Visual Servoing Platform version 3.5.0
tutorial-grabber-realsense-T265.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/vpRealSense2.h>
7#include <visp3/io/vpImageStorageWorker.h>
8
12int main(int argc, char **argv)
13{
14#if defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
15 try {
16 std::string opt_seqname_left = "left-%04d.png", opt_seqname_right = "right-%04d.png";
17 int opt_record_mode = 0;
18 int opt_fps = 30;
19
20 for (int i = 0; i < argc; i++) {
21 if (std::string(argv[i]) == "--record")
22 opt_record_mode = std::atoi(argv[i + 1]);
23 else if (std::string(argv[i]) == "--fps")
24 opt_fps = std::atoi(argv[i + 1]);
25 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
26 std::cout << "\nUsage: " << argv[0]
27 << " [--record <0: continuous | 1: single shot (default: 0)>]"
28 " [--help] [-h]\n"
29 << "\nExample to visualize images:\n"
30 << " " << argv[0] << "\n"
31 << "\nExamples to record single shot images:\n"
32 << " " << argv[0] << " --record 1\n"
33 << "\nExamples to record a sequence of images:\n"
34 << " " << argv[0] << " --record 0\n"
35 << std::endl;
36 return 0;
37 }
38 }
39
40 std::cout << "Framerate : " << opt_fps << std::endl;
41
42 std::string text_record_mode = std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
43
44 std::cout << text_record_mode << std::endl;
45 std::cout << "Left record name: " << opt_seqname_left << std::endl;
46 std::cout << "Right record name: " << opt_seqname_right << std::endl;
47
48 vpImage<unsigned char> I_left, I_right;
49
51 rs2::config config;
52 config.enable_stream(RS2_STREAM_FISHEYE, 1);
53 config.enable_stream(RS2_STREAM_FISHEYE, 2);
54 g.open(config);
55
56 g.acquire(&I_left, &I_right);
57
58 std::cout << "Image size : " << I_left.getWidth() << " " << I_right.getHeight() << std::endl;
59
60#ifdef VISP_HAVE_X11
61 vpDisplayX display_left(I_left, 10, 10, "Left image");
62 vpDisplayX display_right(I_right, I_left.getWidth(), 10, "Right image");
63#elif defined(VISP_HAVE_GDI)
64 vpDisplayGDI display_left(I_left);
65 vpDisplayGDI display_right(I_right);
66#elif defined(VISP_HAVE_OPENCV)
67 vpDisplayOpenCV display_left(I_left);
68 vpDisplayOpenCV display_right(I_right);
69#else
70 std::cout << "No image viewer is available..." << std::endl;
71#endif
72
73 vpImageQueue<unsigned char> image_queue_left(opt_seqname_left, opt_record_mode);
74 vpImageQueue<unsigned char> image_queue_right(opt_seqname_right, opt_record_mode);
75 vpImageStorageWorker<unsigned char> image_left_storage_worker(std::ref(image_queue_left));
76 vpImageStorageWorker<unsigned char> image_right_storage_worker(std::ref(image_queue_right));
77 std::thread image_left_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_left_storage_worker);
78 std::thread image_right_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_right_storage_worker);
79
80 bool quit = false;
81 while (!quit) {
82 double t = vpTime::measureTimeMs();
83
84 g.acquire(&I_left, &I_right);
85
86 vpDisplay::display(I_left);
87 vpDisplay::display(I_right);
88
89 quit = image_queue_left.record(I_left);
90 quit |= image_queue_right.record(I_right, NULL, image_queue_left.getRecordingTrigger(), true);
91
92 std::stringstream ss;
93 ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
94 vpDisplay::displayText(I_left, I_left.getHeight() - 20, 10, ss.str(), vpColor::red);
95 vpDisplay::flush(I_left);
96 vpDisplay::flush(I_right);
97 }
98 image_queue_left.cancel();
99 image_queue_right.cancel();
100 image_left_storage_thread.join();
101 image_right_storage_thread.join();
102 } catch (const vpException &e) {
103 std::cout << "Catch an exception: " << e << std::endl;
104 }
105#else
106 (void) argc;
107 (void) argv;
108#if !(defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)))
109 std::cout << "Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
110#endif
111#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
112 std::cout << "This turorial should be built with c++11 support" << std::endl;
113#endif
114#endif
115}
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
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()