Visual Servoing Platform version 3.6.0
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testOccipitalStructure_Core_images.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 * Image acquisition with Structure Core sensor and libStructure.
33 *
34*****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpConfig.h>
45
46#if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) && \
47 (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
48
49#include <visp3/core/vpImageConvert.h>
50#include <visp3/gui/vpDisplayGDI.h>
51#include <visp3/gui/vpDisplayX.h>
52#include <visp3/sensor/vpOccipitalStructure.h>
53
54int main()
55{
56 try {
57 double t;
58 unsigned int display_scale = 1;
60
61 ST::CaptureSessionSettings settings;
62 settings.source = ST::CaptureSessionSourceId::StructureCore;
63 settings.structureCore.visibleEnabled = true;
64 settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.
65
66 sc.open(settings);
67
68 vpImage<float> I_depth_raw;
69 vpImage<vpRGBa> I_depth;
70 vpImage<vpRGBa> I_visible;
71
72#if defined(VISP_HAVE_X11)
73 vpDisplayX display_visible; // Visible image
74 vpDisplayX display_depth; // Depth image
75#elif defined(VISP_HAVE_GDI)
76 vpDisplayGDI display_visible; // Visible image
77 vpDisplayGDI display_depth; // Depth image
78#endif
79
80#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
81 I_visible =
83 display_visible.setDownScalingFactor(display_scale);
84 display_visible.init(I_visible, 10, 10, "Visible image");
85
86 I_depth_raw =
89 display_depth.setDownScalingFactor(display_scale);
90 display_depth.init(I_depth, static_cast<int>(I_visible.getWidth() / display_scale) + 20, 10, "Depth image");
91#endif
92
93 while (true) {
95
96 sc.acquire((unsigned char *)I_visible.bitmap, (unsigned char *)I_depth_raw.bitmap);
97
98 vpDisplay::display(I_visible);
99 vpDisplay::displayText(I_visible, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
100 vpDisplay::flush(I_visible);
101
102 vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
103 vpDisplay::display(I_depth);
104 vpDisplay::displayText(I_depth, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
105 vpDisplay::flush(I_depth);
106
107 if (vpDisplay::getClick(I_visible, false) || vpDisplay::getClick(I_depth, false))
108 break;
109
110 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
111 }
112 } catch (const vpException &e) {
113 std::cerr << "Structure SDK error " << e.what() << std::endl;
114 } catch (const std::exception &e) {
115 std::cerr << e.what() << std::endl;
116 }
117
118 return EXIT_SUCCESS;
119}
120#else
121int main()
122{
123#if !defined(VISP_HAVE_OCCIPITAL_STRUCTURE)
124 std::cout << "You do not have Occipital Structure SDK functionality enabled..." << std::endl;
125 std::cout << "Tip:" << std::endl;
126 std::cout << "- Install libStructure, configure again ViSP using cmake and build again this example" << std::endl;
127 return EXIT_SUCCESS;
128#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
129 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
130 std::cout << "Tip:" << std::endl;
131 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
132#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
133 std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
134#endif
135 return EXIT_SUCCESS;
136}
137#endif
static const vpColor red
Definition vpColor.h:211
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 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
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
Type * bitmap
points toward the bitmap
Definition vpImage.h:139
unsigned int getHeight(vpOccipitalStructureStream stream_type)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=NULL)
unsigned int getWidth(vpOccipitalStructureStream stream_type)
bool open(const ST::CaptureSessionSettings &settings)
VISP_EXPORT double measureTimeMs()