videoio: add rudimentary librealsense 1.x support

it is reusing CAP_INTELPERC* enums as Intel PerC is deprecated and
librealsense replaces it.

CMakeLists.txt

@@ -269,6 +269,7 @@ OCV_OPTION(WITH_OPENCLAMDFFT   "Include AMD OpenCL FFT library support"      ON
 OCV_OPTION(WITH_OPENCLAMDBLAS  "Include AMD OpenCL BLAS library support"     ON   IF (NOT ANDROID AND NOT IOS AND NOT WINRT) )
 OCV_OPTION(WITH_DIRECTX        "Include DirectX support"                     ON   IF (WIN32 AND NOT WINRT) )
 OCV_OPTION(WITH_INTELPERC      "Include Intel Perceptual Computing support"  OFF  IF (WIN32 AND NOT WINRT) )
+OCV_OPTION(WITH_LIBREALSENSE   "Include Intel librealsense support"          OFF  IF (NOT WITH_INTELPERC) )
 OCV_OPTION(WITH_MATLAB         "Include Matlab support"                      ON   IF (NOT ANDROID AND NOT IOS AND NOT WINRT))
 OCV_OPTION(WITH_VA             "Include VA support"                          OFF  IF (UNIX AND NOT ANDROID) )
 OCV_OPTION(WITH_VA_INTEL       "Include Intel VA-API/OpenCL support"         OFF  IF (UNIX AND NOT ANDROID) )

cmake/OpenCVFindLibRealsense.cmake

@@ -0,0 +1,15 @@
+# Main variables:
+# LIBREALSENSE_LIBRARIES and LIBREALSENSE_INCLUDE to link Intel librealsense modules
+# HAVE_LIBREALSENSE for conditional compilation OpenCV with/without librealsense
+
+find_path(LIBREALSENSE_INCLUDE_DIR "librealsense/rs.hpp" PATHS "$ENV{LIBREALSENSE_INCLUDE}" DOC "Path to librealsense interface headers")
+find_library(LIBREALSENSE_LIBRARIES "realsense" PATHS "$ENV{LIBREALSENSE_LIB}" DOC "Path to librealsense interface libraries")
+
+if(LIBREALSENSE_INCLUDE_DIR AND LIBREALSENSE_LIBRARIES)
+    set(HAVE_LIBREALSENSE TRUE)
+else()
+    set(HAVE_LIBREALSENSE FALSE)
+    message( WARNING, " librealsense include directory (set by LIBREALSENSE_INCLUDE_DIR variable) is not found or does not have librealsense include files." )
+endif() #if(LIBREALSENSE_INCLUDE_DIR AND LIBREALSENSE_LIBRARIES)
+
+mark_as_advanced(FORCE LIBREALSENSE_LIBRARIES LIBREALSENSE_INCLUDE_DIR)

cmake/OpenCVFindLibsVideo.cmake

@@ -290,6 +290,11 @@ if(APPLE)
   endif()
 endif(APPLE)
 
+# --- Intel librealsense ---
+if(WITH_LIBREALSENSE)
+  include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindLibRealsense.cmake")
+endif(WITH_LIBREALSENSE)
+
 # --- Intel Perceptual Computing SDK ---
 if(WITH_INTELPERC)
   include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindIntelPerCSDK.cmake")

cmake/templates/cvconfig.h.in

@@ -147,6 +147,9 @@
 /* OpenNI library */
 #cmakedefine HAVE_OPENNI2
 
+/* librealsense library */
+#cmakedefine HAVE_LIBREALSENSE
+
 /* PNG codec */
 #cmakedefine HAVE_PNG
 

modules/videoio/CMakeLists.txt

@@ -212,6 +212,12 @@ if(HAVE_INTELPERC)
   list(APPEND VIDEOIO_LIBRARIES ${INTELPERC_LIBRARIES})
 endif(HAVE_INTELPERC)
 
+if(HAVE_LIBREALSENSE)
+  list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_librealsense.cpp)
+  ocv_include_directories(${LIBREALSENSE_INCLUDE_DIR})
+  list(APPEND VIDEOIO_LIBRARIES ${LIBREALSENSE_LIBRARIES})
+endif(HAVE_LIBREALSENSE)
+
 if(HAVE_GPHOTO2)
   list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_gphoto2.cpp)
 endif(HAVE_GPHOTO2)

modules/videoio/src/cap.cpp

@@ -43,6 +43,7 @@
 #include <iostream>
 using namespace std;
 #include "cap_intelperc.hpp"
+#include "cap_librealsense.hpp"
 #include "cap_dshow.hpp"
 
 #ifdef HAVE_MFX
@@ -481,6 +482,7 @@ static Ptr<IVideoCapture> IVideoCapture_create(int index)
 #if defined(HAVE_GSTREAMER)    || \
     defined(HAVE_DSHOW)        || \
     defined(HAVE_INTELPERC)    || \
+    defined(HAVE_LIBREALSENSE) || \
     defined(WINRT_VIDEO)       || \
     defined(HAVE_GPHOTO2)      || \
     (0)
@@ -502,6 +504,10 @@ static Ptr<IVideoCapture> IVideoCapture_create(int index)
             case CAP_INTELPERC:
                 capture = makePtr<VideoCapture_IntelPerC>();
                 break; // CAP_INTEL_PERC
+#elif defined(HAVE_LIBREALSENSE)
+            case CAP_INTELPERC:
+                capture = makePtr<VideoCapture_LibRealsense>(index);
+                break;
 #endif
 #ifdef WINRT_VIDEO
         case CAP_WINRT:

modules/videoio/src/cap_librealsense.cpp

@@ -0,0 +1,109 @@
+// 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 index)
+{
+    try
+    {
+        mDev = mContext.get_device(index);
+        // Configure all streams to run at VGA resolution at 60 frames per second
+        mDev->enable_stream(rs::stream::depth, 640, 480, rs::format::z16, 60);
+        mDev->enable_stream(rs::stream::color, 640, 480, rs::format::bgr8, 60);
+        mDev->enable_stream(rs::stream::infrared, 640, 480, rs::format::y8, 60);
+        mDev->start();
+    }
+    catch (rs::error&)
+    {
+        mDev = nullptr;
+    }
+}
+VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){}
+
+double VideoCapture_LibRealsense::getProperty(int prop) const
+{
+    double propValue = 0;
+
+    if(prop == CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE)
+        return mDev->get_depth_scale();
+
+    return propValue;
+}
+bool VideoCapture_LibRealsense::setProperty(int, double)
+{
+    bool isSet = false;
+    return isSet;
+}
+
+bool VideoCapture_LibRealsense::grabFrame()
+{
+    if (!isOpened())
+        return false;
+
+    try
+    {
+        mDev->wait_for_frames();
+    }
+    catch (rs::error&)
+    {
+        return false;
+    }
+
+    return true;
+}
+bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray frame)
+{
+    rs::stream stream;
+    int type;
+    switch (outputType)
+    {
+    case CAP_INTELPERC_DEPTH_MAP:
+        stream = rs::stream::depth_aligned_to_color;
+        type = CV_16UC1;
+        break;
+    case CAP_INTELPERC_IR_MAP:
+        stream = rs::stream::infrared;
+        type = CV_8UC1;
+        break;
+    case CAP_INTELPERC_IMAGE:
+        stream = rs::stream::color;
+        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*>(mDev->get_frame_data(stream));
+        Mat(mDev->get_stream_height(stream), mDev->get_stream_width(stream), type, data).copyTo(frame);
+    }
+    catch (rs::error&)
+    {
+        return false;
+    }
+
+    return true;
+}
+int VideoCapture_LibRealsense::getCaptureDomain()
+{
+    return CAP_INTELPERC;
+}
+
+bool VideoCapture_LibRealsense::isOpened() const
+{
+    return mDev && mDev->is_streaming();
+}
+
+}
+
+#endif

modules/videoio/src/cap_librealsense.hpp

@@ -0,0 +1,36 @@
+// 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.
+
+#ifndef _CAP_LIBREALSENE_HPP_
+#define _CAP_LIBREALSENE_HPP_
+
+#ifdef HAVE_LIBREALSENSE
+
+#include <librealsense/rs.hpp>
+
+namespace cv
+{
+
+class VideoCapture_LibRealsense : public IVideoCapture
+{
+public:
+    VideoCapture_LibRealsense(int index);
+    virtual ~VideoCapture_LibRealsense();
+
+    virtual double getProperty(int propIdx) const CV_OVERRIDE;
+    virtual bool setProperty(int propIdx, double propVal) CV_OVERRIDE;
+
+    virtual bool grabFrame() CV_OVERRIDE;
+    virtual bool retrieveFrame(int outputType, OutputArray frame) CV_OVERRIDE;
+    virtual int getCaptureDomain() CV_OVERRIDE;
+    virtual bool isOpened() const CV_OVERRIDE;
+protected:
+    rs::context mContext;
+    rs::device* mDev = nullptr;
+};
+
+}
+
+#endif
+#endif