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videoio: update librealsense to API 2.0

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this enables the usage of current sensors, while dropping support for
legacy devices, see:
https://github.com/IntelRealSense/librealsense#overview

Given limited resources, and that the legacy sensors where not that
great, I think we should focus on v2.
This commit is contained in:
Pavel Rojtberg 2018-06-08 17:41:13 +02:00
parent 45dd575ed2
commit bfc227b8d4
3 changed files with 26 additions and 26 deletions
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4
cmake/OpenCVFindLibRealsense.cmake
View File

@ -2,8 +2,8 @@
# LIBREALSENSE_LIBRARIES and LIBREALSENSE_INCLUDE to link Intel librealsense modules # LIBREALSENSE_LIBRARIES and LIBREALSENSE_INCLUDE to link Intel librealsense modules
# HAVE_LIBREALSENSE for conditional compilation OpenCV with/without librealsense # HAVE_LIBREALSENSE for conditional compilation OpenCV with/without librealsense
find_path(LIBREALSENSE_INCLUDE_DIR "librealsense/rs.hpp" PATHS "$ENV{LIBREALSENSE_INCLUDE}" DOC "Path to librealsense interface headers") find_path(LIBREALSENSE_INCLUDE_DIR "librealsense2/rs.hpp" PATHS "$ENV{LIBREALSENSE_INCLUDE}" DOC "Path to librealsense interface headers")
find_library(LIBREALSENSE_LIBRARIES "realsense" PATHS "$ENV{LIBREALSENSE_LIB}" DOC "Path to librealsense interface libraries") find_library(LIBREALSENSE_LIBRARIES "realsense2" PATHS "$ENV{LIBREALSENSE_LIB}" DOC "Path to librealsense interface libraries")
if(LIBREALSENSE_INCLUDE_DIR AND LIBREALSENSE_LIBRARIES) if(LIBREALSENSE_INCLUDE_DIR AND LIBREALSENSE_LIBRARIES)
set(HAVE_LIBREALSENSE TRUE) set(HAVE_LIBREALSENSE TRUE)

41
modules/videoio/src/cap_librealsense.cpp
View File

@ -10,20 +10,19 @@
namespace cv namespace cv
{ {
VideoCapture_LibRealsense::VideoCapture_LibRealsense(int index) VideoCapture_LibRealsense::VideoCapture_LibRealsense(int) : mAlign(RS2_STREAM_COLOR)
{ {
try try
{ {
mDev = mContext.get_device(index); rs2::config config;
// Configure all streams to run at VGA resolution at 60 frames per second // Configure all streams to run at VGA resolution at default fps
mDev->enable_stream(rs::stream::depth, 640, 480, rs::format::z16, 60); config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16);
mDev->enable_stream(rs::stream::color, 640, 480, rs::format::bgr8, 60); config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8);
mDev->enable_stream(rs::stream::infrared, 640, 480, rs::format::y8, 60); config.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8);
mDev->start(); mPipe.start();
} }
catch (rs::error&) catch (const rs2::error&)
{ {
mDev = nullptr;
} }
} }
VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){} VideoCapture_LibRealsense::~VideoCapture_LibRealsense(){}
@ -32,8 +31,8 @@ double VideoCapture_LibRealsense::getProperty(int prop) const
{ {
double propValue = 0; double propValue = 0;
if(prop == CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE) if (prop == CAP_PROP_INTELPERC_DEPTH_SATURATION_VALUE)
return mDev->get_depth_scale(); return mPipe.get_active_profile().get_device().first<rs2::depth_sensor>().get_depth_scale();
return propValue; return propValue;
} }
@ -50,9 +49,9 @@ bool VideoCapture_LibRealsense::grabFrame()
try try
{ {
mDev->wait_for_frames(); mData = mAlign.process(mPipe.wait_for_frames());
} }
catch (rs::error&) catch (const rs2::error&)
{ {
return false; return false;
} }
@ -61,20 +60,20 @@ bool VideoCapture_LibRealsense::grabFrame()
} }
bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray frame) bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray frame)
{ {
rs::stream stream; rs2::video_frame _frame(nullptr);
int type; int type;
switch (outputType) switch (outputType)
{ {
case CAP_INTELPERC_DEPTH_MAP: case CAP_INTELPERC_DEPTH_MAP:
stream = rs::stream::depth_aligned_to_color; _frame = mData.get_depth_frame().as<rs2::video_frame>();
type = CV_16UC1; type = CV_16UC1;
break; break;
case CAP_INTELPERC_IR_MAP: case CAP_INTELPERC_IR_MAP:
stream = rs::stream::infrared; _frame = mData.get_infrared_frame();
type = CV_8UC1; type = CV_8UC1;
break; break;
case CAP_INTELPERC_IMAGE: case CAP_INTELPERC_IMAGE:
stream = rs::stream::color; _frame = mData.get_color_frame();
type = CV_8UC3; type = CV_8UC3;
break; break;
default: default:
@ -84,10 +83,10 @@ bool VideoCapture_LibRealsense::retrieveFrame(int outputType, cv::OutputArray fr
try try
{ {
// we copy the data straight away, so const_cast should be fine // we copy the data straight away, so const_cast should be fine
void* data = const_cast<void*>(mDev->get_frame_data(stream)); void* data = const_cast<void*>(_frame.get_data());
Mat(mDev->get_stream_height(stream), mDev->get_stream_width(stream), type, data).copyTo(frame); Mat(_frame.get_height(), _frame.get_width(), type, data, _frame.get_stride_in_bytes()).copyTo(frame);
} }
catch (rs::error&) catch (const rs2::error&)
{ {
return false; return false;
} }
@ -101,7 +100,7 @@ int VideoCapture_LibRealsense::getCaptureDomain()
bool VideoCapture_LibRealsense::isOpened() const bool VideoCapture_LibRealsense::isOpened() const
{ {
return mDev && mDev->is_streaming(); return bool(std::shared_ptr<rs2_pipeline>(mPipe));
} }
} }

7
modules/videoio/src/cap_librealsense.hpp
View File

@ -7,7 +7,7 @@
#ifdef HAVE_LIBREALSENSE #ifdef HAVE_LIBREALSENSE
#include <librealsense/rs.hpp> #include <librealsense2/rs.hpp>
namespace cv namespace cv
{ {
@ -26,8 +26,9 @@ public:
virtual int getCaptureDomain() CV_OVERRIDE; virtual int getCaptureDomain() CV_OVERRIDE;
virtual bool isOpened() const CV_OVERRIDE; virtual bool isOpened() const CV_OVERRIDE;
protected: protected:
rs::context mContext; rs2::pipeline mPipe;
rs::device* mDev = nullptr; rs2::frameset mData;
rs2::align mAlign;
}; };
} }