Visual Servoing Platform version 3.6.0
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testRealSense2_T265_images.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
51
52int main()
53{
54 try {
55 double ts;
56 unsigned int display_scale = 2;
57 vpRealSense2 rs;
58 std::string product_line = rs.getProductLine();
59 std::cout << "Product line: " << product_line << std::endl;
60
61 if (product_line != "T200") {
62 std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
63 return EXIT_SUCCESS;
64 }
65 rs2::config config;
66 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
67 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
68
69 rs.open(config);
70
71 // Creating left and right vpImages
72 vpImage<unsigned char> I_left((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
73 (unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
74
75 vpImage<unsigned char> I_right((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
76 (unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
77
78#if defined(VISP_HAVE_X11)
79 vpDisplayX display_left; // Left image
80 vpDisplayX display_right; // Right image
81#elif defined(VISP_HAVE_GDI)
82 vpDisplayGDI display_left; // Left image
83 vpDisplayGDI display_right; // Right image
84#endif
85
86#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
87 display_left.setDownScalingFactor(display_scale);
88 display_right.setDownScalingFactor(display_scale);
89 display_left.init(I_left, 10, 10, "Left image");
90 display_right.init(I_right, static_cast<int>(I_left.getWidth() / display_scale) + 80, 10, "Right image"); // Right
91#endif
92
93 while (true) {
94 double t = vpTime::measureTimeMs();
95
96 // Acquire both images with timestamp
97 rs.acquire(&I_left, &I_right, &ts);
98
99 vpDisplay::display(I_left);
100 vpDisplay::display(I_right);
101
102 vpDisplay::displayText(I_left, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
103 vpDisplay::displayText(I_right, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
104
105 if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_right, false)) {
106 break;
107 }
108 vpDisplay::flush(I_left);
109 vpDisplay::flush(I_right);
110
111 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
112 }
113
114 } catch (const vpException &e) {
115 std::cerr << "RealSense error " << e.what() << std::endl;
116 } catch (const std::exception &e) {
117 std::cerr << e.what() << std::endl;
118 }
119
120 return EXIT_SUCCESS;
121}
122#else
123int main()
124{
125#if !defined(VISP_HAVE_REALSENSE2)
126 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
127 std::cout << "Tip:" << std::endl;
128 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
129 return EXIT_SUCCESS;
130#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
131 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
132 std::cout << "Tip:" << std::endl;
133 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
134#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
135 std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
136#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
137 std::cout << "Install librealsense version > 2.31.0" << std::endl;
138#endif
139 return EXIT_SUCCESS;
140}
141#endif
static const vpColor red
Definition vpColor.h:211
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...
Definition vpDisplayX.h:132
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 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.
Definition vpException.h:59
const char * what() const
Definition of the vpImage class member functions.
Definition vpImage.h:135
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()