Visual Servoing Platform  version 3.5.1 under development (2022-07-07)
tutorial-grabber-realsense-T265.cpp
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageStorageWorker.h>
#include <visp3/sensor/vpRealSense2.h>
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--fps <6|15|30|60>]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --fps <6|15|30|60>" << std::endl
<< " Frames per second." << std::endl
<< " Default: 30." << std::endl
<< std::endl
<< " --record <mode>" << std::endl
<< " Allowed values for mode are:" << std::endl
<< " 0: record all the captures images (continuous mode)," << std::endl
<< " 1: record only images selected by a user click (single shot mode)." << std::endl
<< " Default mode: 0" << std::endl
<< std::endl
<< " --no-display" << std::endl
<< " Disable displaying captured images." << std::endl
<< " When used and sequence name specified, record mode is internaly set to 1 (continuous mode)."
<< std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout << "USAGE" << std::endl
<< " Example to visualize images:" << std::endl
<< " " << argv[0] << std::endl
<< std::endl
<< " Example to record a sequence of images:" << std::endl
<< " " << argv[0] << " --record 0" << std::endl
<< std::endl
<< " Example to record single shot images:\n"
<< " " << argv[0] << " --record 1" << std::endl
<< std::endl;
if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}
int main(int argc, const char *argv[])
{
#if defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) && \
(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
std::string opt_seqname_left = "left-%04d.png", opt_seqname_right = "right-%04d.png";
int opt_record_mode = 0;
int opt_fps = 30;
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--fps") {
opt_fps = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--record") {
opt_record_mode = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--no-display") {
opt_display = false;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
usage(argv, 0);
return EXIT_SUCCESS;
} else {
usage(argv, i);
return EXIT_FAILURE;
}
}
if (!opt_display) {
opt_record_mode = 0;
}
std::cout << "Framerate : " << opt_fps << std::endl;
std::cout << "Display : " << (opt_display ? "enabled" : "disabled") << std::endl;
std::string text_record_mode =
std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
std::cout << text_record_mode << std::endl;
std::cout << "Left record name: " << opt_seqname_left << std::endl;
std::cout << "Right record name: " << opt_seqname_right << std::endl;
vpImage<unsigned char> I_left, I_right;
rs2::config config;
config.enable_stream(RS2_STREAM_FISHEYE, 1);
config.enable_stream(RS2_STREAM_FISHEYE, 2);
g.open(config);
g.acquire(&I_left, &I_right);
std::cout << "Image size : " << I_left.getWidth() << " " << I_right.getHeight() << std::endl;
vpDisplay *display_left = NULL, *display_right = NULL;
if (opt_display) {
#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#endif
}
if (opt_display) {
#ifdef VISP_HAVE_X11
display_left = new vpDisplayX(I_left, 10, 10, "Left image");
display_right = new vpDisplayX(I_right, I_left.getWidth(), 10, "Right image");
#elif defined(VISP_HAVE_GDI)
display_left = new vpDisplayGDI(I_left, 10, 10, "Left image");
display_right = new vpDisplayGDI(I_right, I_left.getWidth(), 10, "Right image");
#elif defined(VISP_HAVE_OPENCV)
display_left = new vpDisplayOpenCV(I_left, 10, 10, "Left image");
display_right = new vpDisplayOpenCV(I_right, I_left.getWidth(), 10, "Right image");
#endif
}
vpImageQueue<unsigned char> image_queue_left(opt_seqname_left, opt_record_mode);
vpImageQueue<unsigned char> image_queue_right(opt_seqname_right, opt_record_mode);
vpImageStorageWorker<unsigned char> image_left_storage_worker(std::ref(image_queue_left));
vpImageStorageWorker<unsigned char> image_right_storage_worker(std::ref(image_queue_right));
std::thread image_left_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_left_storage_worker);
std::thread image_right_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_right_storage_worker);
bool quit = false;
while (!quit) {
double t = vpTime::measureTimeMs();
g.acquire(&I_left, &I_right);
quit = image_queue_left.record(I_left);
quit |= image_queue_right.record(I_right, NULL, image_queue_left.getRecordingTrigger(), true);
std::stringstream ss;
ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
vpDisplay::displayText(I_left, I_left.getHeight() - 20, 10, ss.str(), vpColor::red);
vpDisplay::flush(I_right);
}
image_queue_left.cancel();
image_queue_right.cancel();
image_left_storage_thread.join();
image_right_storage_thread.join();
if (display_left) {
delete display_left;
}
if (display_right) {
delete display_right;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#if !(defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)))
std::cout << "Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "This turorial should be built with c++11 support" << std::endl;
#endif
#endif
}
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
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 emited by ViSP classes.
Definition: vpException.h:72
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()