Visual Servoing Platform version 3.6.0
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testRealSense2_T265_images_odometry.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 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 https://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 images and odometry information with RealSense T265 sensor
33 * and librealsense2.
34 *
35*****************************************************************************/
36
43#include <iostream>
44
45#include <visp3/core/vpMeterPixelConversion.h>
46#include <visp3/gui/vpDisplayGDI.h>
47#include <visp3/gui/vpDisplayX.h>
48#include <visp3/sensor/vpRealSense2.h>
49
50#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
51 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
52
53#include <thread>
54
55int main()
56{
57 vpHomogeneousMatrix cMw, cMw_0;
58 vpHomogeneousMatrix cextMw(0, 0, 2, 0, 0, 0); // External camera view for pose visualization
59 vpColVector odo_vel, odo_acc, imu_acc, imu_vel;
60 unsigned int confidence;
61 double ts;
62 vpImagePoint frame_origin;
63 std::list<std::pair<unsigned int, vpImagePoint> >
64 frame_origins; // Frame origin's history for trajectory visualization
65 unsigned int display_scale = 2;
66
67 try {
68 vpRealSense2 rs;
69 std::string product_line = rs.getProductLine();
70 std::cout << "Product line: " << product_line << std::endl;
71
72 if (product_line != "T200") {
73 std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
74 return EXIT_SUCCESS;
75 }
76 rs2::config config;
77 config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
78 config.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
79 config.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
80
81 rs.open(config);
82
83 // Creating images for left and right cameras, and for visualizing trajectory
84 vpImage<unsigned char> I_left, I_right;
85 vpImage<unsigned char> I_pose(300, 300, 0);
86
87 vpCameraParameters cam(300., 300., I_pose.getWidth() / 2, I_pose.getHeight() / 2); // For pose visualization
88
89 rs.acquire(&I_left, &I_right, &cMw_0, NULL, NULL, &confidence, &ts);
90
91#if defined(VISP_HAVE_X11)
92 vpDisplayX display_left; // Left image
93 vpDisplayX display_right; // Right image
94 vpDisplayX display_pose; // Pose visualization
95#elif defined(VISP_HAVE_GDI)
96 vpDisplayGDI display_left; // Left image
97 vpDisplayGDI display_right; // Right image
98 vpDisplayGDI display_pose; // Pose visualization
99#endif
100
101#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
102 display_left.setDownScalingFactor(display_scale);
103 display_right.setDownScalingFactor(display_scale);
104 display_left.init(I_left, 10, 10, "Left image");
105 display_right.init(I_right, static_cast<int>(I_left.getWidth() / display_scale) + 80, 10, "Right image"); // Right
106 display_pose.init(I_pose, 10, static_cast<int>(I_left.getHeight() / display_scale) + 80,
107 "Pose visualizer"); // visualization
108#endif
109
110 vpHomogeneousMatrix cextMc_0 = cextMw * cMw_0.inverse();
111 vpMeterPixelConversion::convertPoint(cam, cextMc_0[0][3] / cextMc_0[2][3], cextMc_0[1][3] / cextMc_0[2][3],
112 frame_origin);
113 frame_origins.push_back(std::make_pair(confidence, frame_origin));
114
115 while (true) {
116 double t = vpTime::measureTimeMs();
117
118 rs.acquire(&I_left, &I_right, &cMw, &odo_vel, &odo_acc, &confidence, &ts);
119
120 vpDisplay::display(I_left);
121 vpDisplay::display(I_right);
122 vpDisplay::display(I_pose);
123
124 vpHomogeneousMatrix cextMc = cextMw * cMw.inverse();
125 vpMeterPixelConversion::convertPoint(cam, cextMc[0][3] / cextMc[2][3], cextMc[1][3] / cextMc[2][3], frame_origin);
126 frame_origins.push_back(std::make_pair(confidence, frame_origin));
127
128 vpDisplay::displayText(I_left, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
129 vpDisplay::displayText(I_right, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
130 vpDisplay::displayText(I_pose, 15, 15, "Click to quit", vpColor::red);
131
132 vpDisplay::displayFrame(I_pose, cextMc_0, cam, 0.1, vpColor::none, 2); // First frame
133 vpDisplay::displayFrame(I_pose, cextMc, cam, 0.1, vpColor::none, 2);
134
135 // Display frame origin trajectory
136 {
137 std::list<std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
138 std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
139 for (; it != frame_origins.end(); ++it) {
140 if (vpImagePoint::distance(frame_origin_pair_prev.second, (*it).second) > 1) {
142 I_pose, frame_origin_pair_prev.second, (*it).second,
143 (*it).first == 3 ? vpColor::green : ((*it).first == 2 ? vpColor::yellow : vpColor::red), 2);
144 frame_origin_pair_prev = *it;
145 }
146 }
147 }
148 if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_right, false) ||
149 vpDisplay::getClick(I_pose, false)) {
150 break;
151 }
152 vpDisplay::flush(I_left);
153 vpDisplay::flush(I_right);
154 vpDisplay::flush(I_pose);
155
156 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
157 }
158
159 } catch (const vpException &e) {
160 std::cerr << "RealSense error " << e.what() << std::endl;
161 } catch (const std::exception &e) {
162 std::cerr << e.what() << std::endl;
163 }
164
165 return EXIT_SUCCESS;
166}
167#else
168int main()
169{
170#if !defined(VISP_HAVE_REALSENSE2)
171 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
172 std::cout << "Tip:" << std::endl;
173 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
174 return EXIT_SUCCESS;
175#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
176 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
177 std::cout << "Tip:" << std::endl;
178 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
179#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
180 std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
181#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
182 std::cout << "Install librealsense version > 2.31.0" << std::endl;
183#endif
184 return EXIT_SUCCESS;
185}
186#endif
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor red
Definition vpColor.h:211
static const vpColor none
Definition vpColor.h:223
static const vpColor yellow
Definition vpColor.h:219
static const vpColor green
Definition vpColor.h:214
Display for windows using GDI (available on any windows 32 platform).
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
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)
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 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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
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
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 ...
static double distance(const vpImagePoint &iP1, const vpImagePoint &iP2)
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
static void convertPoint(const vpCameraParameters &cam, const double &x, const double &y, double &u, double &v)
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())
std::string getProductLine()
VISP_EXPORT double measureTimeMs()