Visual Servoing Platform  version 3.6.1 under development (2024-12-07)
grabRealSense2_T265.cpp

This example shows how to retrieve both images, odometry and motion data from a RealSense T265 sensor with librealsense2 at 30Hz.

Note
IMU X-axis and Z-axis are opposite to pose's frame X and Z axes.
/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 https://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:
* Acquisition of images, odometry and raw motion information with RealSense
* T265 sensor and librealsense2.
*
*****************************************************************************/
#include <iomanip>
#include <iostream>
#include <visp3/core/vpMeterPixelConversion.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)&& \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
vpHomogeneousMatrix cMw, cMw_0;
vpHomogeneousMatrix cextMw(0, 0, 2, 0, 0, 0); // External camera view for pose visualization
vpColVector odo_vel, odo_acc, imu_acc, imu_vel;
unsigned int confidence;
double ts;
vpImagePoint frame_origin;
std::list<std::pair<unsigned int, vpImagePoint> >
frame_origins; // Frame origin's history for trajectory visualization
unsigned int display_scale = 2;
try {
std::string product_line = rs.getProductLine();
std::cout << "Product line: " << product_line << std::endl;
if (product_line != "T200") {
std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
return EXIT_SUCCESS;
}
rs2::config config;
config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
config.enable_stream(RS2_STREAM_GYRO);
config.enable_stream(RS2_STREAM_ACCEL);
rs.open(config);
// Creating images for left and right cameras, and for visualizing trajectory
vpImage<unsigned char> I_left, I_right;
vpImage<unsigned char> I_pose(300, 300, 0);
vpCameraParameters cam(300., 300., I_pose.getWidth() / 2, I_pose.getHeight() / 2); // For pose visualization
rs.acquire(&I_left, &I_right, &cMw_0, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
#if defined(VISP_HAVE_X11)
vpDisplayX display_left; // Left image
vpDisplayX display_right; // Right image
vpDisplayX display_pose; // Pose visualization
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_left; // Left image
vpDisplayGDI display_right; // Right image
vpDisplayGDI display_pose; // Pose visualization
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
display_left.setDownScalingFactor(display_scale);
display_right.setDownScalingFactor(display_scale);
display_left.init(I_left, 10, 10, "Left image");
display_right.init(I_right, static_cast<int>(I_left.getWidth() / display_scale) + 80, 10, "Right image"); // Right
display_pose.init(I_pose, 10, static_cast<int>(I_left.getHeight() / display_scale) + 80,
"Pose visualizer"); // visualization
#endif
vpHomogeneousMatrix cextMc_0 = cextMw * cMw_0.inverse();
vpMeterPixelConversion::convertPoint(cam, cextMc_0[0][3] / cextMc_0[2][3], cextMc_0[1][3] / cextMc_0[2][3],
frame_origin);
frame_origins.push_back(std::make_pair(confidence, frame_origin));
while (true) {
double t = vpTime::measureTimeMs();
rs.acquire(&I_left, &I_right, &cMw, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
vpHomogeneousMatrix cextMc = cextMw * cMw.inverse();
vpMeterPixelConversion::convertPoint(cam, cextMc[0][3] / cextMc[2][3], cextMc[1][3] / cextMc[2][3], frame_origin);
frame_origins.push_back(std::make_pair(confidence, frame_origin));
vpDisplay::displayText(I_left, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpDisplay::displayText(I_right, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpDisplay::displayText(I_pose, 15, 15, "Click to quit", vpColor::red);
vpDisplay::displayFrame(I_pose, cextMc_0, cam, 0.1, vpColor::none, 2); // First frame
vpDisplay::displayFrame(I_pose, cextMc, cam, 0.1, vpColor::none, 2);
// Display frame origin trajectory
{
std::list<std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
for (; it != frame_origins.end(); ++it) {
if (vpImagePoint::distance(frame_origin_pair_prev.second, (*it).second) > 1) {
I_pose, frame_origin_pair_prev.second, (*it).second,
(*it).first == 3 ? vpColor::green : ((*it).first == 2 ? vpColor::yellow : vpColor::red), 2);
frame_origin_pair_prev = *it;
}
}
}
if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_right, false) ||
vpDisplay::getClick(I_pose, false)) {
break;
}
vpDisplay::flush(I_right);
std::cout << "Loop time: " << std::setw(8) << vpTime::measureTimeMs() - t << "ms. Confidence = " << confidence;
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];
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];
std::cout << std::endl;
}
}
catch (const vpException &e) {
std::cerr << "RealSense 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_REALSENSE2)
std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
std::cout << "Install librealsense version > 2.31.0" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
static const vpColor yellow
Definition: vpColor.h:225
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:130
void setDownScalingFactor(unsigned int scale)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition: vpException.h:60
const char * what() const
Definition: vpException.cpp:71
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
unsigned int getWidth() const
Definition: vpImage.h:242
unsigned int getHeight() const
Definition: vpImage.h:181
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
std::string getProductLine()
VISP_EXPORT double measureTimeMs()