Visual Servoing Platform  version 3.5.1 under development (2022-05-17)
testOccipitalStructure_Core_images.cpp

This example shows how to retrieve images from a Occipital Structure Core sensor with libStructure.

/****************************************************************************
*
* 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:
* Image acquisition with Structure Core sensor and libStructure.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpOccipitalStructure.h>
int main()
{
try {
double t;
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);
vpImage<float> I_depth_raw;
vpImage<vpRGBa> I_depth;
vpImage<vpRGBa> I_visible;
#if defined(VISP_HAVE_X11)
vpDisplayX display_visible; // Visible image
vpDisplayX display_depth; // Depth image
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_visible; // Visible image
vpDisplayGDI display_depth; // Depth image
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
I_visible =
display_visible.setDownScalingFactor(display_scale);
display_visible.init(I_visible, 10, 10, "Visible image");
I_depth_raw =
display_depth.setDownScalingFactor(display_scale);
display_depth.init(I_depth, static_cast<int>(I_visible.getWidth() / display_scale) + 20, 10, "Depth image");
#endif
while (true) {
sc.acquire((unsigned char *)I_visible.bitmap, (unsigned char *)I_depth_raw.bitmap);
vpDisplay::display(I_visible);
vpDisplay::displayText(I_visible, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpDisplay::flush(I_visible);
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
vpDisplay::displayText(I_depth, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpDisplay::flush(I_depth);
if (vpDisplay::getClick(I_visible, false) || vpDisplay::getClick(I_depth, false))
break;
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_X11) || defined(VISP_HAVE_GDI))
std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif