2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayGDI.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/gui/vpDisplayX.h>
6#include <visp3/sensor/vpRealSense.h>
7#include <visp3/sensor/vpRealSense2.h>
8#include <visp3/io/vpImageStorageWorker.h>
13int main(
int argc,
char **argv)
15#if defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
17 std::string opt_seqname;
18 int opt_record_mode = 0;
21 for (
int i = 0; i < argc; i++) {
22 if (std::string(argv[i]) ==
"--seqname")
23 opt_seqname = std::string(argv[i + 1]);
24 else if (std::string(argv[i]) ==
"--record")
25 opt_record_mode = std::atoi(argv[i + 1]);
26 else if (std::string(argv[i]) ==
"--fps")
27 opt_fps = std::atoi(argv[i + 1]);
28 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
29 std::cout <<
"\nUsage: " << argv[0]
30 <<
" [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
31 " [--fps <6|15|30|60>] [--help] [-h]\n"
32 <<
"\nExample to visualize images:\n"
33 <<
" " << argv[0] <<
"\n"
34 <<
"\nExamples to record a sequence:\n"
35 <<
" " << argv[0] <<
" --seqname I%04d.png \n"
36 <<
" " << argv[0] <<
" --seqname folder/I%04d.png --record 0\n"
37 <<
"\nExamples to record single shot images:\n"
38 <<
" " << argv[0] <<
" --seqname I%04d.png --record 1\n"
39 <<
" " << argv[0] <<
" --seqname folder/I%04d.png --record 1\n"
45 if (opt_fps != 6 && opt_fps != 15 && opt_fps != 30 && opt_fps != 60) {
48 std::cout <<
"Recording : " << (opt_seqname.empty() ?
"disabled" :
"enabled") << std::endl;
49 std::cout <<
"Framerate : " << opt_fps << std::endl;
51 std::string text_record_mode = std::string(
"Record mode: ") + (opt_record_mode ? std::string(
"single") :
std::string(
"continuous"));
53 if (! opt_seqname.empty()) {
54 std::cout << text_record_mode << std::endl;
55 std::cout <<
"Record name: " << opt_seqname << std::endl;
59#ifdef VISP_HAVE_REALSENSE2
60 std::cout <<
"SDK : Realsense 2" << std::endl;
63 config.disable_stream(RS2_STREAM_DEPTH);
64 config.disable_stream(RS2_STREAM_INFRARED);
65 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, opt_fps);
68 std::cout <<
"SDK : Realsense 1" << std::endl;
70 unsigned int width = 640, height = 480;
76 std::cout <<
"Image size : " << I.
getWidth() <<
" " << I.
getHeight() << std::endl;
80#elif defined(VISP_HAVE_GDI)
82#elif defined(VISP_HAVE_OPENCV)
85 std::cout <<
"No image viewer is available..." << std::endl;
99 quit = image_queue.record(I);
101 std::stringstream ss;
106 image_queue.cancel();
107 image_storage_thread.join();
109 std::cout <<
"Catch an exception: " << e << std::endl;
114#if !(defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2))
115 std::cout <<
"Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
117#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
118 std::cout <<
"This turorial should be built with c++11 support" << std::endl;
Display for windows using GDI (available on any windows 32 platform).
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...
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.
unsigned int getWidth() const
unsigned int getHeight() const
bool open(const rs2::config &cfg=rs2::config())
void setStreamSettings(const rs::stream &stream, const rs::preset &preset)
void acquire(std::vector< vpColVector > &pointcloud)
VISP_EXPORT double measureTimeMs()