Visual Servoing Platform version 3.6.0
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tutorial-grabber-realsense-T265.cpp
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageStorageWorker.h>
#include <visp3/sensor/vpRealSense2.h>
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--fps <6|15|30|60>]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --fps <6|15|30|60>" << std::endl
<< " Frames per second." << std::endl
<< " Default: 30." << std::endl
<< std::endl
<< " --record <mode>" << std::endl
<< " Allowed values for mode are:" << std::endl
<< " 0: record all the captures images (continuous mode)," << std::endl
<< " 1: record only images selected by a user click (single shot mode)." << std::endl
<< " Default mode: 0" << std::endl
<< std::endl
<< " --no-display" << std::endl
<< " Disable displaying captured images." << std::endl
<< " When used and sequence name specified, record mode is internally set to 1 (continuous mode)."
<< std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout << "USAGE" << std::endl
<< " Example to visualize images:" << std::endl
<< " " << argv[0] << std::endl
<< std::endl
<< " Example to record a sequence of images:" << std::endl
<< " " << argv[0] << " --record 0" << std::endl
<< std::endl
<< " Example to record single shot images:\n"
<< " " << argv[0] << " --record 1" << std::endl
<< std::endl;
if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}
int main(int argc, const char *argv[])
{
#if defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) && \
(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
std::string opt_seqname_left = "left-%04d.png", opt_seqname_right = "right-%04d.png";
int opt_record_mode = 0;
int opt_fps = 30;
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--fps") {
opt_fps = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--record") {
opt_record_mode = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--no-display") {
opt_display = false;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
usage(argv, 0);
return EXIT_SUCCESS;
} else {
usage(argv, i);
return EXIT_FAILURE;
}
}
if (!opt_display) {
opt_record_mode = 0;
}
std::cout << "Framerate : " << opt_fps << std::endl;
std::cout << "Display : " << (opt_display ? "enabled" : "disabled") << std::endl;
std::string text_record_mode =
std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
std::cout << text_record_mode << std::endl;
std::cout << "Left record name: " << opt_seqname_left << std::endl;
std::cout << "Right record name: " << opt_seqname_right << std::endl;
vpImage<unsigned char> I_left, I_right;
rs2::config config;
config.enable_stream(RS2_STREAM_FISHEYE, 1);
config.enable_stream(RS2_STREAM_FISHEYE, 2);
g.open(config);
g.acquire(&I_left, &I_right);
std::cout << "Image size : " << I_left.getWidth() << " " << I_right.getHeight() << std::endl;
vpDisplay *display_left = NULL, *display_right = NULL;
if (opt_display) {
#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#endif
}
if (opt_display) {
#ifdef VISP_HAVE_X11
display_left = new vpDisplayX(I_left, 10, 10, "Left image");
display_right = new vpDisplayX(I_right, I_left.getWidth(), 10, "Right image");
#elif defined(VISP_HAVE_GDI)
display_left = new vpDisplayGDI(I_left, 10, 10, "Left image");
display_right = new vpDisplayGDI(I_right, I_left.getWidth(), 10, "Right image");
#elif defined(HAVE_OPENCV_HIGHGUI)
display_left = new vpDisplayOpenCV(I_left, 10, 10, "Left image");
display_right = new vpDisplayOpenCV(I_right, I_left.getWidth(), 10, "Right image");
#endif
}
vpImageQueue<unsigned char> image_queue_left(opt_seqname_left, opt_record_mode);
vpImageQueue<unsigned char> image_queue_right(opt_seqname_right, opt_record_mode);
vpImageStorageWorker<unsigned char> image_left_storage_worker(std::ref(image_queue_left));
vpImageStorageWorker<unsigned char> image_right_storage_worker(std::ref(image_queue_right));
std::thread image_left_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_left_storage_worker);
std::thread image_right_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_right_storage_worker);
bool quit = false;
while (!quit) {
double t = vpTime::measureTimeMs();
g.acquire(&I_left, &I_right);
quit = image_queue_left.record(I_left);
quit |= image_queue_right.record(I_right, NULL, image_queue_left.getRecordingTrigger(), true);
std::stringstream ss;
ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
vpDisplay::displayText(I_left, I_left.getHeight() - 20, 10, ss.str(), vpColor::red);
vpDisplay::flush(I_right);
}
image_queue_left.cancel();
image_queue_right.cancel();
image_left_storage_thread.join();
image_right_storage_thread.join();
if (display_left) {
delete display_left;
}
if (display_right) {
delete display_right;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#if !(defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)))
std::cout << "Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "This tutorial should be built with c++11 support" << std::endl;
#endif
#endif
}
static const vpColor red
Definition vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
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:132
Class that defines generic functionalities for display.
Definition vpDisplay.h:173
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 emitted by ViSP classes.
Definition vpException.h:59
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()