Resolve "Output pointcloud from realsense grabber"
What does this MR do?
- Improve the RealSense grabber in multiple way:
- Output now the complete pointcloud
- Live loading of Realsense "presets" or the provided README.md
- Live update of min & max depth range
- Enable/Disable IR Emitter
- Switch between color/infrared frame
- output the distance (in mm) at the center point of the depth map.
- Speed-up grabbing code (using openmp when available)
- Brand-new ExRealSense
🎉 with Ogre Backend
Closes #233 (closed)
How to test it?
- Compile ExRealSense
- Plug a RealSense Camera
- Play.
- Enjoy.
From Left to Right:
- Play
- Pause
- Stop
- Preset selector (Load & Change a set of parameters according to the user's usage) more information by intel or in the provided README
Presets are available in json format in the rc folder of videoRealSense
- Enable/Disable IR Emitter (poor depth quality if disabled)
- Switch between infrared frame / color frame
- Distance (in mm) at the center of the depth frame
Range slider update live the min/max depth range of the camera. Since it's an "advanced" feature it may freeze the camera a bit.
Note: It can be very slow in debug mode (more if librealsense is in debug too).
Some results
Computation time on my Linux (Intel Core i7-5930K CPU @ 3.50Ghz *6 ) in Release
-
Pointcloud conversion (AVG on 5s): ~2.91904 ms.
-
Color Image push (AVG on 5s): ~0.840058 ms.
-
Depth Image push (AVG on 5s): ~0.536365 ms.
Additional tests to run
-
windows -
linux -
macos
Associated Issues/Merge Requests
Need the version 2.18 of lirealsense:
To have color per point with Ogre (optionnal but it could be sexy)