44#include <visp3/core/vpMeterPixelConversion.h>
45#include <visp3/gui/vpDisplayGDI.h>
46#include <visp3/gui/vpDisplayX.h>
47#include <visp3/sensor/vpRealSense2.h>
49#if defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
50 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
56 unsigned int confidence;
60 std::list<std::pair<unsigned int, vpImagePoint> >
66 std::cout <<
"Product line: " << product_line << std::endl;
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;
73 config.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);
81#if defined(VISP_HAVE_X11)
83#elif defined(VISP_HAVE_GDI)
87#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
88 display_pose.
init(I_pose, 10, 10,
"Pose visualizer");
96 frame_origins.push_back(std::make_pair(confidence, frame_origin));
106 frame_origins.push_back(std::make_pair(confidence, frame_origin));
115 std::list<std::pair<unsigned int, vpImagePoint> >::const_iterator it = frame_origins.begin();
116 std::pair<unsigned int, vpImagePoint> frame_origin_pair_prev = *(it++);
117 for (; it != frame_origins.end(); ++it) {
120 I_pose, frame_origin_pair_prev.second, (*it).second,
122 frame_origin_pair_prev = *it;
136 std::cerr <<
"RealSense error " << e.
what() << std::endl;
137 }
catch (
const std::exception &e) {
138 std::cerr << e.what() << std::endl;
146#if !defined(VISP_HAVE_REALSENSE2)
147 std::cout <<
"You do not realsense2 SDK functionality enabled..." << std::endl;
148 std::cout <<
"Tip:" << std::endl;
149 std::cout <<
"- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
151#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
152 std::cout <<
"You do not build ViSP with c++11 or higher compiler flag" << std::endl;
153 std::cout <<
"Tip:" << std::endl;
154 std::cout <<
"- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
155#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
156 std::cout <<
"You don't have X11 or GDI display capabilities" << std::endl;
157#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
158 std::cout <<
"Install librealsense version > 2.31.0" << std::endl;
Generic class defining intrinsic camera parameters.
Class to define RGB colors available for display functionalities.
static const vpColor none
static const vpColor green
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...
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 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.
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.
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()