Merge pull request lagadic#1525 from fspindle/fix_build_rs2

Fix build around realsense grabber usage
fspindle · Dec 18, 2024 · 3e3b020 · 3e3b020
2 parents b0ac244 + e23cb08
commit 3e3b020
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Showing 6 changed files with 23 additions and 28 deletions.
diff --git a/modules/ar/src/panda3d-simulator/vpPanda3DPostProcessFilter.cpp b/modules/ar/src/panda3d-simulator/vpPanda3DPostProcessFilter.cpp
@@ -35,19 +35,18 @@
 #include <lightRampAttrib.h>
 
 BEGIN_VISP_NAMESPACE
-const char *vpPanda3DPostProcessFilter::FILTER_VERTEX_SHADER = R"shader(
-#version 330
-in vec4 p3d_Vertex;
-uniform mat4 p3d_ModelViewProjectionMatrix;
-in vec2 p3d_MultiTexCoord0;
-out vec2 texcoords;
-
-void main()
-{
-  gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;
-  texcoords = p3d_MultiTexCoord0;
-}
-)shader";
+const std::string vpPanda3DPostProcessFilter::FILTER_VERTEX_SHADER =
+"#version 330\n"
+"in vec4 p3d_Vertex;\n"
+"uniform mat4 p3d_ModelViewProjectionMatrix;\n"
+"in vec2 p3d_MultiTexCoord0;\n"
+"out vec2 texcoords;\n"
+
+"void main()\n"
+"{\n"
+"  gl_Position = p3d_ModelViewProjectionMatrix * p3d_Vertex;\n"
+"  texcoords = p3d_MultiTexCoord0;\n"
+"}\n";
 
 void vpPanda3DPostProcessFilter::setupScene()
 {

diff --git a/modules/vision/src/pose-estimation/vpPoseLagrange.cpp b/modules/vision/src/pose-estimation/vpPoseLagrange.cpp
@@ -181,7 +181,7 @@ void vpPose::poseLagrangePlan(vpHomogeneousMatrix &cMo, bool *p_isPlan, double *
   const unsigned int index_5 = 5;
 
   // determination of the plane equation a X + b Y + c Z + d = 0
-  double a, b, c, d;
+  double a = 0, b = 0, c = 0, d = 0;
 
   // Checking if coplanar has already been called and if the plan coefficients have been given
   bool p_isplan_and_p_a_no_null = (p_isPlan != nullptr) && (p_a != nullptr);

diff --git a/tutorial/computer-vision/tutorial-pose-from-points-live.cpp b/tutorial/computer-vision/tutorial-pose-from-points-live.cpp
@@ -82,6 +82,7 @@ int main(int argc, char **argv)
     }
 
     vpImage<unsigned char> I;
+    vpCameraParameters cam;
 
     //! [Grabber]
 #if defined(VISP_HAVE_V4L2)
@@ -92,21 +93,25 @@ int main(int argc, char **argv)
     g.setDevice(device.str());
     g.setScale(1);
     g.open(I);
+    cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
 #elif defined(VISP_HAVE_DC1394)
     (void)opt_device; // To avoid non used warning
     std::cout << "Use DC1394 grabber" << std::endl;
     vp1394TwoGrabber g;
     g.open(I);
+    cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
 #elif defined(VISP_HAVE_CMU1394)
     (void)opt_device; // To avoid non used warning
     std::cout << "Use CMU1394 grabber" << std::endl;
     vp1394CMUGrabber g;
     g.open(I);
+    cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
 #elif defined(VISP_HAVE_FLYCAPTURE)
     (void)opt_device; // To avoid non used warning
     std::cout << "Use FlyCapture grabber" << std::endl;
     vpFlyCaptureGrabber g;
     g.open(I);
+    cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
 #elif defined(VISP_HAVE_REALSENSE2)
     (void)opt_device; // To avoid non used warning
     std::cout << "Use Realsense 2 grabber" << std::endl;
@@ -130,11 +135,11 @@ int main(int argc, char **argv)
     cv::Mat frame;
     g >> frame; // get a new frame from camera
     vpImageConvert::convert(frame, I);
+    cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
 #endif
     //! [Grabber]
 
     // Parameters of our camera
-    vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
     vpXmlParserCamera parser;
     if (!opt_intrinsic_file.empty() && !opt_camera_name.empty()) {
       std::cout << "Intrinsic file: " << opt_intrinsic_file << std::endl;

diff --git a/tutorial/tracking/blob/tutorial-blob-tracker-live.cpp b/tutorial/tracking/blob/tutorial-blob-tracker-live.cpp
@@ -46,7 +46,7 @@ int main()
   vpImage<unsigned char> I; // Create a gray level image container
   int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
 
-    //! [Grabber]
+  //! [Grabber]
 #if defined(VISP_HAVE_V4L2)
   vpV4l2Grabber g;
   std::ostringstream device;
@@ -80,9 +80,6 @@ int main()
   config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
   g.open(config);
   g.acquire(I);
-
-  std::cout << "Read camera parameters from Realsense device" << std::endl;
-  cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithoutDistortion);
 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
   cv::VideoCapture g(opt_device); // open the default camera
   if (!g.isOpened()) {   // check if we succeeded
@@ -116,7 +113,7 @@ int main()
   bool germ_selected = false;
   vpMouseButton::vpMouseButtonType button;
 
-  while (! quit) {
+  while (!quit) {
     try {
 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
       g.acquire(I);

diff --git a/tutorial/tracking/moving-edges/tutorial-me-ellipse-tracker.cpp b/tutorial/tracking/moving-edges/tutorial-me-ellipse-tracker.cpp
@@ -79,9 +79,6 @@ int main()
     config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
     g.open(config);
     g.acquire(I);
-
-    std::cout << "Read camera parameters from Realsense device" << std::endl;
-    cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithoutDistortion);
 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
     std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
     cv::VideoCapture g(opt_device); // Open the default camera
@@ -129,7 +126,7 @@ int main()
     //! [me ellipse container]
 
     bool quit = false;
-    while (! quit) {
+    while (!quit) {
 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
       g.acquire(I);
 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))

diff --git a/tutorial/tracking/moving-edges/tutorial-me-line-tracker.cpp b/tutorial/tracking/moving-edges/tutorial-me-line-tracker.cpp
@@ -89,9 +89,6 @@ int main()
     config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
     g.open(config);
     g.acquire(I);
-
-    std::cout << "Read camera parameters from Realsense device" << std::endl;
-    cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithoutDistortion);
 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
     std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
     cv::VideoCapture g(opt_device); // Open the default camera
@@ -146,7 +143,7 @@ int main()
 
     //! [loop]
     bool quit = false;
-    while (! quit) {
+    while (!quit) {
 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
       g.acquire(I);
 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))