Visual Servoing Platform version 3.5.0
testRealSense2_T265_images.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Images acquisition with RealSense T265 sensor and librealsense2.
33 *
34 *****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpImageConvert.h>
45#include <visp3/gui/vpDisplayGDI.h>
46#include <visp3/gui/vpDisplayX.h>
47#include <visp3/sensor/vpRealSense2.h>
48
49#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
50 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && \
51 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
52
53int main()
54{
55 try {
56 double ts;
57 unsigned int display_scale = 2;
58 vpRealSense2 rs;
59 std::string product_line = rs.getProductLine();
60 std::cout << "Product line: " << product_line << std::endl;
61
62 if (product_line != "T200") {
63 std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
64 return EXIT_SUCCESS;
65 }
66 rs2::config config;
67 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
68 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
69
70 rs.open(config);
71
72 // Creating left and right vpImages
73 vpImage<unsigned char> I_left((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
74 (unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
75
76 vpImage<unsigned char> I_right((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
77 (unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
78
79#if defined(VISP_HAVE_X11)
80 vpDisplayX display_left; // Left image
81 vpDisplayX display_right; // Right image
82#elif defined(VISP_HAVE_GDI)
83 vpDisplayGDI display_left; // Left image
84 vpDisplayGDI display_right; // Right image
85#endif
86
87#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
88 display_left.setDownScalingFactor(display_scale);
89 display_right.setDownScalingFactor(display_scale);
90 display_left.init(I_left, 10, 10, "Left image");
91 display_right.init(I_right, static_cast<int>(I_left.getWidth()/display_scale) + 80, 10, "Right image"); // Right
92#endif
93
94 while (true) {
95 double t = vpTime::measureTimeMs();
96
97 // Acquire both images with timestamp
98 rs.acquire(&I_left, &I_right, &ts);
99
100 vpDisplay::display(I_left);
101 vpDisplay::display(I_right);
102
103 vpDisplay::displayText(I_left, 15*display_scale, 15*display_scale, "Click to quit", vpColor::red);
104 vpDisplay::displayText(I_right, 15*display_scale, 15*display_scale, "Click to quit", vpColor::red);
105
106 if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_right, false)) {
107 break;
108 }
109 vpDisplay::flush(I_left);
110 vpDisplay::flush(I_right);
111
112 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
113 }
114
115 } catch (const vpException &e) {
116 std::cerr << "RealSense error " << e.what() << std::endl;
117 } catch (const std::exception &e) {
118 std::cerr << e.what() << std::endl;
119 }
120
121 return EXIT_SUCCESS;
122}
123#else
124int main()
125{
126#if !defined(VISP_HAVE_REALSENSE2)
127 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
128 std::cout << "Tip:" << std::endl;
129 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
130 return EXIT_SUCCESS;
131#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
132 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
133 std::cout << "Tip:" << std::endl;
134 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
135#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
136 std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
137#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
138 std::cout << "Install librealsense version > 2.31.0" << std::endl;
139#endif
140 return EXIT_SUCCESS;
141}
142#endif
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:231
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
const char * what() const
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
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()