#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/io/vpImageStorageWorker.h>
int main(int argc, 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;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--record")
opt_record_mode = std::atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--fps")
opt_fps = std::atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--record <0: continuous | 1: single shot (default: 0)>]"
" [--help] [-h]\n"
<< "\nExample to visualize images:\n"
<< " " << argv[0] << "\n"
<< "\nExamples to record single shot images:\n"
<< " " << argv[0] << " --record 1\n"
<< "\nExamples to record a sequence of images:\n"
<< " " << argv[0] << " --record 0\n"
<< std::endl;
return 0;
}
}
std::cout << "Framerate : " << opt_fps << 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;
rs2::config config;
config.enable_stream(RS2_STREAM_FISHEYE, 1);
config.enable_stream(RS2_STREAM_FISHEYE, 2);
std::cout <<
"Image size : " << I_left.
getWidth() <<
" " << I_right.
getHeight() << std::endl;
#ifdef VISP_HAVE_X11
vpDisplayX display_left(I_left, 10, 10,
"Left image");
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
bool quit = false;
while (!quit) {
quit = image_queue_left.
record(I_left);
std::stringstream ss;
}
image_left_storage_thread.join();
image_right_storage_thread.join();
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 turorial should be built with c++11 support" << std::endl;
#endif
#endif
}
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...
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 emited by ViSP classes.
bool getRecordingTrigger() const
bool record(const vpImage< Type > &I, std::string *data=NULL, bool trigger_recording=false, bool disable_left_click=false)
unsigned int getWidth() const
unsigned int getHeight() const
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()