Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
testOccipitalStructure_Core_pcl.cpp

This example visualize point cloud from a Occipital Structure Core sensor with libStructure. If a color sensor is used, RGB pointcloud is visualized.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2021 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Point cloud depth visualization with Occipital Structure Core sensor.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined( VISP_HAVE_OCCIPITAL_STRUCTURE ) && ( VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11 ) && \
( defined( VISP_HAVE_PCL ) )
#ifdef VISP_HAVE_PCL
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#endif
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpOccipitalStructure.h>
int
main()
{
try
{
unsigned int display_scale = 1;
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.visibleEnabled = true;
settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.
sc.open( settings );
// Calling these 2 functions to set internal variables.
#if defined( VISP_HAVE_X11 )
vpDisplayX display_visible; // Visible image
#elif defined( VISP_HAVE_GDI )
vpDisplayGDI display_visible; // Visible image
#endif
;
display_visible.setDownScalingFactor( display_scale );
display_visible.init( I_visible, static_cast< int >( I_visible.getWidth() / display_scale ) + 80, 10,
"Color image" );
pcl::PointCloud< pcl::PointXYZRGB >::Ptr pointcloud( new pcl::PointCloud< pcl::PointXYZRGB > );
sc.acquire( (unsigned char *)I_visible.bitmap, NULL, NULL, pointcloud );
pcl::visualization::PCLVisualizer::Ptr viewer( new pcl::visualization::PCLVisualizer( "3D Viewer" ) );
pcl::visualization::PointCloudColorHandlerRGBField< pcl::PointXYZRGB > rgb( pointcloud );
viewer->setBackgroundColor( 0, 0, 0 );
viewer->initCameraParameters();
viewer->setCameraPosition( 0, 0, -0.5, 0, -1, 0 );
while ( true )
{
double t = vpTime::measureTimeMs();
// Acquire depth as point cloud.
sc.acquire( (unsigned char *)I_visible.bitmap, NULL, NULL, pointcloud );
vpDisplay::display( I_visible );
vpDisplay::displayText( I_visible, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red );
vpDisplay::flush( I_visible );
if ( vpDisplay::getClick( I_visible, false ) )
break;
static bool update = false;
if ( !update )
{
viewer->addPointCloud< pcl::PointXYZRGB >( pointcloud, rgb, "sample cloud" );
viewer->setPointCloudRenderingProperties( pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud" );
update = true;
}
else
{
viewer->updatePointCloud< pcl::PointXYZRGB >( pointcloud, rgb, "sample cloud" );
}
viewer->spinOnce( 30 );
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
}
}
catch ( const vpException &e )
{
std::cerr << "Structure SDK error " << e.what() << std::endl;
}
catch ( const std::exception &e )
{
std::cerr << e.what() << std::endl;
}
return EXIT_SUCCESS;
}
#else
int
main()
{
#if !defined( VISP_HAVE_OCCIPITAL_STRUCTURE )
std::cout << "You do not have Occipital Structure SDK functionality enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install libStructure, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
#elif ( VISP_CXX_STANDARD < VISP_CXX_STANDARD_11 )
std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
#elif !defined( VISP_HAVE_PCL )
std::cout << "You do not have PCL 3rd party installed." << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif