Visual Servoing Platform version 3.6.0
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tutorial-grabber-multiple-realsense.cpp
1
2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayGDI.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/gui/vpDisplayX.h>
6#include <visp3/sensor/vpRealSense.h>
7#include <visp3/sensor/vpRealSense2.h>
8
13int main(int argc, char **argv)
14{
15#if defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) && \
16 (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
17 std::vector<std::pair<std::string, std::string> > type_serial_nb;
18 std::vector<bool> cam_found;
19
20 for (int i = 0; i < argc; i++) {
21 if (std::string(argv[i]) == "--T265") {
22 type_serial_nb.push_back(std::make_pair("T265", std::string(argv[i + 1])));
23 } else if (std::string(argv[i]) == "--D435") {
24 type_serial_nb.push_back(std::make_pair("D435", std::string(argv[i + 1])));
25 } else if (std::string(argv[i]) == "--SR300") {
26 type_serial_nb.push_back(std::make_pair("SR300", std::string(argv[i + 1])));
27 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
28 std::cout << "\nUsage: " << argv[0]
29 << " [--T265 <serial number>] [--D435 <serial number>] [--SR300 <serial number>]\n"
30 << "\nExample to use 2 T265 cameras:\n"
31 << " " << argv[0] << " --T265 11622110511 --T265 11622110433 \n"
32 << "\nExample to use 1 T265 and 1 D435 cameras:\n"
33 << " " << argv[0] << " --T265 11622110511 --D435 752112077408 \n"
34 << "\nExample to use 2 T265 and 1 D435 cameras:\n"
35 << " " << argv[0] << " --T265 11622110511 --T265 11622110433 --D435 752112070408 \n"
36 << std::endl;
37 return EXIT_SUCCESS;
38 }
39 }
40
41 rs2::config T265_cfg, D435_cfg;
42 std::vector<vpRealSense2> g(type_serial_nb.size());
43 std::vector<vpImage<unsigned char> > I(type_serial_nb.size());
44
45#ifdef VISP_HAVE_X11
46 std::vector<vpDisplayX> d(type_serial_nb.size());
47#elif defined(VISP_HAVE_GDI)
48 std::vector<vpDisplayGDI> d(type_serial_nb.size());
49#elif defined(HAVE_OPENCV_HIGHGUI)
50 std::vector<vpDisplayOpenCV> d(type_serial_nb.size());
51#else
52 std::cout << "No image viewer is available..." << std::endl;
53#endif
54
55 bool clicked = false;
56
57 for (size_t i = 0; i < type_serial_nb.size(); i++) {
58 std::cout << "Opening " << type_serial_nb[i].first << " with ID: " << type_serial_nb[i].second << "." << std::endl;
59 if (type_serial_nb[i].first == "T265") { // T265.
60 T265_cfg.enable_device(type_serial_nb[i].second);
61 T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
62 T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
63 cam_found.push_back(g[i].open(T265_cfg));
64 if (!cam_found.back()) {
65 std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl;
66 }
67 } else { // D435 or SR300
68 D435_cfg.enable_device(type_serial_nb[i].second);
69 D435_cfg.disable_stream(RS2_STREAM_DEPTH);
70 D435_cfg.disable_stream(RS2_STREAM_INFRARED);
71 D435_cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
72 cam_found.push_back(g[i].open(D435_cfg));
73 if (!cam_found.back()) {
74 std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl;
75 }
76 }
77 }
78
79 while (true) {
80 for (size_t i = 0; i < type_serial_nb.size(); i++) {
81 if (cam_found[i]) {
82 if (type_serial_nb[i].first == "T265") { // T265.
83 g[i].acquire(&I[i], NULL, NULL);
84
85#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
86 if (!d[i].isInitialised()) {
87 d[i].init(I[i], static_cast<int>(100 * i), static_cast<int>(100 * i), "T265 left image");
88 }
89#endif
90 }
91
92 else { // D435.
93 g[i].acquire(I[i]);
94
95#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
96 if (!d[i].isInitialised()) {
97 d[i].init(I[i], static_cast<int>(100 * i), static_cast<int>(100 * i), type_serial_nb[i].first.c_str());
98 }
99#endif
100 }
101
102 vpDisplay::display(I[i]);
103 vpDisplay::flush(I[i]);
104 clicked = vpDisplay::getClick(I[i], false);
105 }
106
107 if (clicked) {
108 break;
109 }
110 }
111
112 if (clicked) {
113 break;
114 }
115 }
116#else
117 (void)argc;
118 (void)argv;
119#if !(defined(VISP_HAVE_REALSENSE2))
120 std::cout << "Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
121#endif
122#if !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
123 std::cout << "librealsense is detected but its version is too old. Install librealsense version > 2.31.0, configure "
124 "and build ViSP again to use this example"
125 << std::endl;
126#endif
127#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
128 std::cout << "This tutorial should be built with c++11 support" << std::endl;
129#endif
130#endif
131 return EXIT_SUCCESS;
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)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)