Visual Servoing Platform  version 3.6.1 under development (2024-04-23)

This example shows how to retrieve single image from a RealSense T265 device with librealsense2. Undistorting the image is done using vpImageTools.

* 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 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
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* Description:
* Image acquisition with RealSense T265 sensor and librealsense2 and
* undistorting it using vpImageTools
#include <iostream>
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpImageTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
int main()
try {
unsigned int display_scale = 2;
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;
int cam_index = 1; // Left fisheye camera
// Both streams should be enabled.
// Note: It is not currently possible to enable only one
rs2::config config;
config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);;
cam_left =
vpImage<unsigned char> I((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
vpImage<unsigned char> I_undist((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
(unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
std::cout << "Left fisheye camera parameters: " << cam_left << std::endl;
#if defined(VISP_HAVE_X11)
vpDisplayX d_undist;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d_undist;
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
d.init(I, 10, 10, "Left image");
d_undist.init(I_undist, I.getWidth() / display_scale + 80, 10, "Undistorted image");
vpArray2D<int> mapU, mapV;
vpArray2D<float> mapDu, mapDv;
vpImageTools::initUndistortMap(cam_left, I.getWidth(), I.getHeight(), mapU, mapV, mapDu, mapDv);
while (true) {
double t = vpTime::measureTimeMs();
rs.acquire(&I, nullptr, nullptr); // Acquire only left image
vpImageTools::undistort(I, mapU, mapV, mapDu, mapDv, I_undist);
vpDisplay::displayText(I, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpDisplay::displayText(I_undist, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I, false) || vpDisplay::getClick(I_undist, false))
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << 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;
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;
#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;
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:126
Generic class defining intrinsic camera parameters.
@ ProjWithKannalaBrandtDistortion
Projection with Kannala-Brandt distortion model.
static const vpColor red
Definition: vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:128
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)
Definition: vpDisplay.cpp:227
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.
Definition: vpException.h:59
const char * what() const
Definition: vpException.cpp:70
static void initUndistortMap(const vpCameraParameters &cam, unsigned int width, unsigned int height, vpArray2D< int > &mapU, vpArray2D< int > &mapV, vpArray2D< float > &mapDu, vpArray2D< float > &mapDv)
static void undistort(const vpImage< Type > &I, const vpCameraParameters &cam, vpImage< Type > &newI, unsigned int nThreads=2)
Definition: vpImageTools.h:654
unsigned int getWidth() const
Definition: vpImage.h:245
unsigned int getHeight() const
Definition: vpImage.h:184
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index=-1) const
std::string getProductLine()
VISP_EXPORT double measureTimeMs()