Visual Servoing Platform version 3.6.0
Loading...
Searching...
No Matches
testRealSense2_T265_imu.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 IMU data with RealSense T265 sensor and librealsense2.
33 *
34*****************************************************************************/
35
43#include <iostream>
44
45#include <visp3/core/vpMeterPixelConversion.h>
46#include <visp3/gui/vpDisplayX.h>
47#include <visp3/sensor/vpRealSense2.h>
48
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))
51
52int main()
53{
54 vpColVector imu_acc, imu_vel;
55
56 try {
57 vpRealSense2 rs;
58 std::string product_line = rs.getProductLine();
59 std::cout << "Product line: " << product_line << std::endl;
60
61 if (product_line != "T200") {
62 std::cout << "This example doesn't support devices that are not part of T200 product line family !" << std::endl;
63 return EXIT_SUCCESS;
64 }
65 rs2::config config;
66 config.enable_stream(RS2_STREAM_ACCEL);
67 config.enable_stream(RS2_STREAM_GYRO);
68 rs.open(config);
69
70 while (true) {
71
72 rs.getIMUData(&imu_acc, &imu_vel, NULL);
73
74 std::cout << "Gyro vel: x = " << std::setw(12) << imu_vel[0] << " y = " << std::setw(12) << imu_vel[1]
75 << " z = " << std::setw(12) << imu_vel[2];
76 std::cout << " Accel: x = " << std::setw(12) << imu_acc[0] << " y = " << std::setw(12) << imu_acc[1]
77 << " z = " << std::setw(12) << imu_acc[2];
78 std::cout << std::endl;
79 }
80 } catch (const vpException &e) {
81 std::cerr << "RealSense error " << e.what() << std::endl;
82 } catch (const std::exception &e) {
83 std::cerr << e.what() << std::endl;
84 }
85
86 return EXIT_SUCCESS;
87}
88#else
89int main()
90{
91#if !defined(VISP_HAVE_REALSENSE2)
92 std::cout << "You do not realsense2 SDK functionality enabled..." << std::endl;
93 std::cout << "Tip:" << std::endl;
94 std::cout << "- Install librealsense2, configure again ViSP using cmake and build again this example" << std::endl;
95 return EXIT_SUCCESS;
96#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
97 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
98 std::cout << "Tip:" << std::endl;
99 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
100#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
101 std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
102#elif !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
103 std::cout << "Install librealsense version > 2.31.0" << std::endl;
104#endif
105 return EXIT_SUCCESS;
106}
107#endif
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * what() const
bool open(const rs2::config &cfg=rs2::config())
std::string getProductLine()
void getIMUData(vpColVector *imu_vel, vpColVector *imu_acc, double *ts)