Visual Servoing Platform  version 3.2.1 under development (2019-10-23) under development (2019-10-23)
testRealSense2_D435.cpp

Test Intel RealSense D435 acquisition with librealsense2.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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:
* Test Intel RealSense acquisition with librealsense2.
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
int main(int argc, char *argv[])
{
bool show_info = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--show_info") {
show_info = true;
}
}
if (show_info) {
rs.open();
std::cout << "RealSense:\n" << rs << std::endl;
return EXIT_SUCCESS;
}
int width = 1280, height = 720, fps = 30;
rs2::config config;
config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, fps);
config.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, fps);
config.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_Y8, fps);
config.enable_stream(RS2_STREAM_INFRARED, 2, width, height, RS2_FORMAT_Y8, fps);
rs.open(config);
vpImage<vpRGBa> color(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<vpRGBa> depth_color(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<uint16_t> depth_raw(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<unsigned char> infrared1(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
vpImage<unsigned char> infrared2(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
#ifdef VISP_HAVE_X11
vpDisplayX d1, d2, d3, d4;
#else
vpDisplayGDI d1, d2, d3, d4;
#endif
d1.init(color, 0, 0, "Color");
d2.init(depth_color, color.getWidth(), 0, "Depth");
d3.init(infrared1, 0, color.getHeight() + 100, "Infrared left");
d4.init(infrared2, color.getWidth(), color.getHeight() + 100, "Infrared right");
std::vector<vpColVector> pointcloud_colvector;
std::vector<double> time_vector;
double t_begin = vpTime::measureTimeMs();
while (vpTime::measureTimeMs() - t_begin < 10000) {
double t = vpTime::measureTimeMs();
rs.acquire(reinterpret_cast<unsigned char *>(color.bitmap),
reinterpret_cast<unsigned char *>(depth_raw.bitmap),
&pointcloud_colvector,
reinterpret_cast<unsigned char *>(infrared1.bitmap),
reinterpret_cast<unsigned char *>(infrared2.bitmap),
NULL);
vpImageConvert::createDepthHistogram(depth_raw, depth_color);
vpDisplay::display(depth_color);
vpDisplay::display(infrared1);
vpDisplay::display(infrared2);
vpDisplay::displayText(color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(depth_color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(infrared1, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(infrared2, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(depth_color);
vpDisplay::flush(infrared1);
vpDisplay::flush(infrared2);
time_vector.push_back(vpTime::measureTimeMs() - t);
if (vpDisplay::getClick(color, false) ||
vpDisplay::getClick(depth_color, false) ||
vpDisplay::getClick(infrared1, false) ||
vpDisplay::getClick(infrared2, false)) {
break;
}
}
// test open -> close -> open sequence
rs.close();
d1.close(color);
d2.close(depth_color);
d3.close(infrared1);
d4.close(infrared2);
std::cout << "Acquisition1 - Mean time: " << vpMath::getMean(time_vector)
<< " ms ; Median time: " << vpMath::getMedian(time_vector) << " ms" << std::endl;
width = 640;
height = 480;
fps = 60;
config.disable_all_streams();
config.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, fps);
config.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, fps);
config.enable_stream(RS2_STREAM_INFRARED, width, height, RS2_FORMAT_Y8, fps);
rs.open(config);
color.init(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
depth_color.init(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
depth_raw.init(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
infrared1.init(static_cast<unsigned int>(height), static_cast<unsigned int>(width));
d1.init(color, 0, 0, "Color");
d2.init(depth_color, color.getWidth(), 0, "Depth");
d3.init(infrared1, 0, color.getHeight() + 100, "Infrared");
time_vector.clear();
t_begin = vpTime::measureTimeMs();
while (vpTime::measureTimeMs() - t_begin < 10000) {
double t = vpTime::measureTimeMs();
rs.acquire(reinterpret_cast<unsigned char *>(color.bitmap),
reinterpret_cast<unsigned char *>(depth_raw.bitmap),
NULL,
reinterpret_cast<unsigned char *>(infrared1.bitmap));
vpImageConvert::createDepthHistogram(depth_raw, depth_color);
vpDisplay::display(depth_color);
vpDisplay::display(infrared1);
vpDisplay::displayText(color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(depth_color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::displayText(infrared1, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(depth_color);
vpDisplay::flush(infrared1);
time_vector.push_back(vpTime::measureTimeMs() - t);
if (vpDisplay::getClick(color, false) ||
vpDisplay::getClick(depth_color, false) ||
vpDisplay::getClick(infrared1, false)) {
break;
}
}
std::cout << "Acquisition2 - Mean time: " << vpMath::getMean(time_vector)
<< " ms ; Median time: " << vpMath::getMedian(time_vector) << " ms" << std::endl;
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_REALSENSE2)
std::cout << "Install librealsense2 to make this test work." << std::endl;
#endif
#if !(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11) "
"to make this test work"
<< std::endl;
#endif
#if !defined(VISP_HAVE_X11) && !defined(VISP_HAVE_GDI)
std::cout << "X11 or GDI are needed." << std::endl;
#endif
return 0;
}
#endif