48 #include <visp3/core/vpMeterPixelConversion.h> 49 #include <visp3/gui/vpDisplayX.h> 50 #include <visp3/gui/vpDisplayGDI.h> 51 #include <visp3/sensor/vpRealSense2.h> 53 #if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \ 54 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && \ 55 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 62 unsigned int confidence;
65 std::list< std::pair<unsigned int, vpImagePoint> > frame_origins;
66 unsigned int display_scale = 2;
72 std::cout <<
"Product line: " << product_line << std::endl;
74 if (product_line !=
"T200") {
75 std::cout <<
"This example doesn't support devices that are not part of T200 product line family !" << std::endl;
80 config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
81 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
82 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
83 config.enable_stream(RS2_STREAM_GYRO);
84 config.enable_stream(RS2_STREAM_ACCEL);
94 rs.
acquire(&I_left, &I_right, &cMw_0, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
96 #if defined(VISP_HAVE_X11) 100 #elif defined(VISP_HAVE_GDI) 106 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) 109 display_left.
init(I_left, 10, 10,
"Left image");
110 display_right.
init(I_right, static_cast<int>(I_left.
getWidth()/display_scale) + 80, 10,
"Right image");
111 display_pose.
init(I_pose, 10, static_cast<int>(I_left.
getHeight()/display_scale) + 80,
"Pose visualizer");
116 frame_origins.push_back(std::make_pair(confidence, frame_origin));
121 rs.
acquire(&I_left, &I_right, &cMw, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
129 frame_origins.push_back(std::make_pair(confidence, frame_origin));
140 std::list< std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
141 std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
142 for (; it != frame_origins.end(); ++it) {
146 frame_origin_pair_prev = *it;
157 std::cout <<
"Loop time: " << std::setw(8) <<
vpTime::measureTimeMs() - t <<
"ms. Confidence = " << confidence;
158 std::cout <<
" Gyro vel: x = " << std::setw(10) << std::setprecision(3) << imu_vel[0] <<
" y = " << std::setw(10) << std::setprecision(3) << imu_vel[1] <<
" z = " << std::setw(8) << imu_vel[2];
159 std::cout <<
" Accel: x = " << std::setw(10) << std::setprecision(3) << imu_acc[0] <<
" y = " << std::setw(10) << std::setprecision(3) << imu_acc[1] <<
" z = " << std::setw(8) << imu_acc[2];
160 std::cout << std::endl;
164 std::cerr <<
"RealSense error " << e.
what() << std::endl;
165 }
catch (
const std::exception &e) {
166 std::cerr << e.what() << std::endl;
174 #if !defined(VISP_HAVE_REALSENSE2) 175 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
176 std::cout <<
"Tip:" << std::endl;
177 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
179 #elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11) 180 std::cout <<
"You do not build ViSP with c++11 or higher compiler flag" << std::endl;
181 std::cout <<
"Tip:" << std::endl;
182 std::cout <<
"- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
183 #elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) 184 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
185 #elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) 186 std::cout <<
"Install librealsense version > 2.31.0" << std::endl;
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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.
vpHomogeneousMatrix inverse() const
static const vpColor green
static void flush(const vpImage< unsigned char > &I)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()
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.
const char * what() const
unsigned int getHeight() const
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))
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
unsigned int getWidth() const
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)