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/*! \example tutorial-pose-from-points-realsense-T265.cpp */
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vpRealSense2.h>
#endif
#include <visp3/gui/vpDisplayFactory.h>
#include "pose_helper.h"
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_DISPLAY) && \
defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
try {
double opt_square_width = 0.12;
int opt_camera_index = 1; // camera index: 1. Left, 2.Right
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--camera-index" && i + 1 < argc) {
opt_camera_index = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--square-width" && i + 1 < argc) {
opt_square_width = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--camera-index <1.Left | 2.Right> (default: 1)]"
<< " [--square-width <square width in meter (default: 0.12)]"
<< " [--help] [-h]\n"
<< std::endl
<< "\nExample using right camera and square size 0.1:\n"
<< " " << argv[0] << "--camera-index 2 --square-width 0.1\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
vpImage<unsigned char> I;
//! [Grabber]
std::cout << "Use Realsense 2 grabber" << std::endl;
vpRealSense2 g;
rs2::config config;
config.enable_stream(RS2_STREAM_FISHEYE, 1);
config.enable_stream(RS2_STREAM_FISHEYE, 2);
g.open(config);
if (opt_camera_index == 1) // Left camera
g.acquire(&I, nullptr, nullptr);
else
g.acquire(nullptr, &I, nullptr);
std::cout << "Read camera parameters from Realsense device" << std::endl;
// Parameters of our camera
vpCameraParameters cam = g.getCameraParameters(
RS2_STREAM_FISHEYE, vpCameraParameters::ProjWithKannalaBrandtDistortion, opt_camera_index);
//! [Grabber]
std::cout << "Square width : " << opt_square_width << std::endl;
std::cout << cam << std::endl;
// The pose container
vpHomogeneousMatrix cMo;
std::vector<vpDot2> dot(4);
std::vector<vpPoint> point; // 3D coordinates of the points
std::vector<vpImagePoint> ip; // 2D coordinates of the points in pixels
double L = opt_square_width / 2.;
point.push_back(vpPoint(-L, -L, 0));
point.push_back(vpPoint(L, -L, 0));
point.push_back(vpPoint(L, L, 0));
point.push_back(vpPoint(-L, L, 0));
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I);
#else
display = vpDisplayFactory::allocateDisplay(I);
#endif
bool quit = false;
bool apply_cv = false; // apply computer vision
bool init_cv = true; // initialize tracking and pose computation
while (!quit) {
double t_begin = vpTime::measureTimeMs();
if (opt_camera_index == 1)
g.acquire(&I, nullptr, nullptr);
else
g.acquire(nullptr, &I, nullptr);
vpDisplay::display(I);
if (apply_cv) {
try {
ip = track(I, dot, init_cv);
computePose(point, ip, cam, init_cv, cMo);
vpDisplay::displayFrame(I, cMo, cam, opt_square_width, vpColor::none, 3);
if (init_cv)
init_cv = false; // turn off the computer vision initialisation specific stuff
{ // Display estimated pose in [m] and [deg]
vpPoseVector pose(cMo);
std::stringstream ss;
ss << "Translation: " << std::setprecision(5) << pose[0] << " " << pose[1] << " " << pose[2] << " [m]";
vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
ss.str(""); // erase ss
ss << "Rotation tu: " << std::setprecision(4) << vpMath::deg(pose[3]) << " " << vpMath::deg(pose[4]) << " "
<< vpMath::deg(pose[5]) << " [deg]";
vpDisplay::displayText(I, 80, 20, ss.str(), vpColor::red);
}
}
catch (...) {
std::cout << "Computer vision failure." << std::endl;
apply_cv = false;
init_cv = true;
}
}
vpDisplay::displayText(I, 20, 20, "Right click: quit", vpColor::red);
if (apply_cv) {
vpDisplay::displayText(I, 40, 20, "Computer vision in progress...", vpColor::red);
}
else {
vpDisplay::displayText(I, 40, 20, "Left click : start", vpColor::red);
}
vpMouseButton::vpMouseButtonType button;
if (vpDisplay::getClick(I, button, false)) {
if (button == vpMouseButton::button3) {
quit = true;
}
else if (button == vpMouseButton::button1) {
apply_cv = true;
}
}
{
std::stringstream ss;
ss << "Time: " << vpTime::measureTimeMs() - t_begin << " ms";
vpDisplay::displayText(I, 20, I.getWidth() - 100, ss.str(), vpColor::red);
}
vpDisplay::flush(I);
}
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
#elif !defined(VISP_HAVE_REALSENSE2)
(void)argc;
(void)argv;
std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
(void)argc;
(void)argv;
std::cout << "Install a 3rd party dedicated to image display (X11, GDI, OpenCV), configure and build ViSP again to "
"use this example"
<< std::endl;
#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
(void)argc;
(void)argv;
std::cout << "Install librealsense version > 2.31.0" << std::endl;
#endif
}
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