44 #include <visp3/core/vpImageConvert.h> 45 #include <visp3/gui/vpDisplayGDI.h> 46 #include <visp3/gui/vpDisplayX.h> 47 #include <visp3/sensor/vpRealSense2.h> 49 #if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \ 50 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && \ 51 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 57 unsigned int display_scale = 2;
60 std::cout <<
"Product line: " << product_line << std::endl;
62 if (product_line !=
"T200") {
63 std::cout <<
"This example doesn't support devices that are not part of T200 product line family !" << std::endl;
67 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
68 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
79 #if defined(VISP_HAVE_X11) 82 #elif defined(VISP_HAVE_GDI) 87 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) 90 display_left.
init(I_left, 10, 10,
"Left image");
91 display_right.
init(I_right, static_cast<int>(I_left.getWidth()/display_scale) + 80, 10,
"Right image");
98 rs.
acquire(&I_left, &I_right, &ts);
116 std::cerr <<
"RealSense error " << e.
what() << std::endl;
117 }
catch (
const std::exception &e) {
118 std::cerr << e.what() << std::endl;
126 #if !defined(VISP_HAVE_REALSENSE2) 127 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
128 std::cout <<
"Tip:" << std::endl;
129 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
131 #elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11) 132 std::cout <<
"You do not build ViSP with c++11 or higher compiler flag" << std::endl;
133 std::cout <<
"Tip:" << std::endl;
134 std::cout <<
"- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
135 #elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) 136 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
137 #elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 138 std::cout <<
"Install librealsense version > 2.31.0" << std::endl;
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
std::string getProductLine()
Display for windows using GDI (available on any windows 32 platform).
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
error that can be emited by ViSP classes.
static void flush(const vpImage< unsigned char > &I)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()
const char * what() const
static void display(const vpImage< unsigned char > &I)
void setDownScalingFactor(unsigned int scale)
rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index=-1) const
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)