Visual Servoing Platform version 3.5.0
testRealSense2_T265_odometry.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Acquisition of odometry data with RealSense T265 sensor and librealsense2.
33 *
34 *****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/gui/vpDisplayX.h>
45#include <visp3/gui/vpDisplayGDI.h>
46#include <visp3/core/vpMeterPixelConversion.h>
47#include <visp3/sensor/vpRealSense2.h>
48
49#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
50 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && \
51 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
52
53int main()
54{
55 vpHomogeneousMatrix cMw, cMw_0;
56 vpHomogeneousMatrix cextMw(0, 0, 2, 0, 0, 0); // External camera view for pose visualization
57 unsigned int confidence;
58 double ts;
59 vpImagePoint origin;
60 vpImagePoint frame_origin;
61 std::list< std::pair<unsigned int, vpImagePoint> > frame_origins; // Frame origin's history for trajectory visualization
62
63 try {
64 vpRealSense2 rs;
65 std::string product_line = rs.getProductLine();
66 std::cout << "Product line: " << product_line << std::endl;
67
68 if (product_line != "T200") {
69 std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
70 return EXIT_SUCCESS;
71 }
72 rs2::config config;
73 config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
74 rs.open(config);
75
76 // Creating black image for trajectory visualization
77 vpImage<unsigned char> I_pose(600, 600, 0);
78
79 vpCameraParameters cam(300., 300., I_pose.getWidth()/2, I_pose.getHeight()/2); // For pose visualization
80
81#if defined(VISP_HAVE_X11)
82 vpDisplayX display_pose; // Pose visualization
83#elif defined(VISP_HAVE_GDI)
84 vpDisplayGDI display_pose; // Pose visualization
85#endif
86
87#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
88 display_pose.init(I_pose, 10, 10, "Pose visualizer");
89#endif
90
91 confidence = rs.getOdometryData(&cMw_0, NULL, NULL, &ts); // Acquire first frame (pose only)
92
93 vpHomogeneousMatrix cextMc_0 = cextMw * cMw_0.inverse();
94 vpMeterPixelConversion::convertPoint(cam, cextMc_0[0][3] / cextMc_0[2][3], cextMc_0[1][3] / cextMc_0[2][3], frame_origin);
95 frame_origins.push_back(std::make_pair(confidence, frame_origin));
96
97 while (true) {
98 double t = vpTime::measureTimeMs();
99 confidence = rs.getOdometryData(&cMw, NULL, NULL, &ts); // Acquire timestamped pose only
100
101 vpDisplay::display(I_pose);
102
103 vpHomogeneousMatrix cextMc = cextMw * cMw.inverse();
104 vpMeterPixelConversion::convertPoint(cam, cextMc[0][3] / cextMc[2][3], cextMc[1][3] / cextMc[2][3], frame_origin);
105 frame_origins.push_back(std::make_pair(confidence, frame_origin));
106
107 vpDisplay::displayText(I_pose, 15, 15, "Click to quit", vpColor::red);
108
109 vpDisplay::displayFrame(I_pose, cextMc_0, cam, 0.1, vpColor::none, 2); // First frame
110 vpDisplay::displayFrame(I_pose, cextMc , cam, 0.1, vpColor::none, 2);
111
112 // Display frame origin trajectory
113 {
114 std::list< std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
115 std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
116 for (; it != frame_origins.end(); ++it) {
117 if (vpImagePoint::distance(frame_origin_pair_prev.second, (*it).second) > 1) {
118 vpDisplay::displayLine(I_pose, frame_origin_pair_prev.second, (*it).second,
119 (*it).first == 3 ? vpColor::green : ((*it).first == 2 ? vpColor::yellow : vpColor::red), 2);
120 frame_origin_pair_prev = *it;
121 }
122 }
123 }
124
125 if(vpDisplay::getClick(I_pose, false)) {
126 break;
127 }
128
129 vpDisplay::flush(I_pose);
130
131 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
132 }
133 } catch (const vpException &e) {
134 std::cerr << "RealSense error " << e.what() << std::endl;
135 } catch (const std::exception &e) {
136 std::cerr << e.what() << std::endl;
137 }
138
139 return EXIT_SUCCESS;
140}
141#else
142int main()
143{
144#if !defined(VISP_HAVE_REALSENSE2)
145 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
146 std::cout << "Tip:" << std::endl;
147 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
148 return EXIT_SUCCESS;
149#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
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))
154 std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
155#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
156 std::cout << "Install librealsense version > 2.31.0" << std::endl;
157#endif
158 return EXIT_SUCCESS;
159}
160#endif
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
static const vpColor yellow
Definition: vpColor.h:225
static const vpColor green
Definition: vpColor.h:220
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
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 * what() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
unsigned int getOdometryData(vpHomogeneousMatrix *cMw, vpColVector *odo_vel, vpColVector *odo_acc, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())
std::string getProductLine()
VISP_EXPORT double measureTimeMs()