From ce4fd06b05bc1e5893df87aa05c9591077fa9e93 Mon Sep 17 00:00:00 2001 From: Ilya Solozobov Date: Mon, 30 Nov 2020 18:13:44 +0300 Subject: [PATCH] Add example of rotation with opencv --- wrappers/opencv/CMakeLists.txt | 1 + wrappers/opencv/readme.md | 1 + .../opencv/rotate-pointcloud/CMakeLists.txt | 20 ++ wrappers/opencv/rotate-pointcloud/readme.md | 25 +++ .../opencv/rotate-pointcloud/res/front.png | Bin 0 -> 82049 bytes .../opencv/rotate-pointcloud/res/roll_90.png | Bin 0 -> 81874 bytes .../opencv/rotate-pointcloud/res/yaw_90.png | Bin 0 -> 65221 bytes .../opencv/rotate-pointcloud/rs-rotate-pc.cpp | 174 ++++++++++++++++++ 8 files changed, 221 insertions(+) create mode 100644 wrappers/opencv/rotate-pointcloud/CMakeLists.txt create mode 100644 wrappers/opencv/rotate-pointcloud/readme.md create mode 100644 wrappers/opencv/rotate-pointcloud/res/front.png create mode 100644 wrappers/opencv/rotate-pointcloud/res/roll_90.png create mode 100644 wrappers/opencv/rotate-pointcloud/res/yaw_90.png create mode 100644 wrappers/opencv/rotate-pointcloud/rs-rotate-pc.cpp diff --git a/wrappers/opencv/CMakeLists.txt b/wrappers/opencv/CMakeLists.txt index 82e1eaa503..4d3afe3911 100644 --- a/wrappers/opencv/CMakeLists.txt +++ b/wrappers/opencv/CMakeLists.txt @@ -12,6 +12,7 @@ add_subdirectory(grabcuts) add_subdirectory(latency-tool) add_subdirectory(dnn) add_subdirectory(depth-filter) +add_subdirectory(rotate-pointcloud) if(BUILD_CV_KINFU_EXAMPLE) add_subdirectory(kinfu) endif() diff --git a/wrappers/opencv/readme.md b/wrappers/opencv/readme.md index de4b9a7ec9..184b83f386 100644 --- a/wrappers/opencv/readme.md +++ b/wrappers/opencv/readme.md @@ -10,6 +10,7 @@ Examples in this folder are designed to complement existing [SDK examples](../.. 3. [Latency-Tool](./latency-tool) - Basic latency estimation using computer vision 4. [DNN](./dnn) - Intel RealSense camera used for real-time object-detection 5. [Depth Filter](./depth-filter) - Depth Filtering for Collision Avoidance +6. [Rotate](./rotate) - Rotate point cloud before visualization ## 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. diff --git a/wrappers/opencv/rotate-pointcloud/CMakeLists.txt b/wrappers/opencv/rotate-pointcloud/CMakeLists.txt new file mode 100644 index 0000000000..92f4454546 --- /dev/null +++ b/wrappers/opencv/rotate-pointcloud/CMakeLists.txt @@ -0,0 +1,20 @@ +# minimum required cmake version: 3.1.0 +cmake_minimum_required(VERSION 3.1.0) + +project(rs-rotate-pc) + +add_executable( ${PROJECT_NAME} rs-rotate-pc.cpp) +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11) +target_link_libraries(${PROJECT_NAME} ${DEPENDENCIES}) +set_target_properties (${PROJECT_NAME} PROPERTIES + FOLDER "Examples/OpenCV" +) + +install( + TARGETS + + ${PROJECT_NAME} + + RUNTIME DESTINATION + ${CMAKE_INSTALL_PREFIX}/bin +) diff --git a/wrappers/opencv/rotate-pointcloud/readme.md b/wrappers/opencv/rotate-pointcloud/readme.md new file mode 100644 index 0000000000..8d5c6fb162 --- /dev/null +++ b/wrappers/opencv/rotate-pointcloud/readme.md @@ -0,0 +1,25 @@ +# rs-rotate-ps sample + +## Overview +This example shows how to rotate point cloud before colorization. +Current examples requires OpenCV. + + +## Usage: + - press 'c' for change mode + - press 'q' for exit + + +## Examples: +1. Ordinary colorization + +

+ +2. Rotate point cloud by roll angle for 90 degrees + +

+ +3. Rotate point cloud by yaw angle for 90 degrees + +

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+++ b/wrappers/opencv/rotate-pointcloud/rs-rotate-pc.cpp @@ -0,0 +1,174 @@ + +#include // Include RealSense Cross Platform API +#include // Include OpenCV API + +using namespace cv; + +bool is_yaw{false}; +bool is_roll{false}; + +cv::RotateFlags angle(cv::RotateFlags::ROTATE_90_CLOCKWISE); + +void changeMode() { + static int i = 0; + + i++; + if (i==5) i=0; + + switch (i) { + case 0: + is_yaw = false; + is_roll = false; + break; + case 1: + is_yaw = true; + is_roll = false; + break; + case 2: + is_yaw = false; + is_roll = true; + + angle = cv::RotateFlags::ROTATE_90_CLOCKWISE; + + break; + case 3: + is_yaw = false; + is_roll = true; + + angle = cv::RotateFlags::ROTATE_180; + + break; + case 4: + is_yaw = false; + is_roll = true; + + angle = cv::RotateFlags::ROTATE_90_COUNTERCLOCKWISE; + + break; + default: + break; + } +} + +int main(int argc, char * argv[]) try +{ + // Declare depth colorizer for pretty visualization of depth data + rs2::colorizer color_map; + + // Aligning frames to color size + rs2::align depthToColorAlignment(RS2_STREAM_COLOR); + + // Declare threshold filter for work with dots in range + rs2::threshold_filter threshold; + float threshold_min = 0.3; + float threshold_max = 1.5; + + // Keep dots on the depth frame in range + threshold.set_option(RS2_OPTION_MIN_DISTANCE, threshold_min); + threshold.set_option(RS2_OPTION_MAX_DISTANCE, threshold_max); + + // Declare RealSense pipeline, encapsulating the actual device and sensors + rs2::pipeline pipe; + // Start streaming with default recommended configuration + pipe.start(); + + rs2::processing_block procBlock( [&](rs2::frame f, rs2::frame_source& src ) + { + const int origWidth = f.as().get_width(); + const int origHeight = f.as().get_height(); + + cv::Mat image(cv::Size(origWidth, origHeight), CV_16UC1, (void*)f.get_data(), cv::Mat::AUTO_STEP); + cv::Mat rotated; + + if ( !is_yaw && !is_roll ) + rotated = image; + + if ( is_yaw ) { + int rotWidth(threshold_max * 1000); + + rotated = cv::Mat::zeros(cv::Size(rotWidth, image.size().height), CV_16UC1 ); + + for(int h = 0; h < rotated.size().height; h++) { + for(int w = 0; w < rotated.size().width; w++) { + + if ( ( h >= image.size().height ) || ( w >= image.size().width ) ) + continue; + + unsigned short value = image.at(h, w); + + if ( value == 0 ) + continue; + + rotated.at( h, value ) = w; + } + } + } + + if (is_roll) { + cv::rotate( image, rotated, angle ); + } + + auto res = src.allocate_video_frame(f.get_profile(), f, 0, rotated.size().width, rotated.size().height); + memcpy((void*)res.get_data(), rotated.data, rotated.size().width * rotated.size().height * 2); + + src.frame_ready(res); + }); + + rs2::frame_queue frame_queue; + procBlock.start(frame_queue); + + while ( true ) + { + // get set of frames + rs2::frameset frames = pipe.wait_for_frames(); // Wait for next set of frames from the camera + + // align images + frames = depthToColorAlignment.process(frames); + + // get depth frames + rs2::frame depthFrame = frames.get_depth_frame(); + + // keep points in range from threshold_min to threshold_max + depthFrame = threshold.process(depthFrame); + + // call processing block for handle cloud point + procBlock.invoke( depthFrame ); + depthFrame = frame_queue.wait_for_frame(); + + // Query frame size (width and height) + const int w = depthFrame.as().get_width(); + const int h = depthFrame.as().get_height(); + + // Create OpenCV matrix of size (w,h) from the colorized depth data + cv::Mat image(cv::Size(w, h), CV_8UC3, (void*)depthFrame.apply_filter(color_map).get_data()); + + // Rescale image for convenience + if ( ( image.size().width > 1000 ) || (image.size().height > 1000) ) + resize( image, image, Size(), 0.5, 0.5); + + // Update the window with new data + imshow("window_name", image); + int k = waitKey(1); + + if ( k == 'q' ) + break; + + if ( k == 'c' ) + changeMode(); + } + + 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; +} + + +