48#include <visp3/core/vpMeterPixelConversion.h>
49#include <visp3/gui/vpDisplayGDI.h>
50#include <visp3/gui/vpDisplayX.h>
51#include <visp3/sensor/vpRealSense2.h>
53#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
54 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
61 unsigned int confidence;
64 std::list<std::pair<unsigned int, vpImagePoint> >
66 unsigned int display_scale = 2;
72 std::cout <<
"Product line: " << product_line << std::endl;
74 if (product_line !=
"T200") {
75 std::cout <<
"This example doesn't support devices that are not part of T200 product line family !" << std::endl;
80 config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
81 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
82 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
83 config.enable_stream(RS2_STREAM_GYRO);
84 config.enable_stream(RS2_STREAM_ACCEL);
94 rs.
acquire(&I_left, &I_right, &cMw_0, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
96#if defined(VISP_HAVE_X11)
100#elif defined(VISP_HAVE_GDI)
106#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
109 display_left.
init(I_left, 10, 10,
"Left image");
110 display_right.
init(I_right,
static_cast<int>(I_left.
getWidth() / display_scale) + 80, 10,
"Right image");
111 display_pose.
init(I_pose, 10,
static_cast<int>(I_left.
getHeight() / display_scale) + 80,
118 frame_origins.push_back(std::make_pair(confidence, frame_origin));
123 rs.
acquire(&I_left, &I_right, &cMw, &odo_vel, &odo_acc, &imu_vel, &imu_acc, &confidence, &ts);
131 frame_origins.push_back(std::make_pair(confidence, frame_origin));
142 std::list<std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
143 std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
144 for (; it != frame_origins.end(); ++it) {
147 I_pose, frame_origin_pair_prev.second, (*it).second,
149 frame_origin_pair_prev = *it;
161 std::cout <<
"Loop time: " << std::setw(8) <<
vpTime::measureTimeMs() - t <<
"ms. Confidence = " << confidence;
162 std::cout <<
" Gyro vel: x = " << std::setw(10) << std::setprecision(3) << imu_vel[0] <<
" y = " << std::setw(10)
163 << std::setprecision(3) << imu_vel[1] <<
" z = " << std::setw(8) << imu_vel[2];
164 std::cout <<
" Accel: x = " << std::setw(10) << std::setprecision(3) << imu_acc[0] <<
" y = " << std::setw(10)
165 << std::setprecision(3) << imu_acc[1] <<
" z = " << std::setw(8) << imu_acc[2];
166 std::cout << std::endl;
170 std::cerr <<
"RealSense error " << e.
what() << std::endl;
171 }
catch (
const std::exception &e) {
172 std::cerr << e.what() << std::endl;
180#if !defined(VISP_HAVE_REALSENSE2)
181 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
182 std::cout <<
"Tip:" << std::endl;
183 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
185#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
186 std::cout <<
"You do not build ViSP with c++11 or higher compiler flag" << std::endl;
187 std::cout <<
"Tip:" << std::endl;
188 std::cout <<
"- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
189#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
190 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
191#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
192 std::cout <<
"Install librealsense version > 2.31.0" << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Class to define RGB colors available for display functionalities.
static const vpColor none
static const vpColor green
Display for windows using GDI (available on any windows 32 platform).
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
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)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
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 emitted by ViSP classes.
const char * what() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
Definition of the vpImage class member functions.
unsigned int getWidth() const
unsigned int getHeight() const
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())
std::string getProductLine()
VISP_EXPORT double measureTimeMs()