Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
grabRealSense2_T265.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Acquisition of images, odometry and raw motion information with RealSense
33  * T265 sensor and librealsense2.
34  *
35  *****************************************************************************/
36 
45 #include <iostream>
46 #include <iomanip>
47 
48 #include <visp3/core/vpMeterPixelConversion.h>
49 #include <visp3/gui/vpDisplayX.h>
50 #include <visp3/gui/vpDisplayGDI.h>
51 #include <visp3/sensor/vpRealSense2.h>
52 
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))
56 
57 int main()
58 {
59  vpHomogeneousMatrix cMw, cMw_0;
60  vpHomogeneousMatrix cextMw(0, 0, 2, 0, 0, 0); // External camera view for pose visualization
61  vpColVector odo_vel, odo_acc, imu_acc, imu_vel;
62  unsigned int confidence;
63  double ts;
64  vpImagePoint frame_origin;
65  std::list< std::pair<unsigned int, vpImagePoint> > frame_origins; // Frame origin's history for trajectory visualization
66  unsigned int display_scale = 2;
67 
68  try {
69  vpRealSense2 rs;
70 
71  std::string product_line = rs.getProductLine();
72  std::cout << "Product line: " << product_line << std::endl;
73 
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;
76  return EXIT_SUCCESS;
77  }
78 
79  rs2::config config;
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);
85 
86  rs.open(config);
87 
88  // Creating images for left and right cameras, and for visualizing trajectory
89  vpImage<unsigned char> I_left, I_right;
90  vpImage<unsigned char> I_pose(300, 300, 0);
91 
92  vpCameraParameters cam(300., 300., I_pose.getWidth()/2, I_pose.getHeight()/2); // For pose visualization
93 
94  rs.acquire(&I_left, &I_right, &cMw_0, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
95 
96 #if defined(VISP_HAVE_X11)
97  vpDisplayX display_left; // Left image
98  vpDisplayX display_right; // Right image
99  vpDisplayX display_pose; // Pose visualization
100 #elif defined(VISP_HAVE_GDI)
101  vpDisplayGDI display_left; // Left image
102  vpDisplayGDI display_right; // Right image
103  vpDisplayGDI display_pose; // Pose visualization
104 #endif
105 
106 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
107  display_left.setDownScalingFactor(display_scale);
108  display_right.setDownScalingFactor(display_scale);
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"); // Right
111  display_pose.init(I_pose, 10, static_cast<int>(I_left.getHeight()/display_scale) + 80, "Pose visualizer"); // visualization
112 #endif
113 
114  vpHomogeneousMatrix cextMc_0 = cextMw * cMw_0.inverse();
115  vpMeterPixelConversion::convertPoint(cam, cextMc_0[0][3] / cextMc_0[2][3], cextMc_0[1][3] / cextMc_0[2][3], frame_origin);
116  frame_origins.push_back(std::make_pair(confidence, frame_origin));
117 
118  while (true) {
119  double t = vpTime::measureTimeMs();
120 
121  rs.acquire(&I_left, &I_right, &cMw, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
122 
123  vpDisplay::display(I_left);
124  vpDisplay::display(I_right);
125  vpDisplay::display(I_pose);
126 
127  vpHomogeneousMatrix cextMc = cextMw * cMw.inverse();
128  vpMeterPixelConversion::convertPoint(cam, cextMc[0][3] / cextMc[2][3], cextMc[1][3] / cextMc[2][3], frame_origin);
129  frame_origins.push_back(std::make_pair(confidence, frame_origin));
130 
131  vpDisplay::displayText(I_left, 15*display_scale, 15*display_scale, "Click to quit", vpColor::red);
132  vpDisplay::displayText(I_right, 15*display_scale, 15*display_scale, "Click to quit", vpColor::red);
133  vpDisplay::displayText(I_pose, 15, 15, "Click to quit", vpColor::red);
134 
135  vpDisplay::displayFrame(I_pose, cextMc_0, cam, 0.1, vpColor::none, 2); // First frame
136  vpDisplay::displayFrame(I_pose, cextMc , cam, 0.1, vpColor::none, 2);
137 
138  // Display frame origin trajectory
139  {
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) {
143  if (vpImagePoint::distance(frame_origin_pair_prev.second, (*it).second) > 1) {
144  vpDisplay::displayLine(I_pose, frame_origin_pair_prev.second, (*it).second,
145  (*it).first == 3 ? vpColor::green : ((*it).first == 2 ? vpColor::yellow : vpColor::red), 2);
146  frame_origin_pair_prev = *it;
147  }
148  }
149  }
150  if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_right, false) || vpDisplay::getClick(I_pose, false)) {
151  break;
152  }
153  vpDisplay::flush(I_left);
154  vpDisplay::flush(I_right);
155  vpDisplay::flush(I_pose);
156 
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;
161  }
162 
163  } catch (const vpException &e) {
164  std::cerr << "RealSense error " << e.what() << std::endl;
165  } catch (const std::exception &e) {
166  std::cerr << e.what() << std::endl;
167  }
168 
169  return EXIT_SUCCESS;
170 }
171 #else
172 int main()
173 {
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;
178  return EXIT_SUCCESS;
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;
187 #endif
188  return EXIT_SUCCESS;
189 }
190 #endif
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).
Definition: vpDisplayGDI.h:128
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...
Definition: vpDisplayX.h:134
static const vpColor none
Definition: vpColor.h:229
error that can be emited by ViSP classes.
Definition: vpException.h:71
vpHomogeneousMatrix inverse() const
static const vpColor green
Definition: vpColor.h:220
static void flush(const vpImage< unsigned char > &I)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
static const vpColor red
Definition: vpColor.h:217
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
Definition: vpImage.h:188
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
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 ...
Definition: vpImagePoint.h:87
static const vpColor yellow
Definition: vpColor.h:225
unsigned int getWidth() const
Definition: vpImage.h:246
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)