Visual Servoing Platform version 3.5.0
tutorial-grabber-realsense.cpp
1
2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayGDI.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/gui/vpDisplayX.h>
6#include <visp3/sensor/vpRealSense.h>
7#include <visp3/sensor/vpRealSense2.h>
8#include <visp3/io/vpImageStorageWorker.h>
9
13int main(int argc, char **argv)
14{
15#if defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
16 try {
17 std::string opt_seqname;
18 int opt_record_mode = 0;
19 int opt_fps = 30;
20
21 for (int i = 0; i < argc; i++) {
22 if (std::string(argv[i]) == "--seqname")
23 opt_seqname = std::string(argv[i + 1]);
24 else if (std::string(argv[i]) == "--record")
25 opt_record_mode = std::atoi(argv[i + 1]);
26 else if (std::string(argv[i]) == "--fps")
27 opt_fps = std::atoi(argv[i + 1]);
28 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
29 std::cout << "\nUsage: " << argv[0]
30 << " [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
31 " [--fps <6|15|30|60>] [--help] [-h]\n"
32 << "\nExample to visualize images:\n"
33 << " " << argv[0] << "\n"
34 << "\nExamples to record a sequence:\n"
35 << " " << argv[0] << " --seqname I%04d.png \n"
36 << " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
37 << "\nExamples to record single shot images:\n"
38 << " " << argv[0] << " --seqname I%04d.png --record 1\n"
39 << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
40 << std::endl;
41 return 0;
42 }
43 }
44
45 if (opt_fps != 6 && opt_fps != 15 && opt_fps != 30 && opt_fps != 60) {
46 opt_fps = 30; // Default
47 }
48 std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
49 std::cout << "Framerate : " << opt_fps << std::endl;
50
51 std::string text_record_mode = std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
52
53 if (! opt_seqname.empty()) {
54 std::cout << text_record_mode << std::endl;
55 std::cout << "Record name: " << opt_seqname << std::endl;
56 }
58
59#ifdef VISP_HAVE_REALSENSE2
60 std::cout << "SDK : Realsense 2" << std::endl;
62 rs2::config config;
63 config.disable_stream(RS2_STREAM_DEPTH);
64 config.disable_stream(RS2_STREAM_INFRARED);
65 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, opt_fps);
66 g.open(config);
67#else
68 std::cout << "SDK : Realsense 1" << std::endl;
70 unsigned int width = 640, height = 480;
71 g.setStreamSettings(rs::stream::color, vpRealSense::vpRsStreamParams(width, height, rs::format::rgba8, 60));
72 g.open();
73#endif
74 g.acquire(I);
75
76 std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
77
78#ifdef VISP_HAVE_X11
79 vpDisplayX d(I);
80#elif defined(VISP_HAVE_GDI)
81 vpDisplayGDI d(I);
82#elif defined(VISP_HAVE_OPENCV)
83 vpDisplayOpenCV d(I);
84#else
85 std::cout << "No image viewer is available..." << std::endl;
86#endif
87
88 vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
89 vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
90 std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
91
92 bool quit = false;
93 while (! quit) {
94 double t = vpTime::measureTimeMs();
95 g.acquire(I);
96
98
99 quit = image_queue.record(I);
100
101 std::stringstream ss;
102 ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
103 vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
105 }
106 image_queue.cancel();
107 image_storage_thread.join();
108 } catch (const vpException &e) {
109 std::cout << "Catch an exception: " << e << std::endl;
110 }
111#else
112 (void) argc;
113 (void) argv;
114#if !(defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2))
115 std::cout << "Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
116#endif
117#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
118 std::cout << "This turorial should be built with c++11 support" << std::endl;
119#endif
120#endif
121}
static const vpColor red
Definition: vpColor.h:217
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 void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
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
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
bool open(const rs2::config &cfg=rs2::config())
void setStreamSettings(const rs::stream &stream, const rs::preset &preset)
void acquire(std::vector< vpColVector > &pointcloud)
VISP_EXPORT double measureTimeMs()