Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
testRealSense2_T265_undistort.cpp

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 - 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:
* 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>
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
(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;
return EXIT_SUCCESS;
}
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);
rs.open(config);
cam_left = rs.getCameraParameters(RS2_STREAM_FISHEYE, vpCameraParameters::ProjWithKannalaBrandtDistortion, cam_index);
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;
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
d.setDownScalingFactor(display_scale);
d_undist.setDownScalingFactor(display_scale);
d.init(I, 10, 10, "Left image");
d_undist.init(I_undist, I.getWidth()/display_scale + 80, 10, "Undistorted image");
#endif
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, NULL, NULL); // Acquire only left image
vpImageTools::undistort(I, mapU, mapV, mapDu, mapDv, I_undist);
vpDisplay::display(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))
break;
vpDisplay::flush(I_undist);
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;
}
return EXIT_SUCCESS;
}
#else
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;
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;
#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
std::cout << "Install librealsense version > 2.31.0" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif