cap_librealsense.cpp
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "precomp.hpp"
#ifdef HAVE_LIBREALSENSE
#include "cap_librealsense.hpp"
namespace cv
{
VideoCapture_LibRealsense::VideoCapture_LibRealsense(int) : mAlign(RS2_STREAM_COLOR)
{
try
{
rs2::config config;
// Configure all streams to run at VGA resolution at default fps
config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16);
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8);
config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8);
mPipe.start(config);
}
catch (const rs2::error&)
{
}
}
VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){}
double VideoCapture_LibRealsense::getProperty(int propIdx) const
{
double propValue = 0.0;
const int purePropIdx = propIdx & ~CAP_INTELPERC_GENERATORS_MASK;
if((propIdx & CAP_INTELPERC_GENERATORS_MASK) == CAP_INTELPERC_IMAGE_GENERATOR)
{
propValue = getImageGeneratorProperty(purePropIdx);
}
else if((propIdx & CAP_INTELPERC_GENERATORS_MASK) == CAP_INTELPERC_DEPTH_GENERATOR)
{
propValue = getDepthGeneratorProperty(purePropIdx);
}
else if((propIdx & CAP_INTELPERC_GENERATORS_MASK) == CAP_INTELPERC_IR_GENERATOR)
{
propValue = getIrGeneratorProperty(purePropIdx);
}
else
{
propValue = getCommonProperty(purePropIdx);
}
return propValue;
}
double VideoCapture_LibRealsense::getImageGeneratorProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
if(!profile)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
propValue = static_cast<double>(profile.width());
break;
case CAP_PROP_FRAME_HEIGHT:
propValue = static_cast<double>(profile.height());
break;
case CAP_PROP_FPS:
propValue = static_cast<double>(profile.fps());
break;
}
return propValue;
}
double VideoCapture_LibRealsense::getDepthGeneratorProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
const rs2::depth_sensor sensor = mPipe.get_active_profile().get_device().first<rs2::depth_sensor>();
if(!profile || !sensor)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
propValue = static_cast<double>(profile.width());
break;
case CAP_PROP_FRAME_HEIGHT:
propValue = static_cast<double>(profile.height());
break;
case CAP_PROP_FPS:
propValue = static_cast<double>(profile.fps());
break;
case CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
propValue = static_cast<double>(sensor.get_depth_scale());
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ:
propValue = static_cast<double>(profile.get_intrinsics().fx);
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT:
propValue = static_cast<double>(profile.get_intrinsics().fy);
break;
}
return propValue;
}
double VideoCapture_LibRealsense::getIrGeneratorProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_INFRARED).as<rs2::video_stream_profile>();
if(!profile)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
propValue = static_cast<double>(profile.width());
break;
case CAP_PROP_FRAME_HEIGHT:
propValue = static_cast<double>(profile.height());
break;
case CAP_PROP_FPS:
propValue = static_cast<double>(profile.fps());
break;
}
return propValue;
}
double VideoCapture_LibRealsense::getCommonProperty(int propIdx) const
{
double propValue = 0.0;
const rs2::video_stream_profile profile = mPipe.get_active_profile().get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
const rs2::depth_sensor sensor = mPipe.get_active_profile().get_device().first<rs2::depth_sensor>();
if(!profile || !sensor)
{
return propValue;
}
switch(propIdx)
{
case CAP_PROP_FRAME_WIDTH:
case CAP_PROP_FRAME_HEIGHT:
case CAP_PROP_FPS:
propValue = getDepthGeneratorProperty(propIdx);
break;
case CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE:
propValue = static_cast<double>(sensor.get_depth_scale());
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_HORZ:
propValue = static_cast<double>(profile.get_intrinsics().fx);
break;
case CAP_PROP_INTELPERC_DEPTH_FOCAL_LENGTH_VERT:
propValue = static_cast<double>(profile.get_intrinsics().fy);
break;
}
return propValue;
}
bool VideoCapture_LibRealsense::setProperty(int, double)
{
bool isSet = false;
return isSet;
}
bool VideoCapture_LibRealsense::grabFrame()
{
if (!isOpened())
return false;
try
{
mData = mAlign.process(mPipe.wait_for_frames());
}
catch (const rs2::error&)
{
return false;
}
return true;
}
bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray frame)
{
rs2::video_frame _frame(nullptr);
int type;
switch (outputType)
{
case CAP_INTELPERC_DEPTH_MAP:
_frame = mData.get_depth_frame().as<rs2::video_frame>();
type = CV_16UC1;
break;
case CAP_INTELPERC_IR_MAP:
_frame = mData.get_infrared_frame();
type = CV_8UC1;
break;
case CAP_INTELPERC_IMAGE:
_frame = mData.get_color_frame();
type = CV_8UC3;
break;
default:
return false;
}
try
{
// we copy the data straight away, so const_cast should be fine
void* data = const_cast<void*>(_frame.get_data());
Mat(_frame.get_height(), _frame.get_width(), type, data, _frame.get_stride_in_bytes()).copyTo(frame);
if(_frame.get_profile().format() == RS2_FORMAT_RGB8)
cvtColor(frame, frame, COLOR_RGB2BGR);
}
catch (const rs2::error&)
{
return false;
}
return true;
}
int VideoCapture_LibRealsense::getCaptureDomain()
{
return CAP_INTELPERC;
}
bool VideoCapture_LibRealsense::isOpened() const
{
return bool(std::shared_ptr<rs2_pipeline>(mPipe));
}
Ptr<IVideoCapture> create_RealSense_capture(int index)
{
return makePtr<VideoCapture_LibRealsense>(index);
}
}
#endif