45 #include <visp3/core/vpImageConvert.h>
46 #include <visp3/core/vpImageTools.h>
47 #include <visp3/gui/vpDisplayGDI.h>
48 #include <visp3/gui/vpDisplayX.h>
49 #include <visp3/sensor/vpRealSense2.h>
51 #if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
52 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
58 unsigned int display_scale = 2;
61 std::cout <<
"Product line: " << product_line << std::endl;
63 if (product_line !=
"T200") {
64 std::cout <<
"This example doesn't support devices that are not part of T200 product line family !" << std::endl;
71 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
72 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
83 std::cout <<
"Left fisheye camera parameters: " << cam_left << std::endl;
85 #if defined(VISP_HAVE_X11)
88 #elif defined(VISP_HAVE_GDI)
93 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
96 d.
init(I, 10, 10,
"Left image");
97 d_undist.
init(I_undist, I.
getWidth() / display_scale + 80, 10,
"Undistorted image");
108 rs.
acquire(&I,
nullptr,
nullptr);
129 std::cerr <<
"RealSense error " << e.
what() << std::endl;
131 catch (
const std::exception &e) {
132 std::cerr << e.what() << std::endl;
140 #if !defined(VISP_HAVE_REALSENSE2)
141 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
142 std::cout <<
"Tip:" << std::endl;
143 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
145 #elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
146 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
147 #elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
148 std::cout <<
"Install librealsense version > 2.31.0" << std::endl;
Implementation of a generic 2D array used as base class for matrices and vectors.
Generic class defining intrinsic camera parameters.
@ ProjWithKannalaBrandtDistortion
Projection with Kannala-Brandt distortion model.
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 getWidth() const
unsigned int getHeight() const
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()