Visual Servoing Platform version 3.6.0
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testOccipitalStructure_Core_pcl.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 * Point cloud depth visualization with Occipital Structure Core sensor.
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) && (defined(VISP_HAVE_PCL))
47
48#ifdef VISP_HAVE_PCL
49#include <pcl/visualization/cloud_viewer.h>
50#include <pcl/visualization/pcl_visualizer.h>
51#endif
52
53#include <visp3/core/vpImageConvert.h>
54#include <visp3/gui/vpDisplayGDI.h>
55#include <visp3/gui/vpDisplayX.h>
56#include <visp3/sensor/vpOccipitalStructure.h>
57
58int main()
59{
60 try {
61 unsigned int display_scale = 1;
63
64 ST::CaptureSessionSettings settings;
65 settings.source = ST::CaptureSessionSourceId::StructureCore;
66 settings.structureCore.visibleEnabled = true;
67 settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.
68
69 sc.open(settings);
70
71 // Calling these 2 functions to set internal variables.
74
75#if defined(VISP_HAVE_X11)
76 vpDisplayX display_visible; // Visible image
77#elif defined(VISP_HAVE_GDI)
78 vpDisplayGDI display_visible; // Visible image
79#endif
81 0);
82 ;
83 display_visible.setDownScalingFactor(display_scale);
84 display_visible.init(I_visible, static_cast<int>(I_visible.getWidth() / display_scale) + 80, 10, "Color image");
85
86 pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>);
87
88 sc.acquire((unsigned char *)I_visible.bitmap, NULL, NULL, pointcloud);
89
90 pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
91 pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud);
92
93 viewer->setBackgroundColor(0, 0, 0);
94 viewer->initCameraParameters();
95 viewer->setCameraPosition(0, 0, -0.5, 0, -1, 0);
96
97 while (true) {
98 double t = vpTime::measureTimeMs();
99
100 // Acquire depth as point cloud.
101 sc.acquire((unsigned char *)I_visible.bitmap, NULL, NULL, pointcloud);
102 vpDisplay::display(I_visible);
103 vpDisplay::displayText(I_visible, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
104 vpDisplay::flush(I_visible);
105
106 if (vpDisplay::getClick(I_visible, false))
107 break;
108
109 static bool update = false;
110 if (!update) {
111 viewer->addPointCloud<pcl::PointXYZRGB>(pointcloud, rgb, "sample cloud");
112 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
113 update = true;
114 } else {
115 viewer->updatePointCloud<pcl::PointXYZRGB>(pointcloud, rgb, "sample cloud");
116 }
117
118 viewer->spinOnce(30);
119
120 std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
121 }
122 } catch (const vpException &e) {
123 std::cerr << "Structure SDK error " << e.what() << std::endl;
124 } catch (const std::exception &e) {
125 std::cerr << e.what() << std::endl;
126 }
127
128 return EXIT_SUCCESS;
129}
130#else
131int main()
132{
133#if !defined(VISP_HAVE_OCCIPITAL_STRUCTURE)
134 std::cout << "You do not have Occipital Structure SDK functionality enabled..." << std::endl;
135 std::cout << "Tip:" << std::endl;
136 std::cout << "- Install libStructure, configure again ViSP using cmake and build again this example" << std::endl;
137 return EXIT_SUCCESS;
138#elif (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
139 std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
140 std::cout << "Tip:" << std::endl;
141 std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
142#elif !defined(VISP_HAVE_PCL)
143 std::cout << "You do not have PCL 3rd party installed." << std::endl;
144#endif
145 return EXIT_SUCCESS;
146}
147#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
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getHeight(vpOccipitalStructureStream stream_type)
vpCameraParameters getCameraParameters(const vpOccipitalStructureStream stream_type, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithoutDistortion)
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()