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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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:
* Images acquisition with RealSense T265 sensor and librealsense2.
*/
/*!
\example testRealSense2_T265_images.cpp
This example shows how to retrieve images from a RealSense T265 sensor with
librealsense2.
*/
#include <iostream>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
double ts;
unsigned int display_scale = 2;
vpRealSense2 rs;
std::string product_line = rs.getProductLine();
std::cout << "Product line: " << product_line << std::endl;
if (product_line != "T200") {
std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
return EXIT_SUCCESS;
}
rs2::config config;
config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
rs.open(config);
// Creating left and right vpImages
vpImage<unsigned char> I_left(static_cast<unsigned int>(rs.getIntrinsics(RS2_STREAM_FISHEYE).height),
static_cast<unsigned int>(rs.getIntrinsics(RS2_STREAM_FISHEYE).width));
vpImage<unsigned char> I_right(static_cast<unsigned int>(rs.getIntrinsics(RS2_STREAM_FISHEYE).height),
static_cast<unsigned int>(rs.getIntrinsics(RS2_STREAM_FISHEYE).width));
#if defined(VISP_HAVE_X11)
vpDisplayX display_left; // Left image
vpDisplayX display_right; // Right image
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_left; // Left image
vpDisplayGDI display_right; // Right image
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
display_left.setDownScalingFactor(display_scale);
display_right.setDownScalingFactor(display_scale);
display_left.init(I_left, 10, 10, "Left image");
display_right.init(I_right, static_cast<int>(I_left.getWidth() / display_scale) + 80, 10, "Right image"); // Right
#endif
while (true) {
double t = vpTime::measureTimeMs();
// Acquire both images with timestamp
rs.acquire(&I_left, &I_right, &ts);
vpDisplay::display(I_left);
vpDisplay::display(I_right);
vpDisplay::displayText(I_left, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpDisplay::displayText(I_right, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_right, false)) {
break;
}
vpDisplay::flush(I_left);
vpDisplay::flush(I_right);
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
}
}
catch (const vpException &e) {
std::cerr << "RealSense 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_REALSENSE2)
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))
std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
std::cout << "Install librealsense version > 2.31.0" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif
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