45 #include <visp3/core/vpImageConvert.h> 46 #include <visp3/core/vpImageTools.h> 47 #include <visp3/gui/vpDisplayGDI.h> 48 #include <visp3/gui/vpDisplayX.h> 49 #include <visp3/sensor/vpRealSense2.h> 51 #if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \ 52 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && \ 53 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 59 unsigned int display_scale = 2;
62 std::cout <<
"Product line: " << product_line << std::endl;
64 if (product_line !=
"T200") {
65 std::cout <<
"This example doesn't support devices that are not part of T200 product line family !" << std::endl;
72 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
73 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
84 std::cout <<
"Left fisheye camera parameters: " << cam_left << std::endl;
86 #if defined(VISP_HAVE_X11) 89 #elif defined(VISP_HAVE_GDI) 94 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) 97 d.
init(I, 10, 10,
"Left image");
98 d_undist.
init(I_undist, I.
getWidth()/display_scale + 80, 10,
"Undistorted image");
129 std::cerr <<
"RealSense error " << e.
what() << std::endl;
130 }
catch (
const std::exception &e) {
131 std::cerr << e.what() << std::endl;
139 #if !defined(VISP_HAVE_REALSENSE2) 140 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
141 std::cout <<
"Tip:" << std::endl;
142 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
144 #elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11) 145 std::cout <<
"You do not build ViSP with c++11 or higher compiler flag" << std::endl;
146 std::cout <<
"Tip:" << std::endl;
147 std::cout <<
"- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
148 #elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) 149 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
150 #elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 151 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
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
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.
Implementation of a generic 2D array used as base class for matrices and vectors. ...
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)
Generic class defining intrinsic camera parameters.
rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index=-1) const
unsigned int getHeight() 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)