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
 *
 * 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;
    vpOccipitalStructure sc;

    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.
    sc.getCameraParameters( vpOccipitalStructure::visible );
    sc.getCameraParameters( vpOccipitalStructure::depth );

#if defined( VISP_HAVE_X11 )
    vpDisplayX display_visible; // Visible image
#elif defined( VISP_HAVE_GDI )
    vpDisplayGDI display_visible; // Visible image
#endif
    vpImage< vpRGBa > I_visible( sc.getHeight( vpOccipitalStructure::visible ),
                                 sc.getWidth( vpOccipitalStructure::visible ), 0 );
    ;
    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