44 #include <visp3/core/vpMeterPixelConversion.h>
45 #include <visp3/gui/vpDisplayGDI.h>
46 #include <visp3/gui/vpDisplayX.h>
47 #include <visp3/sensor/vpRealSense2.h>
49 #if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
50 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
56 unsigned int confidence;
60 std::list<std::pair<unsigned int, vpImagePoint> >
66 std::cout <<
"Product line: " << product_line << std::endl;
68 if (product_line !=
"T200") {
69 std::cout <<
"This example doesn't support devices that are not part of T200 product line family !" << std::endl;
73 config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
81 #if defined(VISP_HAVE_X11)
83 #elif defined(VISP_HAVE_GDI)
87 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
88 display_pose.
init(I_pose, 10, 10,
"Pose visualizer");
96 frame_origins.push_back(std::make_pair(confidence, frame_origin));
106 frame_origins.push_back(std::make_pair(confidence, frame_origin));
115 std::list<std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
116 std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
117 for (; it != frame_origins.end(); ++it) {
120 I_pose, frame_origin_pair_prev.second, (*it).second,
122 frame_origin_pair_prev = *it;
137 std::cerr <<
"RealSense error " << e.
what() << std::endl;
139 catch (
const std::exception &e) {
140 std::cerr << e.what() << std::endl;
148 #if !defined(VISP_HAVE_REALSENSE2)
149 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
150 std::cout <<
"Tip:" << std::endl;
151 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
153 #elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
154 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
155 #elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
156 std::cout <<
"Install librealsense version > 2.31.0" << std::endl;
Generic class defining intrinsic camera parameters.
static const vpColor none
static const vpColor yellow
static const vpColor green
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)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
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
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
bool open(const rs2::config &cfg=rs2::config())
std::string getProductLine()
unsigned int getOdometryData(vpHomogeneousMatrix *cMw, vpColVector *odo_vel, vpColVector *odo_acc, double *ts=nullptr)
VISP_EXPORT double measureTimeMs()