Visual Servoing Platform version 3.5.0
tutorial-pose-from-points-realsense-T265.cpp
1
2#include <visp3/core/vpConfig.h>
3#ifdef VISP_HAVE_MODULE_SENSOR
4#include <visp3/sensor/vpRealSense2.h>
5#endif
6#include <visp3/gui/vpDisplayGDI.h>
7#include <visp3/gui/vpDisplayOpenCV.h>
8#include <visp3/gui/vpDisplayX.h>
9
10#include "pose_helper.h"
11
12int main(int argc, char **argv)
13{
14#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && \
15 defined(VISP_HAVE_REALSENSE2) && \
16 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
17 try {
18 double opt_square_width = 0.12;
19 int opt_camera_index = 1; // camera index: 1. Left, 2.Right
20
21 for (int i = 0; i < argc; i++) {
22 if (std::string(argv[i]) == "--camera_index" && i + 1 < argc) {
23 opt_camera_index = atoi(argv[i + 1]);
24 } else if(std::string(argv[i]) == "--square_width" && i + 1 < argc) {
25 opt_square_width = atoi(argv[i + 1]);
26 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
27 std::cout << "\nUsage: " << argv[0]
28 << " [--camera_index <1.Left | 2.Right> (default: 1)]"
29 << " [--square_width <square width in meter (default: 0.12)] [--help] [-h]\n"
30 << "\nExample using right camera and square size 0.1:\n"
31 << " " << argv[0] << "--camera_index 2 --square_width 0.1\n"
32 << std::endl;
33 return 0;
34 }
35 }
36
38
40 std::cout << "Use Realsense 2 grabber" << std::endl;
42 rs2::config config;
43 config.enable_stream(RS2_STREAM_FISHEYE, 1);
44 config.enable_stream(RS2_STREAM_FISHEYE, 2);
45
46 g.open(config);
47 if(opt_camera_index == 1) // Left camera
48 g.acquire(&I, NULL, NULL);
49 else
50 g.acquire(NULL, &I, NULL);
51
52 std::cout << "Read camera parameters from Realsense device" << std::endl;
53 // Parameters of our camera
56
57 std::cout << "Square width : " << opt_square_width << std::endl;
58 std::cout << cam << std::endl;
59
60 // The pose container
62
63 std::vector<vpDot2> dot(4);
64 std::vector<vpPoint> point; // 3D coordinates of the points
65 std::vector<vpImagePoint> ip; // 2D coordinates of the points in pixels
66 double L = opt_square_width / 2.;
67 point.push_back(vpPoint(-L, -L, 0));
68 point.push_back(vpPoint( L, -L, 0));
69 point.push_back(vpPoint( L, L, 0));
70 point.push_back(vpPoint(-L, L, 0));
71
72#if defined(VISP_HAVE_X11)
73 vpDisplayX d(I);
74#elif defined(VISP_HAVE_GDI)
75 vpDisplayGDI d(I);
76#elif defined(VISP_HAVE_OPENCV)
77 vpDisplayOpenCV d(I);
78#endif
79
80 bool quit = false;
81 bool apply_cv = false; // apply computer vision
82 bool init_cv = true; // initialize tracking and pose computation
83
84 while (! quit) {
85 double t_begin = vpTime::measureTimeMs();
86
87 if(opt_camera_index == 1)
88 g.acquire(&I, NULL, NULL);
89 else
90 g.acquire(NULL, &I, NULL);
91
93 if (apply_cv) {
94 try {
95 ip = track(I, dot, init_cv);
96 computePose(point, ip, cam, init_cv, cMo);
97 vpDisplay::displayFrame(I, cMo, cam, opt_square_width, vpColor::none, 3);
98 if (init_cv)
99 init_cv = false; // turn off the computer vision initialisation specific stuff
100
101 { // Display estimated pose in [m] and [deg]
102 vpPoseVector pose(cMo);
103 std::stringstream ss;
104 ss << "Translation: " << std::setprecision(5) << pose[0] << " " << pose[1] << " " << pose[2] << " [m]";
105 vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
106 ss.str(""); // erase ss
107 ss << "Rotation tu: " << std::setprecision(4) << vpMath::deg(pose[3]) << " " << vpMath::deg(pose[4]) << " " << vpMath::deg(pose[5]) << " [deg]";
108 vpDisplay::displayText(I, 80, 20, ss.str(), vpColor::red);
109 }
110 }
111 catch(...) {
112 std::cout << "Computer vision failure." << std::endl;
113 apply_cv = false;
114 init_cv = true;
115 }
116 }
117 vpDisplay::displayText(I, 20, 20, "Right click: quit", vpColor::red);
118 if (apply_cv) {
119 vpDisplay::displayText(I, 40, 20, "Computer vision in progress...", vpColor::red);
120 } else {
121 vpDisplay::displayText(I, 40, 20, "Left click : start", vpColor::red);
122 }
124 if (vpDisplay::getClick(I, button, false)) {
125 if (button == vpMouseButton::button3) {
126 quit = true;
127 }
128 else if (button == vpMouseButton::button1) {
129 apply_cv = true;
130 }
131 }
132 {
133 std::stringstream ss;
134 ss << "Time: " << vpTime::measureTimeMs() - t_begin << " ms";
135 vpDisplay::displayText(I, 20, I.getWidth()-100, ss.str(), vpColor::red);
136 }
138 }
139 } catch (const vpException &e) {
140 std::cout << "Catch an exception: " << e.getMessage() << std::endl;
141 }
142#elif !defined(VISP_HAVE_REALSENSE2)
143 (void)argc; (void)argv;
144 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
145 std::cout << "Tip:" << std::endl;
146 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
147 return EXIT_SUCCESS;
148#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
149 (void)argc; (void)argv;
150 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
151 std::cout << "Tip:" << std::endl;
152 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
153#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
154 (void)argc; (void)argv;
155 std::cout << "Install a 3rd party dedicated to image display (X11, GDI, OpenCV), configure and build ViSP again to use this example" << std::endl;
156#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
157 (void)argc; (void)argv;
158 std::cout << "Install librealsense version > 2.31.0" << std::endl;
159#endif
160}
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:90
Implementation of an homogeneous matrix and operations on such kind of matrices.
unsigned int getWidth() const
Definition: vpImage.h:246
static double deg(double rad)
Definition: vpMath.h:103
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:82
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()