Adding basic OpenCV example

CMakeLists.txt

@@ -598,6 +598,7 @@ option(BUILD_UNIT_TESTS "Build realsense unit tests." ON)
 option(BUILD_EXAMPLES "Build realsense examples and tools." ON)
 option(ENFORCE_METADATA "Require WinSDK with Metadata support during compilation. Windows OS Only" OFF)
 option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF)
+option(BUILD_CV_EXAMPLES "Build OpenCV examples" OFF)
 option(BUILD_NODEJS_BINDINGS "Build Node.js bindings" OFF)
 
 # This parameter is meant for disabling graphical examples when building for
@@ -629,6 +630,10 @@ if (BUILD_NODEJS_BINDINGS)
   add_subdirectory(wrappers/nodejs)
 endif()
 
+if (BUILD_CV_EXAMPLES)
+  add_subdirectory(wrappers/opencv)
+endif()
+
 # Check for unreferenced files
 FILE(GLOB_RECURSE AllSources RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
   "src/*.c" "src/*.cpp" "src/*.cc" "src/*.c++"

wrappers/opencv/CMakeLists.txt

@@ -0,0 +1,27 @@
+#  minimum required cmake version: 3.1.0
+cmake_minimum_required(VERSION 3.1.0)
+
+project(RealsenseCVExamples)
+
+# Save the command line compile commands in the build output
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+# View the makefile commands during build
+#set(CMAKE_VERBOSE_MAKEFILE on)
+
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+endif()
+
+find_package(OpenCV REQUIRED)
+if(NOT OPENCV_FOUND)
+	message(FATAL_ERROR "\n\n OpenCV package is missing!\n\n")
+endif()
+
+set(DEPENDENCIES realsense2 ${OpenCV_LIBS})
+
+add_subdirectory(imshow)

wrappers/opencv/imshow/CMakeLists.txt

@@ -0,0 +1,34 @@
+#  minimum required cmake version: 3.1.0
+cmake_minimum_required(VERSION 3.1.0)
+
+project(RealSenseImShowExample)
+
+# Save the command line compile commands in the build output
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c11")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+endif()
+
+if(BUILD_CV_EXAMPLES)
+    add_executable(rs-imshow rs-imshow.cpp)
+    target_link_libraries(rs-imshow ${DEPENDENCIES})
+    set_target_properties (rs-imshow PROPERTIES
+        FOLDER "Examples/CV"
+    )
+
+    install(
+        TARGETS
+
+        rs-imshow
+
+        RUNTIME DESTINATION
+        ${CMAKE_INSTALL_PREFIX}/bin
+    )
+endif()

wrappers/opencv/imshow/rs-imshow.cpp

@@ -0,0 +1,54 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
+
+#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
+#include <opencv2/opencv.hpp>   // Include OpenCV API
+
+// Capture Example demonstrates how to
+// capture depth and color video streams and render them to the screen
+int main(int argc, char * argv[]) try
+{
+    // Declare depth colorizer for pretty visualization of depth data
+    rs2::colorizer color_map;
+
+    // Declare RealSense pipeline, encapsulating the actual device and sensors
+    rs2::pipeline pipe;
+    // Start streaming with default recommended configuration
+    pipe.start();
+
+    using namespace cv;
+    const auto window_name = "Display Image";
+    namedWindow(window_name, WINDOW_AUTOSIZE);
+
+    while (waitKey(1) < 0 && cvGetWindowHandle(window_name))
+    {
+        rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
+
+        rs2::frame depth = color_map(data.get_depth_frame()); // Find and colorize the depth data
+
+        // Query frame size (width and height)
+        auto w = depth.as<rs2::video_frame>().get_width();
+        auto h = depth.as<rs2::video_frame>().get_height();
+
+        // Create OpenCV matrix of size (w,h) from the colorized depth data
+        Mat image(Size(w, h), CV_8UC3, (void*)depth.get_data(), Mat::AUTO_STEP);
+
+        // Update the window with new data
+        imshow(window_name, image);
+    }
+
+    return EXIT_SUCCESS;
+}
+catch (const rs2::error & e)
+{
+    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
+    return EXIT_FAILURE;
+}
+catch (const std::exception& e)
+{
+    std::cerr << e.what() << std::endl;
+    return EXIT_FAILURE;
+}
+
+
+

wrappers/opencv/readme.md

@@ -0,0 +1,46 @@
+# OpenCV Samples for Intel® RealSense™ cameras
+**Code Examples to start prototyping quickly:** These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications.  
+
+For a detailed explanations and API documentation see our [Documentation](../doc) section 
+
+## List of Samples:
+1. [ImShow](./imshow) - Minimal OpenCV application for visualizing depth data
+
+## Getting Started:
+This page is certainly **not** a comprehensive guide to getting started with OpenCV and CMake, but it can help get on the right track. 
+
+### Windows
+1. Download and install `CMake` from [cmake.org/download](https://cmake.org/download/)
+2. Clone or download OpenCV sources from [github.com/opencv/opencv](https://github.com/opencv/opencv) into a local directory (`C:/git/opencv-master`)
+3. Run `cmake-gui`, input source code and binaries locations: 
+
+![1](res/1.PNG)
+
+4. Click `Configure`
+> When working behind a firewall, you might want to consider unchecking `WITH_FFMPEG` and `WITH_IPP` to avoid additional downloads
+5. Uncheck `BUILD_SHARED_LIBS`: 
+
+![2](res/2.PNG)
+
+6. Click `Generate`
+7. Click `Open Project` to open Visual Studio
+8. Press `Ctrl+Shift+B` to build solution
+9. Clone or download librealsense sources from [github.com/IntelRealSense/librealsense](https://github.com/IntelRealSense/librealsense) into a local directory (`C:/git/librealsense`)
+10. Run `cmake-gui` and fill source code and binaries locations and press `Configure`
+11. Make sure you check the `BUILD_CV_EXAMPLES` flag and click `Configure` again:
+
+![3](res/3.PNG)
+
+12. Specify CMake binaries folder for OpenCV as `OpenCV_DIR` (`c:/git/opencv-master`)
+
+![4](res/4.PNG)
+
+13. Click `Generate` and `Open Project`
+14. Locate CV solution-folder under Examples
+
+![5](res/5.PNG)
+
+15. Right-click on one of the examples to `Set as StartUp Project`
+16. Press `F5` to compile and run the example:
+
+![6](res/6.PNG)