topic Re: OpenCV and D435 in Items with no label

OpenCV and D435

PG8 — Wed, 14 Mar 2018 20:24:43 GMT

Hi everyone,

Got a D435 - awesome product!

Only problem is I've been having trouble using it beyond the RealSense Viewer.

I have an OpenCV C++ project in eclipse on Ubuntu 16.04. When I plug in my camera (to a USB 3.0 port) and run my project, OpenCV throws a "Pixel format of incoming image is unsupported by OpenCV". When I add the rs2.hpp header to start learning how to convert RealSense data to OpenCV, eclipse throws me 346 errors about unrecognized symbols and others in various RealSense library files.

How do I convert D435 output to OpenCV?

Re: OpenCV and D435

MartyG — Wed, 14 Mar 2018 21:11:49 GMT

Have you read the Getting Started guide for RealSense and OpenCV?

https://github.com/IntelRealSense/librealsense/tree/master/wrappers/opencv librealsense/wrappers/opencv at master · IntelRealSense/librealsense · GitHub

Re: OpenCV and D435

PG8 — Wed, 14 Mar 2018 22:01:47 GMT

HI MartyG

Thanks for the quick reply. I just took another look at it. I have taken all the steps previously.

I did some research and it appears that the RealSense uses the Z16 pixel format, which is for depth. OpenCV doesn't appear to support Z16 format, but supports Y8. Do you have any suggestions on how to convert this?

I'll try reinstalling RealSense, the library is still throwing errors.

Re: OpenCV and D435

MartyG — Wed, 14 Mar 2018 22:18:48 GMT

The best approach to start with is likely to be to get OpenCV and RealSense SDK 2.0 set up first and then test it with the ''Imshow' sample, which is a very basic program to test that OpenCV is working with the camera.

https://github.com/IntelRealSense/librealsense/tree/master/wrappers/opencv/imshow librealsense/wrappers/opencv/imshow at master · IntelRealSense/librealsense · GitHub

Re: OpenCV and D435

PG8 — Thu, 15 Mar 2018 00:52:18 GMT

Thanks. Tried reinstalling and same issue. A bunch of undefined references in the LibRealSense files (e.g. rs_frame.hpp & more). This is with Imshow

Re: OpenCV and D435

MartyG — Thu, 15 Mar 2018 07:55:48 GMT

Reading your case again from the beginning, I'm wondering now whether it is the use of Eclipse that is causing the undefined reference problems. I believe you may need to configure Eclipse to work with CMake.

http://johnnado.com/use-cmake-with-eclipse/ Build with CMake in Eclipse - John McGehee

Re: OpenCV and D435

PG8 — Thu, 15 Mar 2018 16:51:11 GMT

I figured out the problem, it's that the RealSense files (like rs_context.h) only have the header files and no .c files for definition. When I try to call something like rs_create_context, it can't find a method for it and hence a definition. Is LibRealSense supposed to have .c/cpp files for these files?

Re: OpenCV and D435

MartyG — Thu, 15 Mar 2018 17:14:45 GMT

Unfortunately I have no reference for setting up the SDK using Eclipse. The standard method to set it up is to use CMake. I can only recommend waiting for a member of the Intel support team (of which I am not a member) to offer advice. I apologize for the inconvenience.

Re: OpenCV and D435

PG8 — Thu, 15 Mar 2018 17:20:09 GMT

Hey, no worries, I appreciate the help regardless.

If it helps, it's not an eclipse issue as I'm having the same issue running g++ in terminal on Ubuntu 16.04 LTS (same machine, eclipse is just the IDE).

Re: OpenCV and D435

PG8 — Thu, 15 Mar 2018 17:35:24 GMT

Got it working, managed to run it and everything, all I had to do was change the command in terminal. But now I'm getting an error for Imshow "frame didn't arrive with 5000". Is this a RealSense error or OpenCV error?

Re: OpenCV and D435

PG8 — Thu, 15 Mar 2018 17:50:07 GMT

Nevermind, bad plug. Issue is resolved (for now). Thanks for the help!

Re: OpenCV and D435

MartyG — Thu, 15 Mar 2018 17:54:56 GMT

Awesome news, thanks for letting us know. Good luck with your work!

Re: OpenCV and D435

CCarl8 — Thu, 21 Jun 2018 08:35:36 GMT

Hi. I am having a similar issue now, with OpenCvForUnity. Reading the depth image byte[] array using mat.put(). CvType.CV_16UC1 does not seem to be supported. I get the error "Mat data type is not compatible". Is there a way to convert the bytes before reading?

Re: OpenCV and D435

MartyG — Thu, 21 Jun 2018 08:49:45 GMT

It may be best to post your question to the creator of the OpenCV For Unity package. You can contact them here:

https://enoxsoftware.com/opencvforunity/contact/technical-inquiry/ https://enoxsoftware.com/opencvforunity/contact/technical-inquiry/

Re: OpenCV and D435

CCarl8 — Thu, 21 Jun 2018 08:57:56 GMT

Thanks, I just wrote them. Let's see what they say...