RealSenseD435Manager class is a class that abstracts the behavior of an Intel RealSense D435 Camera, in order to capture frames, apply post-processing, and so on. More...

#include <RealSenseManager.hpp>

Inheritance diagram for RealSenseD435Manager:

Public Member Functions
void	startEnvironment (rs2::pipeline &pipelineStream, struct rs2_intrinsics &color_intrin, float *scale, unsigned short int resX, unsigned short int resY, bool firstBoot) override
	This method is useful to invoke at the boot of the program where we want to initialize the different mangers, start the camera and set up the related environment. This method is specific for D435 Intel RealSense camera. More...

void	getVideoFramesRS (unsigned int user_nFrame, rs2::pipeline &pipelineStream, rs2::depth_frame &depthFrame, rs2::frame &colorFrame, rs2::frame &colorizedDepthFrame, const unsigned short int framesToSkip) override
	Get user_nFrame video frames from the pipeline by applying a specific scaling factor. This method is specific for D435 Intel RealSense camera. More...

unsigned int	getFrameID (void)
	Get the current frame ID value. More...

struct rs2_intrinsics &	get_color_intrin (void)
	Get the color intrinsics object. More...

Protected Member Functions
void	setFrameID (unsigned int frameID)
	Set the Frame ID value. More...

void	set_align (rs2::align align)
	Set the align object. More...

void	set_depth_intrin (struct rs2_intrinsics depth_intrin)
	Set the depth intrinsics object. More...

void	set_color_intrin (struct rs2_intrinsics &color_intrin)
	Set the color intrinsics object. More...

void	set_depth_to_color (struct rs2_extrinsics depth_to_color)
	Set the depth extrinsics object. More...

void	set_color_to_depth (struct rs2_extrinsics color_to_depth)
	Set the color extrinsics object. More...

rs2::align	get_align (void)
	Get the align object. More...

struct rs2_intrinsics	get_depth_intrin (void)
	Get the depth intrinsics object. More...

struct rs2_extrinsics	get_depth_to_color (void)
	Get the depth extrinsics object. More...

struct rs2_extrinsics	get_color_to_depth (void)
	Get the color extrinsics object. More...

Private Attributes
unsigned int	frameID
	Current frame counter. More...

rs2::align	align
	Auxiliary processing block that performs image alignment using depth data and camera calibration. More...

struct rs2_intrinsics	depth_intrin
	Reference to depth stream intrinsics. More...

struct rs2_intrinsics	color_intrin
	Reference to color stream intrinsics. More...

struct rs2_extrinsics	depth_to_color
	Reference to depth stream extrinsics. More...

struct rs2_extrinsics	color_to_depth
	Reference to color stream extrinsics. More...

Detailed Description

RealSenseD435Manager class is a class that abstracts the behavior of an Intel RealSense D435 Camera, in order to capture frames, apply post-processing, and so on.

Definition at line 178 of file RealSenseManager.hpp.

Member Function Documentation

◆ get_align()

rs2::align RealSenseManager::get_align ( void )

protectedinherited

Get the align object.

Returns: rs2::align

See also: http://docs.ros.org/en/kinetic/api/librealsense2/html/classrs2_1_1align.html

Definition at line 39 of file RealSenseManager.cpp.

                                          {
    return this->align;
}

References RealSenseManager::align.

Referenced by getVideoFramesRS().

◆ get_color_intrin()

struct rs2_intrinsics & RealSenseManager::get_color_intrin ( void )

inherited

Get the color intrinsics object.

Returns: struct rs2_intrinsics &

Definition at line 65 of file RealSenseManager.cpp.

                                                                {
    return this->color_intrin;
}

References RealSenseManager::color_intrin.

Referenced by Skeleton::deprojectSkeletonPoints3D().

◆ get_color_to_depth()

struct rs2_extrinsics RealSenseManager::get_color_to_depth ( void )

protectedinherited

Get the color extrinsics object.

Returns: struct rs2_extrinsics

Definition at line 51 of file RealSenseManager.cpp.

                                                                {
    return this->color_to_depth;
}

◆ get_depth_intrin()

struct rs2_intrinsics RealSenseManager::get_depth_intrin ( void )

protectedinherited

Get the depth intrinsics object.

Returns: struct rs2_intrinsics

Definition at line 43 of file RealSenseManager.cpp.

                                                              {
    return this->depth_intrin;
}

◆ get_depth_to_color()

struct rs2_extrinsics RealSenseManager::get_depth_to_color ( void )

protectedinherited

Get the depth extrinsics object.

Returns: struct rs2_extrinsics

Definition at line 47 of file RealSenseManager.cpp.

                                                                {
    return this->depth_to_color;
}

◆ getFrameID()

unsigned int RealSenseManager::getFrameID ( void )

inherited

Get the current frame ID value.

Returns: unsigned int

Definition at line 61 of file RealSenseManager.cpp.

                                               {
    return this->frameID;
}

References RealSenseManager::frameID.

Referenced by OpenCV_Manager::getVideoFramesCV(), getVideoFramesRS(), FacadeSingleton::sendData(), and OpenCV_Manager::showSkeletonsCV().

◆ getVideoFramesRS()

void RealSenseD435Manager::getVideoFramesRS	(	unsigned int	user_nFrame,
		rs2::pipeline &	pipelineStream,
		rs2::depth_frame &	depthFrame,
		rs2::frame &	colorFrame,
		rs2::frame &	colorizedDepthFrame,
		const unsigned short int	framesToSkip
	)

overridevirtual

Get user_nFrame video frames from the pipeline by applying a specific scaling factor. This method is specific for D435 Intel RealSense camera.

Parameters

user_nFrame	frame's number to capture according to user choice.
pipelineStream	The pipeline simplifies the user interaction with the device and computer vision processing modules. The class abstracts the camera configuration and streaming, and the vision modules triggering and threading. It lets the application focus on the computer vision output of the modules, or the device output data. The pipeline can manage computer vision modules, which are implemented as a processing block. The pipeline is the consumer of the processing block interface, while the application consumes the computer vision interface.
depthFrame	Reference to depth frame object that will be captured.
colorFrame	Reference to color frame object that will be captured.
colorizedDepthFrame	Reference to colorized depth frame object that will be captured.
framesToSkip	Frames' number to skip in order to ignore a certain amount of frames and extend the recording interval. A '0' value means 'capture each frame'.

See also: https://dev.intelrealsense.com/docs/docs-get-started; getVideoFramesCV(unsigned int user_nFrame, rs2::pipeline & pipelineStream, float scale); getVideoFrames (unsigned int user_nFrame, rs2::pipeline & pipelineStream, float scale)

Implements RealSenseManager.

Definition at line 43 of file RealSenseD435Manager.cpp.

                                                                                                                                                                                                                                  {
    rs2::colorizer colorMap;
    rs2::spatial_filter spatialFilter;
    rs2::frameset streamData, alignedStreamData;
    unsigned short int skippedFrameCounter = 0;
    
    // Capture frames and apply post-processing
    do {
        streamData = pipelineStream.wait_for_frames();
        skippedFrameCounter += 1;
    } while (skippedFrameCounter <= framesToSkip);
    
    alignedStreamData = RealSenseManager::get_align().process(streamData);
    depthFrame = alignedStreamData.get_depth_frame();
    spatialFilter.set_option(RS2_OPTION_HOLES_FILL, 1);
    depthFrame = spatialFilter.process(depthFrame);
    
    colorFrame = alignedStreamData.get_color_frame();
    colorizedDepthFrame = depthFrame.apply_filter(colorMap);
    RealSenseManager::setFrameID(RealSenseD435Manager::getFrameID() + 1);
} catch (const rs2::error & e){
    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n   " << e.what() << std::endl;
    CV_Error(RS_CAMERA_ERROR, RS_CAMERA_SCOPE);
} catch (const std::exception & e) {
    std::cerr << e.what() << std::endl;
    CV_Error(RS_CAMERA_ERROR, RS_CAMERA_SCOPE);
}

References RealSenseManager::get_align(), RealSenseManager::getFrameID(), and RealSenseManager::setFrameID().

◆ set_align()

void RealSenseManager::set_align ( rs2::align align )

protectedinherited

Set the align object.

See also: http://docs.ros.org/en/kinetic/api/librealsense2/html/classrs2_1_1align.html

Parameters

align Auxiliary processing block that performs image alignment using depth data and camera calibration.

Definition at line 19 of file RealSenseManager.cpp.

                                                {
    this->align = align;
}

References RealSenseManager::align.

Referenced by startEnvironment().

◆ set_color_intrin()

void RealSenseManager::set_color_intrin ( struct rs2_intrinsics & color_intrin )

protectedinherited

Set the color intrinsics object.

Parameters

color_intrin Reference to color stream intrinsics.

Definition at line 27 of file RealSenseManager.cpp.

                                                                             {
    this->color_intrin = color_intrin;
}

References RealSenseManager::color_intrin.

Referenced by startEnvironment().

◆ set_color_to_depth()

void RealSenseManager::set_color_to_depth ( struct rs2_extrinsics color_to_depth )

protectedinherited

Set the color extrinsics object.

Parameters

color_to_depth Reference to color stream extrinsics.

Definition at line 35 of file RealSenseManager.cpp.

                                                                               {
    this->color_to_depth = color_to_depth;
}

References RealSenseManager::color_to_depth.

Referenced by startEnvironment().

◆ set_depth_intrin()

void RealSenseManager::set_depth_intrin ( struct rs2_intrinsics depth_intrin )

protectedinherited

Set the depth intrinsics object.

Parameters

depth_intrin Reference to depth stream intrinsics.

Definition at line 23 of file RealSenseManager.cpp.

                                                                           {
    this->depth_intrin = depth_intrin;
}

References RealSenseManager::depth_intrin.

Referenced by startEnvironment().

◆ set_depth_to_color()

void RealSenseManager::set_depth_to_color ( struct rs2_extrinsics depth_to_color )

protectedinherited

Set the depth extrinsics object.

Parameters

depth_to_color Reference to depth stream extrinsics.

Definition at line 31 of file RealSenseManager.cpp.

                                                                               {
    this->depth_to_color = depth_to_color;
}

References RealSenseManager::depth_to_color.

Referenced by startEnvironment().

◆ setFrameID()

void RealSenseManager::setFrameID ( unsigned int frameID )

protectedinherited

Set the Frame ID value.

Parameters

frameID Current frame counter.

Definition at line 15 of file RealSenseManager.cpp.

                                                       {
    this->frameID = frameID;
}

References RealSenseManager::frameID.

Referenced by getVideoFramesRS(), and RealSenseManager::RealSenseManager().

◆ startEnvironment()

void RealSenseD435Manager::startEnvironment	(	rs2::pipeline &	pipelineStream,
		struct rs2_intrinsics &	color_intrin,
		float *	scale,
		unsigned short int	resX,
		unsigned short int	resY,
		bool	firstBoot
	)

overridevirtual

This method is useful to invoke at the boot of the program where we want to initialize the different mangers, start the camera and set up the related environment. This method is specific for D435 Intel RealSense camera.

Parameters

pipelineStream	The pipeline simplifies the user interaction with the device and computer vision processing modules. The class abstracts the camera configuration and streaming, and the vision modules triggering and threading. It lets the application focus on the computer vision output of the modules, or the device output data. The pipeline can manage computer vision modules, which are implemented as a processing block. The pipeline is the consumer of the processing block interface, while the application consumes the computer vision interface.
color_intrin	Reference to color video stream intrinsics.
scale	Pointer to scaling factor.
resX	x resoultion <->.
resY	y resolution.
firstBoot	true if the method is called for the first time (in this case a kind of camera calibration is done), false otherwise.

See also: https://dev.intelrealsense.com/docs/docs-get-started; startEnvironment(rs2::pipeline & pipelineStream, struct rs2_intrinsics & color_intrin, float * scale, unsigned short int resX, unsigned short int resY, const char * destinationKafkaTopic)

Implements RealSenseManager.

Definition at line 15 of file RealSenseD435Manager.cpp.

                                                                                                                                                                                                    {
    rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
    rs2::rates_printer printer;
    rs2::config myConfiguration;
    myConfiguration.enable_stream(rs2_stream::RS2_STREAM_DEPTH, resX, resY, rs2_format::RS2_FORMAT_Z16);
    myConfiguration.enable_stream(rs2_stream::RS2_STREAM_COLOR, resX, resY, rs2_format::RS2_FORMAT_RGB8);
    rs2::pipeline_profile myPipelineProfile = pipelineStream.start(myConfiguration);
    rs2::align align_to(RS2_STREAM_COLOR);
    RealSenseManager::set_align(rs2::align(align_to));
    rs2::depth_sensor sensor = myPipelineProfile.get_device().first<rs2::depth_sensor>();
    * scale = sensor.get_depth_scale();
    
    // Capture 30 frames to give autoexposure, etc. a chance to settle
    if (firstBoot) for (int i = 0; i < 30; i++) pipelineStream.wait_for_frames();
    
    RealSenseManager::set_depth_intrin(myPipelineProfile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>().get_intrinsics());
    color_intrin = myPipelineProfile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>().get_intrinsics();
    RealSenseManager::set_color_intrin(color_intrin);
    RealSenseManager::set_color_to_depth(myPipelineProfile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>().get_extrinsics_to(myPipelineProfile.get_stream(RS2_STREAM_COLOR)));
    RealSenseManager::set_depth_to_color(myPipelineProfile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>().get_extrinsics_to(myPipelineProfile.get_stream(RS2_STREAM_DEPTH)));
} catch (const rs2::error & e){
    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n   " << e.what() << std::endl;
    CV_Error(RS_CAMERA_ERROR, RS_CAMERA_SCOPE);
} catch (const std::exception & e) {
    std::cerr << e.what() << std::endl;
    CV_Error(RS_CAMERA_ERROR, RS_CAMERA_SCOPE);
}