Visual Servoing Platform  version 3.5.1 under development (2022-09-30)
testOccipitalStructure_Core_imu.cpp

This example shows how to retrieve IMU data 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:
* IMU data 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)
#include <visp3/gui/vpPlot.h>
#include <visp3/sensor/vpOccipitalStructure.h>
int main()
{
try {
double initial_ts, ts;
vpColVector imu_vel, imu_acc;
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.depthEnabled = true;
settings.structureCore.visibleEnabled = true;
settings.structureCore.accelerometerEnabled = true;
settings.structureCore.gyroscopeEnabled = true;
settings.structureCore.imuUpdateRate = ST::StructureCoreIMUUpdateRate::AccelAndGyro_1000Hz;
sc.open(settings);
// Create plotters
vpPlot acceleration_plotter(1, 400, 800, 10, 10, "Accelerations");
vpPlot rotationRate_plotter(1, 400, 800, 10, 450, "Rotation rates");
acceleration_plotter.initGraph(0, 3);
rotationRate_plotter.initGraph(0, 3);
acceleration_plotter.setColor(0, 0, vpColor::blue);
acceleration_plotter.setColor(0, 1, vpColor::red);
acceleration_plotter.setColor(0, 2, vpColor::green);
rotationRate_plotter.setColor(0, 0, vpColor::blue);
rotationRate_plotter.setColor(0, 1, vpColor::red);
rotationRate_plotter.setColor(0, 2, vpColor::green);
acceleration_plotter.plot(0, 0, 0, 0);
acceleration_plotter.plot(0, 1, 0, 0);
acceleration_plotter.plot(0, 2, 0, 0);
rotationRate_plotter.plot(0, 0, 0, 0);
rotationRate_plotter.plot(0, 1, 0, 0);
rotationRate_plotter.plot(0, 2, 0, 0);
acceleration_plotter.setLegend(0, 0, "X axis");
acceleration_plotter.setLegend(0, 1, "Y axis");
acceleration_plotter.setLegend(0, 2, "Z axis");
rotationRate_plotter.setLegend(0, 0, "X axis");
rotationRate_plotter.setLegend(0, 1, "Y axis");
rotationRate_plotter.setLegend(0, 2, "Z axis");
sc.getIMUData(&imu_vel, &imu_acc, &initial_ts);
bool quit = false;
while (!quit) {
sc.getIMUData(&imu_vel, &imu_acc, &ts);
acceleration_plotter.plot(0, ts - initial_ts, imu_acc);
rotationRate_plotter.plot(0, ts - initial_ts, imu_vel);
if (vpDisplay::getClick(acceleration_plotter.I, false) || vpDisplay::getClick(rotationRate_plotter.I, false)) {
quit = true;
}
}
} 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;
#endif
return EXIT_SUCCESS;
}
#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor blue
Definition: vpColor.h:223
static const vpColor green
Definition: vpColor.h:220
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
Definition: vpException.cpp:99
void getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts=NULL)
bool open(const ST::CaptureSessionSettings &settings)
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition: vpPlot.h:116
void initGraph(unsigned int graphNum, unsigned int curveNbr)
Definition: vpPlot.cpp:205
vpImage< unsigned char > I
Definition: vpPlot.h:118
void setLegend(unsigned int graphNum, unsigned int curveNum, const std::string &legend)
Definition: vpPlot.cpp:534
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Definition: vpPlot.cpp:285
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
Definition: vpPlot.cpp:260