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//! \example tutorial-hsv-segmentation-pcl.cpp
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_COMMON) && defined(VISP_HAVE_DISPLAY)
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHSV.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpColorDepthConversion.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/sensor/vpRealSense2.h>
int main(int argc, const char *argv[])
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
std::string opt_hsv_filename = "calib/hsv-thresholds.yml";
for (int i = 1; i < argc; i++) {
if ((std::string(argv[i]) == "--hsv-thresholds") && ((i+1) < argc)) {
opt_hsv_filename = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nSYNOPSIS " << std::endl
<< argv[0]
<< " [--hsv-thresholds <filename.yml>]"
<< " [--help,-h]"
<< std::endl;
std::cout << "\nOPTIONS " << std::endl
<< " --hsv-thresholds <filename.yaml>" << std::endl
<< " Path to a yaml filename that contains H <min,max>, S <min,max>, V <min,max> threshold values." << std::endl
<< " An Example of such a file could be:" << std::endl
<< " rows: 6" << std::endl
<< " cols: 1" << std::endl
<< " data:" << std::endl
<< " - [0]" << std::endl
<< " - [42]" << std::endl
<< " - [177]" << std::endl
<< " - [237]" << std::endl
<< " - [148]" << std::endl
<< " - [208]" << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Display this helper message." << std::endl
<< std::endl;
return EXIT_SUCCESS;
}
}
vpColVector hsv_values;
if (vpColVector::loadYAML(opt_hsv_filename, hsv_values)) {
std::cout << "Load HSV threshold values from " << opt_hsv_filename << std::endl;
std::cout << "HSV low/high values: " << hsv_values.t() << std::endl;
}
else {
std::cout << "Warning: unable to load HSV thresholds values from " << opt_hsv_filename << std::endl;
return EXIT_FAILURE;
}
//! [Config RS2 RGB and depth]
int width = 848, height = 480, fps = 60;
vpRealSense2 rs;
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, fps);
config.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, fps);
config.disable_stream(RS2_STREAM_INFRARED, 1);
config.disable_stream(RS2_STREAM_INFRARED, 2);
rs2::align align_to(RS2_STREAM_COLOR);
//! [Config RS2 RGB and depth]
rs.open(config);
//! [Get RS2 intrinsics]
float depth_scale = rs.getDepthScale();
vpCameraParameters cam_depth = rs.getCameraParameters(RS2_STREAM_DEPTH,
vpCameraParameters::perspectiveProjWithoutDistortion);
//! [Get RS2 intrinsics]
vpImage<vpRGBa> I(height, width);
vpImage<unsigned char> mask(height, width, 0);
vpImage<uint16_t> depth_raw(height, width);
vpImage<vpRGBa> I_segmented(height, width);
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
vpImage<vpHSV<unsigned char, true>> Ihsv;
std::shared_ptr<vpDisplay> d_I = vpDisplayFactory::createDisplay(I, 0, 0, "Current frame");
std::shared_ptr<vpDisplay> d_I_segmented = vpDisplayFactory::createDisplay(I_segmented, I.getWidth()+75, 0, "HSV segmented frame");
#else
vpImage<unsigned char> H(height, width);
vpImage<unsigned char> S(height, width);
vpImage<unsigned char> V(height, width);
vpDisplay *d_I = vpDisplayFactory::allocateDisplay(I, 0, 0, "Current frame");
vpDisplay *d_I_segmented = vpDisplayFactory::allocateDisplay(I_segmented, I.getWidth()+75, 0, "HSV segmented frame");
#endif
bool quit = false;
double loop_time = 0., total_loop_time = 0.;
long nb_iter = 0;
//! [Allocate point cloud]
float Z_min = 0.1;
float Z_max = 2.5;
pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZ>());
//! [Allocate point cloud]
while (!quit) {
double t = vpTime::measureTimeMs();
//! [Grab color and depth]
rs.acquire((unsigned char *)I.bitmap, (unsigned char *)(depth_raw.bitmap), NULL, NULL, &align_to);
//! [Grab color and depth]
//! [RGB to HSV]
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
vpImageConvert::convert(I, Ihsv);
#else
vpImageConvert::RGBaToHSV(reinterpret_cast<unsigned char *>(I.bitmap),
reinterpret_cast<unsigned char *>(H.bitmap),
reinterpret_cast<unsigned char *>(S.bitmap),
reinterpret_cast<unsigned char *>(V.bitmap), I.getSize());
#endif
//! [RGB to HSV]
//! [Create mask]
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
vpImageTools::inRange(Ihsv, hsv_values, mask);
#else
vpImageTools::inRange(reinterpret_cast<unsigned char *>(H.bitmap),
reinterpret_cast<unsigned char *>(S.bitmap),
reinterpret_cast<unsigned char *>(V.bitmap),
hsv_values,
reinterpret_cast<unsigned char *>(mask.bitmap),
mask.getSize());
#endif
//! [Create mask]
vpImageTools::inMask(I, mask, I_segmented);
//! [Update point cloud]
vpImageConvert::depthToPointCloud(depth_raw, depth_scale, cam_depth, pointcloud, nullptr, &mask, Z_min, Z_max);
//! [Update point cloud]
//! [Get point cloud size]
int pcl_size = pointcloud->size();
//! [Get point cloud size]
std::cout << "Segmented point cloud size: " << pcl_size << std::endl;
vpDisplay::display(I);
vpDisplay::display(I_segmented);
vpDisplay::displayText(I, 20, 20, "Click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false)) {
quit = true;
}
vpDisplay::flush(I);
vpDisplay::flush(I_segmented);
nb_iter++;
loop_time = vpTime::measureTimeMs() - t;
total_loop_time += loop_time;
}
std::cout << "Mean loop time: " << total_loop_time / nb_iter << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (d_I != nullptr) {
delete d_I;
}
if (d_I_segmented != nullptr) {
delete d_I_segmented;
}
#endif
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "This tutorial needs librealsense as 3rd party." << std::endl;
#endif
#if !defined(VISP_HAVE_PCL)
std::cout << "This tutorial needs pcl library as 3rd party." << std::endl;
#endif
#if !defined(VISP_HAVE_X11)
std::cout << "This tutorial needs X11 3rd party enabled." << std::endl;
#endif
std::cout << "Install missing 3rd party, configure and rebuild ViSP." << std::endl;
return EXIT_SUCCESS;
}
#endif
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