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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2025 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Point cloud depth visualization with Occipital Structure Core sensor.
*/
/*!
\example testOccipitalStructure_Core_pcl.cpp
This example visualize point cloud from a Occipital Structure Core sensor
with libStructure. If a color sensor is used, RGB pointcloud is visualized.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && (defined(VISP_HAVE_PCL)) && defined(VISP_HAVE_PCL_VISUALIZATION)
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpOccipitalStructure.h>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
unsigned int display_scale = 1;
vpOccipitalStructure sc;
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.visibleEnabled = true;
settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.
sc.open(settings);
// Calling these 2 functions to set internal variables.
sc.getCameraParameters(vpOccipitalStructure::visible);
sc.getCameraParameters(vpOccipitalStructure::depth);
#if defined(VISP_HAVE_X11)
vpDisplayX display_visible; // Visible image
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_visible; // Visible image
#endif
vpImage<vpRGBa> I_visible(sc.getHeight(vpOccipitalStructure::visible), sc.getWidth(vpOccipitalStructure::visible),
vpRGBa(0));
;
display_visible.setDownScalingFactor(display_scale);
display_visible.init(I_visible, static_cast<int>(I_visible.getWidth() / display_scale) + 80, 10, "Color image");
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>);
sc.acquire((unsigned char *)I_visible.bitmap, nullptr, nullptr, pointcloud);
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud);
viewer->setBackgroundColor(0, 0, 0);
viewer->initCameraParameters();
viewer->setCameraPosition(0, 0, -0.5, 0, -1, 0);
while (true) {
double t = vpTime::measureTimeMs();
// Acquire depth as point cloud.
sc.acquire((unsigned char *)I_visible.bitmap, nullptr, nullptr, pointcloud);
vpDisplay::display(I_visible);
vpDisplay::displayText(I_visible, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpDisplay::flush(I_visible);
if (vpDisplay::getClick(I_visible, false))
break;
static bool update = false;
if (!update) {
viewer->addPointCloud<pcl::PointXYZRGB>(pointcloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
update = true;
}
else {
viewer->updatePointCloud<pcl::PointXYZRGB>(pointcloud, rgb, "sample cloud");
}
viewer->spinOnce(30);
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
}
}
catch (const vpException &e) {
std::cerr << "Structure SDK error " << e.what() << std::endl;
}
catch (const std::exception &e) {
std::cerr << e.what() << std::endl;
}
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined( VISP_HAVE_OCCIPITAL_STRUCTURE )
std::cout << "You do not have Occipital Structure SDK functionality enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install libStructure, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
#elif ( VISP_CXX_STANDARD < VISP_CXX_STANDARD_11 )
std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
#elif !defined( VISP_HAVE_PCL )
std::cout << "You do not have PCL 3rd party installed." << std::endl;
#elif !defined( VISP_HAVE_PCL_VISUALIZATION )
std::cout << "You do not have PCL visualization module." << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif
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