Interfacing R200 with OpenCV

GGabr4 — Wed, 10 Jan 2018 02:52:26 GMT

Hi! I'm following this link http://www.samontab.com/web/2016/04/interfacing-intel-realsense-f200-with-opencv/ Interfacing Intel RealSense F200 with OpenCV – Sebastian Montabone but the device that i'm using is R200. I debugged the code and it showed the windows below:

But it is not streaming at all. What is this error below?

This is the code that i run as found from the link http://www.samontab.com/web/2016/04/interfacing-intel-realsense-f200-with-opencv/ Interfacing Intel RealSense F200 with OpenCV – Sebastian Montabone

# include

PXCSenseManager *pxcSenseManager;

PXCImage * CVMat2PXCImage(cv::Mat cvImage)

{

PXCImage::ImageInfo iinfo;

memset(&iinfo, 0, sizeof(iinfo));

iinfo.width = cvImage.cols;

iinfo.height = cvImage.rows;

PXCImage::PixelFormat format;

int type = cvImage.type();

if (type == CV_8UC1)

format = PXCImage::PIXEL_FORMAT_Y8;

else if (type == CV_8UC3)

format = PXCImage::PIXEL_FORMAT_RGB24;

else if (type == CV_32FC1)

format = PXCImage::PIXEL_FORMAT_DEPTH_F32;

iinfo.format = format;

PXCImage *pxcImage = pxcSenseManager->QuerySession()->CreateImage(&iinfo);

PXCImage::ImageData data;

pxcImage->AcquireAccess(PXCImage::ACCESS_WRITE, format, &data);

data.planes[0] = cvImage.data;

pxcImage->ReleaseAccess(&data);

return pxcImage;

}

cv::Mat PXCImage2CVMat(PXCImage *pxcImage, PXCImage::PixelFormat format)

{

PXCImage::ImageData data;

pxcImage->AcquireAccess(PXCImage::ACCESS_READ, format, &data);

int width = pxcImage->QueryInfo().width;

int height = pxcImage->QueryInfo().height;

if (!format)

format = pxcImage->QueryInfo().format;

int type;

if (format == PXCImage::PIXEL_FORMAT_Y8)

type = CV_8UC1;

else if (format == PXCImage::PIXEL_FORMAT_RGB24)

type = CV_8UC3;

else if (format == PXCImage::PIXEL_FORMAT_DEPTH_F32)

type = CV_32FC1;

else if (format == PXCImage::PIXEL_FORMAT_DEPTH)

type = CV_16UC1;

cv::Mat ocvImage = cv::Mat(cv::Size(width, height), type, data.planes[0]);

pxcImage->ReleaseAccess(&data);

return ocvImage;

}

int main(int argc, char* argv[])

{

//Define some parameters for the camera

cv::Size frameSize = cv::Size(640, 480);

float frameRate = 60;

//Create the OpenCV windows and images

cv::namedWindow("IR", cv::WINDOW_NORMAL);

cv::namedWindow("Color", cv::WINDOW_NORMAL);

cv::namedWindow("Depth", cv::WINDOW_NORMAL);

cv::Mat frameIR = cv::Mat::zeros(frameSize, CV_8UC1);

cv::Mat frameColor = cv::Mat::zeros(frameSize, CV_8UC3);

cv::Mat frameDepth = cv::Mat::zeros(frameSize, CV_8UC1);

//Initialize the RealSense Manager

pxcSenseManager = PXCSenseManager::CreateInstance();

//Enable the streams to be used

pxcSenseManager->EnableStream(PXCCapture::STREAM_TYPE_IR, frameSize.width, frameSize.height, frameRate);

pxcSenseManager->EnableStream(PXCCapture::STREAM_TYPE_COLOR, frameSize.width, frameSize.height, frameRate);

pxcSenseManager->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, frameSize.width, frameSize.height, frameRate);

//Initialize the pipeline

pxcSenseManager->Init();

bool keepRunning = true;

while (keepRunning)

{

//Acquire all the frames from the camera

pxcSenseManager->AcquireFrame();

PXCCapture::Sample *sample = pxcSenseManager->QuerySample();

//Convert each frame into an OpenCV image

frameIR = PXCImage2CVMat(sample->ir, PXCImage::PIXEL_FORMAT_Y8);

frameColor = PXCImage2CVMat(sample->color, PXCImage::PIXEL_FORMAT_RGB24);

cv::Mat frameDepth_u16 = PXCImage2CVMat(sample->depth, PXCImage::PIXEL_FORMAT_DEPTH);

frameDepth_u16.convertTo(frameDepth, CV_8UC1);

cv::Mat frameDisplay;

cv::equalizeHist(frameDepth, frameDisplay);

//Display the images

cv::imshow("IR", frameIR);

cv::imshow("Color", frameColor);

cv::imshow("Depth", frameDisplay);

//Check for user input

int key = cv::waitKey(1);

if (key == 27)

keepRunning = false;

//Release the memory from the frames

pxcSenseManager->ReleaseFrame();

}

//Release the memory from the RealSense manager

pxcSenseManager->Release();

return 0;

}

Re: Interfacing R200 with OpenCV

idata — Wed, 10 Jan 2018 20:40:02 GMT

Hello Gretchen_SMG-team,

Thanks for contacting Intel customer support.

Unfortunately through this channel we cannot debug your code or debug code from a third party site.

As a best effort to assist you I can share with you the following link from our developer zone were a developer was working on the OpenCV:

https://software.intel.com/en-us/forums/realsense/topic/599415 https://software.intel.com/en-us/forums/realsense/topic/599415

Additionally here is a video with an explanation on how to work on the OpenCV:

https://www.youtube.com/watch?v=wIkIdjN6Oyw https://www.youtube.com/watch?v=wIkIdjN6Oyw

And lastly here is a code sample on how to work on the OpenCV using LibrealSense:

https://software.intel.com/en-us/articles/using-librealsense-and-opencv-to-stream-rgb-and-depth-data https://software.intel.com/en-us/articles/using-librealsense-and-opencv-to-stream-rgb-and-depth-data

Hope this information helps you with your project.

Best Regards,

Juan N.

Re: Interfacing R200 with OpenCV

GGabr4 — Sat, 13 Jan 2018 05:00:54 GMT

Hi! Thanks for the links. For your last link though, it's a project set up in Ubuntu. But i'm working with Windows.

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