44 #include <visp3/core/vpConfig.h>
46 #if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && (defined(VISP_HAVE_PCL)) && defined(VISP_HAVE_PCL_VISUALIZATION)
48 #include <pcl/visualization/cloud_viewer.h>
49 #include <pcl/visualization/pcl_visualizer.h>
51 #include <visp3/core/vpImageConvert.h>
52 #include <visp3/gui/vpDisplayGDI.h>
53 #include <visp3/gui/vpDisplayX.h>
54 #include <visp3/sensor/vpOccipitalStructure.h>
59 unsigned int display_scale = 1;
62 ST::CaptureSessionSettings settings;
63 settings.source = ST::CaptureSessionSourceId::StructureCore;
64 settings.structureCore.visibleEnabled =
true;
65 settings.applyExpensiveCorrection =
true;
73 #if defined(VISP_HAVE_X11)
75 #elif defined(VISP_HAVE_GDI)
82 display_visible.
init(I_visible,
static_cast<int>(I_visible.getWidth() / display_scale) + 80, 10,
"Color image");
84 pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(
new pcl::PointCloud<pcl::PointXYZRGB>);
86 sc.
acquire((
unsigned char *)I_visible.bitmap,
nullptr,
nullptr, pointcloud);
88 pcl::visualization::PCLVisualizer::Ptr viewer(
new pcl::visualization::PCLVisualizer(
"3D Viewer"));
89 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud);
91 viewer->setBackgroundColor(0, 0, 0);
92 viewer->initCameraParameters();
93 viewer->setCameraPosition(0, 0, -0.5, 0, -1, 0);
99 sc.
acquire((
unsigned char *)I_visible.bitmap,
nullptr,
nullptr, pointcloud);
107 static bool update =
false;
109 viewer->addPointCloud<pcl::PointXYZRGB>(pointcloud, rgb,
"sample cloud");
110 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1,
"sample cloud");
114 viewer->updatePointCloud<pcl::PointXYZRGB>(pointcloud, rgb,
"sample cloud");
117 viewer->spinOnce(30);
123 std::cerr <<
"Structure SDK error " << e.
what() << std::endl;
125 catch (
const std::exception &e) {
126 std::cerr << e.what() << std::endl;
134 #if !defined( VISP_HAVE_OCCIPITAL_STRUCTURE )
135 std::cout <<
"You do not have Occipital Structure SDK functionality enabled..." << std::endl;
136 std::cout <<
"Tip:" << std::endl;
137 std::cout <<
"- Install libStructure, configure again ViSP using cmake and build again this example" << std::endl;
139 #elif ( VISP_CXX_STANDARD < VISP_CXX_STANDARD_11 )
140 std::cout <<
"You do not build ViSP with c++11 or higher compiler flag" << std::endl;
141 std::cout <<
"Tip:" << std::endl;
142 std::cout <<
"- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
143 #elif !defined( VISP_HAVE_PCL )
144 std::cout <<
"You do not have PCL 3rd party installed." << std::endl;
145 #elif !defined( VISP_HAVE_PCL_VISUALIZATION )
146 std::cout <<
"You do not have PCL visualization module." << std::endl;
Display for windows using GDI (available on any windows 32 platform).
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="") vp_override
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
static void display(const vpImage< unsigned char > &I)
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.
const char * what() const
unsigned int getHeight(vpOccipitalStructureStream stream_type)
vpCameraParameters getCameraParameters(const vpOccipitalStructureStream stream_type, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithoutDistortion)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=nullptr)
unsigned int getWidth(vpOccipitalStructureStream stream_type)
bool open(const ST::CaptureSessionSettings &settings)
VISP_EXPORT double measureTimeMs()