4 #include <visp3/core/vpImageConvert.h>
5 #include <visp3/gui/vpDisplayGDI.h>
6 #include <visp3/gui/vpDisplayX.h>
7 #include <visp3/sensor/vpOccipitalStructure.h>
8 #include <visp3/sensor/vpRealSense2.h>
13 int main(
int argc,
char **argv)
15 #if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
17 unsigned int width = 640, height = 480;
29 vpDisplayX d_rs_depth(I_depth_rs, 10, height + 10,
"RealSense Depth"),
30 d_sc_depth(I_depth_sc, width + 10, height + 10,
"Structure Core Depth");
31 vpDisplayX d_color_rs(I_color_rs, 10, 10,
"RealSense Color"),
32 d_color_sc(I_color_sc, width + 10, 10,
"Structure Core Color");
36 cfg.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, 30);
37 cfg.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, 30);
41 ST::CaptureSessionSettings settings;
42 settings.source = ST::CaptureSessionSourceId::StructureCore;
43 settings.structureCore.visibleEnabled =
true;
44 settings.applyExpensiveCorrection =
true;
49 rs.
acquire(
reinterpret_cast<unsigned char *
>(I_color_rs.bitmap),
50 reinterpret_cast<unsigned char *
>(rs_I_depth_raw.bitmap),
nullptr,
nullptr,
nullptr,
nullptr,
nullptr);
51 sc.
acquire(
reinterpret_cast<unsigned char *
>(I_color_sc.bitmap),
52 reinterpret_cast<unsigned char *
>(sc_I_depth_raw.bitmap));
76 #if !(defined(VISP_HAVE_OCCIPITAL_STRUCTURE))
77 std::cout <<
"Install libStructure, configure and build ViSP again to use this example" << std::endl;
79 #if !(defined(VISP_HAVE_REALSENSE2))
80 std::cout <<
"Install librealsense, configure and build ViSP again to use this example" << std::endl;
82 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
83 std::cout <<
"This tutorial should be built with c++11 support" << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=nullptr)
bool open(const ST::CaptureSessionSettings &settings)
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())