45 #include <visp3/core/vpMeterPixelConversion.h> 46 #include <visp3/gui/vpDisplayX.h> 47 #include <visp3/gui/vpDisplayGDI.h> 48 #include <visp3/sensor/vpRealSense2.h> 50 #if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \ 51 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && \ 52 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 61 unsigned int confidence;
64 std::list< std::pair<unsigned int, vpImagePoint> > frame_origins;
65 unsigned int display_scale = 2;
70 std::cout <<
"Product line: " << product_line << std::endl;
72 if (product_line !=
"T200") {
73 std::cout <<
"This example doesn't support devices that are not part of T200 product line family !" << std::endl;
77 config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
78 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
79 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
89 rs.
acquire(&I_left, &I_right, &cMw_0, NULL, NULL, &confidence, &ts);
91 #if defined(VISP_HAVE_X11) 95 #elif defined(VISP_HAVE_GDI) 101 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) 104 display_left.
init(I_left, 10, 10,
"Left image");
105 display_right.
init(I_right, static_cast<int>(I_left.
getWidth()/display_scale) + 80, 10,
"Right image");
106 display_pose.
init(I_pose, 10, static_cast<int>(I_left.
getHeight()/display_scale) + 80,
"Pose visualizer");
111 frame_origins.push_back(std::make_pair(confidence, frame_origin));
116 rs.
acquire(&I_left, &I_right, &cMw, &odo_vel, &odo_acc, &confidence, &ts);
124 frame_origins.push_back(std::make_pair(confidence, frame_origin));
135 std::list< std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
136 std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
137 for (; it != frame_origins.end(); ++it) {
141 frame_origin_pair_prev = *it;
156 std::cerr <<
"RealSense error " << e.
what() << std::endl;
157 }
catch (
const std::exception &e) {
158 std::cerr << e.what() << std::endl;
166 #if !defined(VISP_HAVE_REALSENSE2) 167 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
168 std::cout <<
"Tip:" << std::endl;
169 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
171 #elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11) 172 std::cout <<
"You do not build ViSP with c++11 or higher compiler flag" << std::endl;
173 std::cout <<
"Tip:" << std::endl;
174 std::cout <<
"- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
175 #elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) 176 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
177 #elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 178 std::cout <<
"Install librealsense version > 2.31.0" << std::endl;
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
unsigned int getWidth() const
std::string getProductLine()
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
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...
static const vpColor none
error that can be emited by ViSP classes.
static const vpColor green
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 double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
static void display(const vpImage< unsigned char > &I)
void setDownScalingFactor(unsigned int scale)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
vpHomogeneousMatrix inverse() const
unsigned int getHeight() const
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static const vpColor yellow
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)