Visual Servoing Platform version 3.5.0
tutorial-grabber-rgbd-D435-structurecore.cpp
1
2#include <iostream>
3
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>
9
13int main(int argc, char **argv)
14{
15#if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
16 // Both cameras can stream color and depth in 640x480 resolution.
17 unsigned int width = 640, height = 480;
18
19 // Grabbers.
20 vpRealSense2 rs;
22
23 // Required images to acquire and display color and depth.
24 vpImage<float> sc_I_depth_raw(height, width);
25 vpImage<uint16_t> rs_I_depth_raw(height, width);
26 vpImage<vpRGBa> I_depth_sc(height, width), I_depth_rs(height, width);
27 vpImage<vpRGBa> I_color_sc(height, width), I_color_rs(height, width);
28
29 vpDisplayX d_rs_depth(I_depth_rs, 10, height + 10, "RealSense Depth"), d_sc_depth(I_depth_sc, width + 10, height + 10, "Structure Core Depth");
30 vpDisplayX d_color_rs(I_color_rs, 10, 10, "RealSense Color"), d_color_sc(I_color_sc, width + 10, 10, "Structure Core Color");
31
32 // Configuring and opening RealSense grabber.
33 rs2::config cfg;
34 cfg.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, 30);
35 cfg.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, 30);
36 rs.open(cfg);
37
38 // Configuring and opening Structure Core grabber.
39 ST::CaptureSessionSettings settings;
40 settings.source = ST::CaptureSessionSourceId::StructureCore;
41 settings.structureCore.visibleEnabled = true;
42 settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.
43 sc.open(settings);
44
45 // Acquiring images.
46 for(;;)
47 {
48 rs.acquire(reinterpret_cast<unsigned char *>(I_color_rs.bitmap), reinterpret_cast<unsigned char *>(rs_I_depth_raw.bitmap),
49 NULL, NULL, NULL, NULL, NULL);
50 sc.acquire(reinterpret_cast<unsigned char *>(I_color_sc.bitmap), reinterpret_cast<unsigned char *>(sc_I_depth_raw.bitmap));
51
52 // Converting raw depth data to color images.
53 vpImageConvert::createDepthHistogram(rs_I_depth_raw, I_depth_rs);
54 vpImageConvert::createDepthHistogram(sc_I_depth_raw, I_depth_sc);
55
56 vpDisplay::display(I_color_rs);
57 vpDisplay::display(I_color_sc);
58 vpDisplay::display(I_depth_rs);
59 vpDisplay::display(I_depth_sc);
60
61 vpDisplay::flush(I_color_rs);
62 vpDisplay::flush(I_color_sc);
63 vpDisplay::flush(I_depth_rs);
64 vpDisplay::flush(I_depth_sc);
65
66 if(vpDisplay::getClick(I_color_rs, false) || vpDisplay::getClick(I_color_sc, false) ||
67 vpDisplay::getClick(I_depth_rs, false) || vpDisplay::getClick(I_depth_sc, false))
68 {
69 break;
70 }
71 }
72#else
73 (void) argc;
74 (void) argv;
75#if !(defined(VISP_HAVE_OCCIPITAL_STRUCTURE))
76 std::cout << "Install libStructure, configure and build ViSP again to use this example" << std::endl;
77#endif
78#if !(defined(VISP_HAVE_REALSENSE2))
79 std::cout << "Install librealsense, configure and build ViSP again to use this example" << std::endl;
80#endif
81#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
82 std::cout << "This turorial should be built with c++11 support" << std::endl;
83#endif
84#endif
85}
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
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=NULL)
bool open(const ST::CaptureSessionSettings &settings)
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())