Visual Servoing Platform version 3.5.0
testRealSense2_T265_undistort.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 * Image acquisition with RealSense T265 sensor and librealsense2 and
33 * undistorting it using vpImageTools
34 *
35 *****************************************************************************/
36
43#include <iostream>
44
45#include <visp3/core/vpImageConvert.h>
46#include <visp3/core/vpImageTools.h>
47#include <visp3/gui/vpDisplayGDI.h>
48#include <visp3/gui/vpDisplayX.h>
49#include <visp3/sensor/vpRealSense2.h>
50
51#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
52 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && \
53 (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
54
55int main()
56{
57 try {
58 vpCameraParameters cam_left;
59 unsigned int display_scale = 2;
60 vpRealSense2 rs;
61 std::string product_line = rs.getProductLine();
62 std::cout << "Product line: " << product_line << std::endl;
63
64 if (product_line != "T200") {
65 std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
66 return EXIT_SUCCESS;
67 }
68 int cam_index = 1; // Left fisheye camera
69 // Both streams should be enabled.
70 // Note: It is not currently possible to enable only one
71 rs2::config config;
72 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
73 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
74 rs.open(config);
75 cam_left = rs.getCameraParameters(RS2_STREAM_FISHEYE, vpCameraParameters::ProjWithKannalaBrandtDistortion, cam_index);
76
77 vpImage<unsigned char> I((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
78 (unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
79
80 vpImage<unsigned char> I_undist((unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).height,
81 (unsigned int)rs.getIntrinsics(RS2_STREAM_FISHEYE).width);
82
83
84 std::cout << "Left fisheye camera parameters: " << cam_left << std::endl;
85
86#if defined(VISP_HAVE_X11)
87 vpDisplayX d;
88 vpDisplayX d_undist;
89#elif defined(VISP_HAVE_GDI)
91 vpDisplayGDI d_undist;
92#endif
93
94#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
95 d.setDownScalingFactor(display_scale);
96 d_undist.setDownScalingFactor(display_scale);
97 d.init(I, 10, 10, "Left image");
98 d_undist.init(I_undist, I.getWidth()/display_scale + 80, 10, "Undistorted image");
99#endif
100
101 vpArray2D<int> mapU, mapV;
102 vpArray2D<float> mapDu, mapDv;
103
104 vpImageTools::initUndistortMap(cam_left, I.getWidth(), I.getHeight(), mapU, mapV, mapDu, mapDv);
105
106 while (true) {
107 double t = vpTime::measureTimeMs();
108
109 rs.acquire(&I, NULL, NULL); // Acquire only left image
110
112
113 vpImageTools::undistort(I, mapU, mapV, mapDu, mapDv, I_undist);
114 vpDisplay::display(I_undist);
115
116 vpDisplay::displayText(I, 15*display_scale, 15*display_scale, "Click to quit", vpColor::red);
117 vpDisplay::displayText(I_undist, 15*display_scale, 15*display_scale, "Click to quit", vpColor::red);
118
119 if (vpDisplay::getClick(I, false) || vpDisplay::getClick(I_undist, false))
120 break;
121
123 vpDisplay::flush(I_undist);
124
125 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
126 }
127
128 } catch (const vpException &e) {
129 std::cerr << "RealSense error " << e.what() << std::endl;
130 } catch (const std::exception &e) {
131 std::cerr << e.what() << std::endl;
132 }
133
134 return EXIT_SUCCESS;
135}
136#else
137int main()
138{
139#if !defined(VISP_HAVE_REALSENSE2)
140 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
141 std::cout << "Tip:" << std::endl;
142 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
143 return EXIT_SUCCESS;
144#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
145 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
146 std::cout << "Tip:" << std::endl;
147 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
148#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
149 std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
150#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
151 std::cout << "Install librealsense version > 2.31.0" << std::endl;
152#endif
153 return EXIT_SUCCESS;
154}
155#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:217
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)
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:231
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
const char * what() const
static void initUndistortMap(const vpCameraParameters &cam, unsigned int width, unsigned int height, vpArray2D< int > &mapU, vpArray2D< int > &mapV, vpArray2D< float > &mapDu, vpArray2D< float > &mapDv)
static void undistort(const vpImage< Type > &I, const vpCameraParameters &cam, vpImage< Type > &newI, unsigned int nThreads=2)
Definition: vpImageTools.h:645
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)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
bool open(const rs2::config &cfg=rs2::config())
rs2_intrinsics getIntrinsics(const rs2_stream &stream, int index=-1) const
std::string getProductLine()
VISP_EXPORT double measureTimeMs()