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>
13 int main(
int argc,
char **argv)
15 #if defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) && \
16 (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
17 std::vector<std::pair<std::string, std::string> > type_serial_nb;
18 std::vector<bool> cam_found;
20 for (
int i = 0; i < argc; i++) {
21 if (std::string(argv[i]) ==
"--T265") {
22 type_serial_nb.push_back(std::make_pair(
"T265", std::string(argv[i + 1])));
23 }
else if (std::string(argv[i]) ==
"--D435") {
24 type_serial_nb.push_back(std::make_pair(
"D435", std::string(argv[i + 1])));
25 }
else if (std::string(argv[i]) ==
"--SR300") {
26 type_serial_nb.push_back(std::make_pair(
"SR300", std::string(argv[i + 1])));
27 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
28 std::cout <<
"\nUsage: " << argv[0]
29 <<
" [--T265 <serial number>] [--D435 <serial number>] [--SR300 <serial number>]\n"
30 <<
"\nExample to use 2 T265 cameras:\n"
31 <<
" " << argv[0] <<
" --T265 11622110511 --T265 11622110433 \n"
32 <<
"\nExample to use 1 T265 and 1 D435 cameras:\n"
33 <<
" " << argv[0] <<
" --T265 11622110511 --D435 752112077408 \n"
34 <<
"\nExample to use 2 T265 and 1 D435 cameras:\n"
35 <<
" " << argv[0] <<
" --T265 11622110511 --T265 11622110433 --D435 752112070408 \n"
41 rs2::config T265_cfg, D435_cfg;
42 std::vector<vpRealSense2> g(type_serial_nb.size());
43 std::vector<vpImage<unsigned char> > I(type_serial_nb.size());
46 std::vector<vpDisplayX> d(type_serial_nb.size());
47 #elif defined(VISP_HAVE_GDI)
48 std::vector<vpDisplayGDI> d(type_serial_nb.size());
49 #elif defined(HAVE_OPENCV_HIGHGUI)
50 std::vector<vpDisplayOpenCV> d(type_serial_nb.size());
52 std::cout <<
"No image viewer is available..." << std::endl;
57 for (
size_t i = 0; i < type_serial_nb.size(); i++) {
58 std::cout <<
"Opening " << type_serial_nb[i].first <<
" with ID: " << type_serial_nb[i].second <<
"." << std::endl;
59 if (type_serial_nb[i].first ==
"T265") {
60 T265_cfg.enable_device(type_serial_nb[i].second);
61 T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
62 T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
63 cam_found.push_back(g[i].open(T265_cfg));
64 if (!cam_found.back()) {
65 std::cout <<
"Device with ID: " << type_serial_nb[i].second <<
" not found." << std::endl;
68 D435_cfg.enable_device(type_serial_nb[i].second);
69 D435_cfg.disable_stream(RS2_STREAM_DEPTH);
70 D435_cfg.disable_stream(RS2_STREAM_INFRARED);
71 D435_cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
72 cam_found.push_back(g[i].open(D435_cfg));
73 if (!cam_found.back()) {
74 std::cout <<
"Device with ID: " << type_serial_nb[i].second <<
" not found." << std::endl;
80 for (
size_t i = 0; i < type_serial_nb.size(); i++) {
82 if (type_serial_nb[i].first ==
"T265") {
83 g[i].acquire(&I[i], NULL, NULL);
85 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
86 if (!d[i].isInitialised()) {
87 d[i].
init(I[i],
static_cast<int>(100 * i),
static_cast<int>(100 * i),
"T265 left image");
95 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
96 if (!d[i].isInitialised()) {
97 d[i].
init(I[i],
static_cast<int>(100 * i),
static_cast<int>(100 * i), type_serial_nb[i].first.c_str());
119 #if !(defined(VISP_HAVE_REALSENSE2))
120 std::cout <<
"Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
122 #if !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
123 std::cout <<
"librealsense is detected but its version is too old. Install librealsense version > 2.31.0, configure "
124 "and build ViSP again to use this example"
127 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
128 std::cout <<
"This tutorial should be built with c++11 support" << std::endl;
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 display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)