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Merge pull request #896 from jnader/feat_demo_multiple_realsense
New tutorial for image grabbing from multiple realsense devices
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tutorial/grabber/tutorial-grabber-multiple-realsense.cpp
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| /*! \example tutorial-grabber-multiple-realsense.cpp */ | ||
| #include <visp3/core/vpImage.h> | ||
| #include <visp3/gui/vpDisplayGDI.h> | ||
| #include <visp3/gui/vpDisplayOpenCV.h> | ||
| #include <visp3/gui/vpDisplayX.h> | ||
| #include <visp3/sensor/vpRealSense.h> | ||
| #include <visp3/sensor/vpRealSense2.h> | ||
|
|
||
| /*! | ||
| Grab images from multiple Intel realsense cameras | ||
| */ | ||
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||
| int main(int argc, char **argv) | ||
| { | ||
| #if defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) | ||
| std::vector<std::pair<std::string, std::string> > type_serial_nb; | ||
| std::vector<bool> cam_found; | ||
|
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| for (int i = 0; i < argc; i++) { | ||
| if (std::string(argv[i]) == "--T265") { | ||
| type_serial_nb.push_back(std::make_pair("T265", std::string(argv[i + 1]))); | ||
| } | ||
| else if (std::string(argv[i]) == "--D435") { | ||
| type_serial_nb.push_back(std::make_pair("D435", std::string(argv[i + 1]))); | ||
| } | ||
| else if (std::string(argv[i]) == "--SR300") { | ||
| type_serial_nb.push_back(std::make_pair("SR300", std::string(argv[i + 1]))); | ||
| } | ||
| else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") { | ||
| std::cout << "\nUsage: " << argv[0] | ||
| << " [--T265 <serial number>] [--D435 <serial number>] [--SR300 <serial number>]\n" | ||
| << "\nExample to use 2 T265 cameras:\n" | ||
| << " " << argv[0] << " --T265 11622110511 --T265 11622110433 \n" | ||
| << "\nExample to use 1 T265 and 1 D435 cameras:\n" | ||
| << " " << argv[0] << " --T265 11622110511 --D435 752112077408 \n" | ||
| << "\nExample to use 2 T265 and 1 D435 cameras:\n" | ||
| << " " << argv[0] << " --T265 11622110511 --T265 11622110433 --D435 752112070408 \n" | ||
| << std::endl; | ||
| return 0; | ||
| } | ||
| } | ||
|
|
||
| rs2::config T265_cfg, D435_cfg; | ||
| vpRealSense2 g[type_serial_nb.size()]; | ||
| vpImage<unsigned char> I[type_serial_nb.size()]; | ||
|
|
||
| #ifdef VISP_HAVE_X11 | ||
| vpDisplayX d[type_serial_nb.size()]; | ||
| #elif defined(VISP_HAVE_GDI) | ||
| vpDisplayGDI d[type_serial_nb.size()]; | ||
| #elif defined(VISP_HAVE_OPENCV) | ||
| vpDisplayOpenCV d[type_serial_nb.size()]; | ||
| #else | ||
| std::cout << "No image viewer is available..." << std::endl; | ||
| #endif | ||
|
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| bool clicked = false; | ||
|
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| for (size_t i = 0; i < type_serial_nb.size(); i++) { | ||
| std::cout << "Opening " << type_serial_nb[i].first << " with ID: " << type_serial_nb[i].second << "." << std::endl; | ||
| if (type_serial_nb[i].first == "T265") { // T265. | ||
| T265_cfg.enable_device(type_serial_nb[i].second); | ||
| T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8); | ||
| T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8); | ||
| cam_found.push_back(g[i].open(T265_cfg)); | ||
| if(!cam_found.back()) { | ||
| std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl; | ||
| } | ||
| } | ||
| else { // D435 or SR300 | ||
| D435_cfg.enable_device(type_serial_nb[i].second); | ||
| D435_cfg.disable_stream(RS2_STREAM_DEPTH); | ||
| D435_cfg.disable_stream(RS2_STREAM_INFRARED); | ||
| D435_cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30); | ||
| cam_found.push_back(g[i].open(D435_cfg)); | ||
| if(!cam_found.back()) { | ||
| std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl; | ||
| } | ||
| } | ||
| } | ||
|
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||
| while (true) { | ||
| for (size_t i = 0; i < type_serial_nb.size(); i++) { | ||
| if (cam_found[i]) { | ||
| if (type_serial_nb[i].first == "T265") { // T265. | ||
| g[i].acquire(&I[i], NULL, NULL); | ||
| if (!d[i].isInitialised()) { | ||
| d[i].init(I[i], 100*i, 100*i, "T265 left image"); | ||
| } | ||
| } | ||
|
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||
| else { // D435. | ||
| g[i].acquire(I[i]); | ||
|
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| if (!d[i].isInitialised()) { | ||
| d[i].init(I[i], 100*i, 100*i, type_serial_nb[i].first.c_str()); | ||
| } | ||
| } | ||
|
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| vpDisplay::display(I[i]); | ||
| vpDisplay::flush(I[i]); | ||
| clicked = vpDisplay::getClick(I[i], false); | ||
| } | ||
|
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| if(clicked) { | ||
| break; | ||
| } | ||
| } | ||
|
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| if(clicked) { | ||
| break; | ||
| } | ||
|
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||
| } | ||
| #else | ||
| (void) argc; | ||
| (void) argv; | ||
| #if !(defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2)) | ||
| 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 | ||
| return EXIT_SUCCESS; | ||
| } |