifdef USE_PCL_VIEWER
if (pointcloud_binary_format) {
std::ifstream file_pointcloud(filename_pointcloud.c_str(), std::ios::in | std::ios::binary);
if (!file_pointcloud.is_open()) {
std::cerr << "Cannot read pointcloud file: " << filename_pointcloud << std::endl;
}
uint32_t height = 0, width = 0;
char is_dense = 1;
vpIoTools::readBinaryValueLE(file_pointcloud, height);
vpIoTools::readBinaryValueLE(file_pointcloud, width);
file_pointcloud.read((char *)(&is_dense), sizeof(is_dense));
point_cloud->width = width;
point_cloud->height = height;
point_cloud->is_dense = (is_dense != 0);
point_cloud->resize((size_t)width * height);
float x = 0.0f, y = 0.0f, z = 0.0f;
for (uint32_t i = 0; i < height; i++) {
for (uint32_t j = 0; j < width; j++) {
vpIoTools::readBinaryValueLE(file_pointcloud, x);
vpIoTools::readBinaryValueLE(file_pointcloud, y);
vpIoTools::readBinaryValueLE(file_pointcloud, z);
point_cloud->points[(size_t)(i * width + j)].x = x;
point_cloud->points[(size_t)(i * width + j)].y = y;
point_cloud->points[(size_t)(i * width + j)].z = z;
}
}
}
else {
if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename_pointcloud, *point_cloud) == -1) {
std::cerr << "Cannot read PCD: " << filename_pointcloud << std::endl;
}
}
#endif
return true;
}
} // Namespace
int main(int argc, char *argv[])
{
std::string input_directory = "";
bool click = false;
bool pointcloud_binary_format = false;
bool save_video = false;
bool color_depth = false;
// Read the command line options
if (!getOptions(argc, argv, input_directory, click, pointcloud_binary_format, save_video, color_depth)) {
return EXIT_FAILURE;
}
vpImage<vpRGBa> I_color(480, 640), I_depth_color(480, 640);
vpImage<uint16_t> I_depth_raw(480, 640);
vpImage<unsigned char> I_depth(480, 640);
#ifdef VISP_HAVE_X11
vpDisplayX d1, d2;
#else
vpDisplayGDI d1, d2;
#endif
bool init_display = false;
#ifdef USE_PCL_VIEWER
std::mutex mutex;
ViewerWorker viewer(mutex);
std::thread viewer_thread(&ViewerWorker::run, &viewer);
#endif
vpVideoWriter writer;
if (save_video) {
std::string output_directory = vpTime::getDateTime("%Y-%m-%d_%H.%M.%S");
vpIoTools::makeDirectory(output_directory);
writer.setFileName(output_directory + "/%04d.png");
}
int cpt_frame = 0;
bool quit = false;
while (!quit) {
double t = vpTime::measureTimeMs();
#ifdef USE_PCL_VIEWER
{
std::lock_guard<std::mutex> lock(mutex);
update_pointcloud = true;
quit = !readData(cpt_frame, input_directory, I_color, I_depth_raw, pointcloud_binary_format, pointcloud);
}
#else
quit = !readData(cpt_frame, input_directory, I_color, I_depth_raw, pointcloud_binary_format);
#endif
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
if (color_depth)
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth_color);
if (!init_display) {
init_display = true;
d1.init(I_color, 0, 0, "Color image");
if (color_depth)
d2.init(I_depth_color, I_color.getWidth() + 10, 0, "Depth image");
else
d2.init(I_depth, I_color.getWidth() + 10, 0, "Depth image");
}
if (color_depth)
vpDisplay::display(I_depth_color);
else
std::stringstream ss;
ss << "Frame: " << cpt_frame;
vpDisplay::displayText(I_color, 20, 20, ss.str(), vpColor::red);
if (color_depth)
vpDisplay::displayText(I_depth_color, 20, 20, ss.str(), vpColor::red);
else
vpDisplay::displayText(I_depth, 20, 20, ss.str(), vpColor::red);
vpDisplay::flush(I_color);
if (color_depth)
vpDisplay::flush(I_depth_color);
else
vpDisplay::flush(I_depth);
if (save_video) {
if (O.getSize() == 0) {
O.resize(I_color.getHeight(), I_color.getWidth() + I_depth_color.getWidth());
writer.open(O);
}
O.insert(I_color, vpImagePoint());
if (!color_depth)
vpImageConvert::convert(I_depth, I_depth_color);
O.insert(I_depth_color, vpImagePoint(0, I_color.getWidth()));
writer.saveFrame(O);
}
if (vpDisplay::getClick(I_color, button, click)) {
switch (button) {
if (!quit)
quit = !click;
break;
click = !click;
break;
default:
break;
}
}
vpTime::wait(t, 30);
cpt_frame++;
}
#ifdef USE_PCL_VIEWER
{
std::lock_guard<std::mutex> lock(mutex);
cancelled = true;
}
viewer_thread.join();
#endif
return EXIT_SUCCESS;
}
#else
int main()
{
std::cerr << "Enable C++11 or higher (cmake -DUSE_CXX_STANDARD=11) and install X11 or GDI!" << std::endl;
return EXIT_SUCCESS;
}
#endif
static const vpColor red
Definition vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition vpImage.h:795
void insert(const vpImage< Type > &src, const vpImagePoint &topLeft)
Definition vpImage.h:1361
unsigned int getSize() const
Definition vpImage.h:223
static bool checkFilename(const std::string &filename)
static void readBinaryValueLE(std::ifstream &file, int16_t &short_value)
static void makeDirectory(const std::string &dirname)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that enables to write easily a video file or a sequence of images.
void saveFrame(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
void open(vpImage< vpRGBa > &I)
VISP_EXPORT double measureTimeMs()
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT std::string getDateTime(const std::string &format="%Y/%m/%d %H:%M:%S")