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/*! \example tutorial-grabber-rgbd-D435-structurecore.cpp */
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/sensor/vpOccipitalStructure.h>
#include <visp3/sensor/vpRealSense2.h>
/*!
* Grab color and depth images from Intel RealSense D435 and Occipital Structure Core sensors.
*/
int main()
{
#if defined(VISP_HAVE_REALSENSE2) && defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
// Both cameras can stream color and depth in 640x480 resolution.
unsigned int width = 640, height = 480;
// Grabbers.
vpRealSense2 rs;
vpOccipitalStructure sc;
// Required images to acquire and display color and depth.
vpImage<float> sc_I_depth_raw(height, width);
vpImage<uint16_t> rs_I_depth_raw(height, width);
vpImage<vpRGBa> I_depth_sc(height, width), I_depth_rs(height, width);
vpImage<vpRGBa> I_color_sc(height, width), I_color_rs(height, width);
std::shared_ptr<vpDisplay> d_rs_depth = vpDisplayFactory::createDisplay(I_depth_rs, 10, height + 10, "RealSense Depth");
std::shared_ptr<vpDisplay> d_sc_depth = vpDisplayFactory::createDisplay(I_depth_sc, width + 10, height + 10, "Structure Core Depth");
std::shared_ptr<vpDisplay> d_color_rs = vpDisplayFactory::createDisplay(I_color_rs, 10, 10, "RealSense Color");
std::shared_ptr<vpDisplay> d_color_sc = vpDisplayFactory::createDisplay(I_color_sc, width + 10, 10, "Structure Core Color");
// Configuring and opening RealSense grabber.
rs2::config cfg;
cfg.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_RGBA8, 30);
cfg.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16, 30);
rs.open(cfg);
// Configuring and opening Structure Core grabber.
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);
// Acquiring images.
for (;;) {
rs.acquire(reinterpret_cast<unsigned char *>(I_color_rs.bitmap),
reinterpret_cast<unsigned char *>(rs_I_depth_raw.bitmap), nullptr, nullptr, nullptr, nullptr, nullptr);
sc.acquire(reinterpret_cast<unsigned char *>(I_color_sc.bitmap),
reinterpret_cast<unsigned char *>(sc_I_depth_raw.bitmap));
// Converting raw depth data to color images.
vpImageConvert::createDepthHistogram(rs_I_depth_raw, I_depth_rs);
vpImageConvert::createDepthHistogram(sc_I_depth_raw, I_depth_sc);
vpDisplay::display(I_color_rs);
vpDisplay::display(I_color_sc);
vpDisplay::display(I_depth_rs);
vpDisplay::display(I_depth_sc);
vpDisplay::flush(I_color_rs);
vpDisplay::flush(I_color_sc);
vpDisplay::flush(I_depth_rs);
vpDisplay::flush(I_depth_sc);
if (vpDisplay::getClick(I_color_rs, false) || vpDisplay::getClick(I_color_sc, false) ||
vpDisplay::getClick(I_depth_rs, false) || vpDisplay::getClick(I_depth_sc, false)) {
break;
}
}
#else
#if !(defined(VISP_HAVE_OCCIPITAL_STRUCTURE))
std::cout << "Install libStructure, configure and build ViSP again to use this example" << std::endl;
#endif
#if !(defined(VISP_HAVE_REALSENSE2))
std::cout << "Install librealsense, configure and build ViSP again to use this example" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "This tutorial should be built with c++11 support" << std::endl;
#endif
#endif
}
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