Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
tutorial-grabber-multiple-realsense.cpp
1 
2 #include <visp3/core/vpImage.h>
3 #include <visp3/gui/vpDisplayGDI.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/gui/vpDisplayX.h>
6 #include <visp3/sensor/vpRealSense.h>
7 #include <visp3/sensor/vpRealSense2.h>
8 
13 int main(int argc, char **argv)
14 {
15 #if defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
16  std::vector<std::pair<std::string, std::string> > type_serial_nb;
17  std::vector<bool> cam_found;
18 
19  for (int i = 0; i < argc; i++) {
20  if (std::string(argv[i]) == "--T265") {
21  type_serial_nb.push_back(std::make_pair("T265", std::string(argv[i + 1])));
22  }
23  else if (std::string(argv[i]) == "--D435") {
24  type_serial_nb.push_back(std::make_pair("D435", std::string(argv[i + 1])));
25  }
26  else if (std::string(argv[i]) == "--SR300") {
27  type_serial_nb.push_back(std::make_pair("SR300", std::string(argv[i + 1])));
28  }
29  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
30  std::cout << "\nUsage: " << argv[0]
31  << " [--T265 <serial number>] [--D435 <serial number>] [--SR300 <serial number>]\n"
32  << "\nExample to use 2 T265 cameras:\n"
33  << " " << argv[0] << " --T265 11622110511 --T265 11622110433 \n"
34  << "\nExample to use 1 T265 and 1 D435 cameras:\n"
35  << " " << argv[0] << " --T265 11622110511 --D435 752112077408 \n"
36  << "\nExample to use 2 T265 and 1 D435 cameras:\n"
37  << " " << argv[0] << " --T265 11622110511 --T265 11622110433 --D435 752112070408 \n"
38  << std::endl;
39  return 0;
40  }
41  }
42 
43  rs2::config T265_cfg, D435_cfg;
44  std::vector< vpRealSense2 > g(type_serial_nb.size());
45  std::vector< vpImage<unsigned char> > I(type_serial_nb.size());
46 
47 #ifdef VISP_HAVE_X11
48  std::vector< vpDisplayX > d(type_serial_nb.size());
49 #elif defined(VISP_HAVE_GDI)
50  std::vector< vpDisplayGDI > d(type_serial_nb.size());
51 #elif defined(VISP_HAVE_OPENCV)
52  std::vector< vpDisplayOpenCV > d(type_serial_nb.size());
53 #else
54  std::cout << "No image viewer is available..." << std::endl;
55 #endif
56 
57  bool clicked = false;
58 
59  for (size_t i = 0; i < type_serial_nb.size(); i++) {
60  std::cout << "Opening " << type_serial_nb[i].first << " with ID: " << type_serial_nb[i].second << "." << std::endl;
61  if (type_serial_nb[i].first == "T265") { // T265.
62  T265_cfg.enable_device(type_serial_nb[i].second);
63  T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
64  T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
65  cam_found.push_back(g[i].open(T265_cfg));
66  if(!cam_found.back()) {
67  std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl;
68  }
69  }
70  else { // D435 or SR300
71  D435_cfg.enable_device(type_serial_nb[i].second);
72  D435_cfg.disable_stream(RS2_STREAM_DEPTH);
73  D435_cfg.disable_stream(RS2_STREAM_INFRARED);
74  D435_cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
75  cam_found.push_back(g[i].open(D435_cfg));
76  if(!cam_found.back()) {
77  std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl;
78  }
79  }
80  }
81 
82  while (true) {
83  for (size_t i = 0; i < type_serial_nb.size(); i++) {
84  if (cam_found[i]) {
85  if (type_serial_nb[i].first == "T265") { // T265.
86  g[i].acquire(&I[i], NULL, NULL);
87 
88 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
89  if (!d[i].isInitialised()) {
90  d[i].init(I[i], static_cast<int>(100*i), static_cast<int>(100*i), "T265 left image");
91  }
92 #endif
93  }
94 
95  else { // D435.
96  g[i].acquire(I[i]);
97 
98 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
99  if (!d[i].isInitialised()) {
100  d[i].init(I[i], static_cast<int>(100*i), static_cast<int>(100*i), type_serial_nb[i].first.c_str());
101  }
102 #endif
103  }
104 
105  vpDisplay::display(I[i]);
106  vpDisplay::flush(I[i]);
107  clicked = vpDisplay::getClick(I[i], false);
108  }
109 
110  if(clicked) {
111  break;
112  }
113  }
114 
115  if(clicked) {
116  break;
117  }
118 
119  }
120 #else
121  (void) argc;
122  (void) argv;
123 #if !(defined(VISP_HAVE_REALSENSE2))
124  std::cout << "Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
125 #endif
126 #if !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
127  std::cout << "librealsense is detected but its version is too old. Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
128 #endif
129 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
130  std::cout << "This turorial should be built with c++11 support" << std::endl;
131 #endif
132 #endif
133  return EXIT_SUCCESS;
134 }
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void flush(const vpImage< unsigned char > &I)
static void display(const vpImage< unsigned char > &I)