From 99ff41eaa274ab5eb7e0097488cc15149d8ad197 Mon Sep 17 00:00:00 2001
From: Fabien Spindler <Fabien.Spindler@inria.fr>
Date: Fri, 5 Apr 2024 17:15:46 +0200
Subject: [PATCH] Realsense tutorial saves also camera parameters

---
 .../grabber/tutorial-grabber-realsense.cpp    | 21 +++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/tutorial/grabber/tutorial-grabber-realsense.cpp b/tutorial/grabber/tutorial-grabber-realsense.cpp
index f038a51c09..958b866b5f 100644
--- a/tutorial/grabber/tutorial-grabber-realsense.cpp
+++ b/tutorial/grabber/tutorial-grabber-realsense.cpp
@@ -1,5 +1,6 @@
 /*! \example tutorial-grabber-realsense.cpp */
 #include <visp3/core/vpImage.h>
+#include <visp3/core/vpXmlParserCamera.h>
 #include <visp3/gui/vpDisplayGDI.h>
 #include <visp3/gui/vpDisplayOpenCV.h>
 #include <visp3/gui/vpDisplayX.h>
@@ -157,6 +158,26 @@ int main(int argc, const char *argv[])
 
     std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
 
+    vpCameraParameters cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithoutDistortion);
+    vpXmlParserCamera p;
+    std::string output_folder = vpIoTools::getParent(opt_seqname);
+    if (!vpIoTools::checkDirectory(output_folder)) {
+      try {
+        std::cout << "Create output folder: " << output_folder << std::endl;
+        vpIoTools::makeDirectory(output_folder);
+      }
+      catch (const vpException &e) {
+        std::cout << e.getStringMessage();
+        return EXIT_FAILURE;
+      }
+    }
+    std::string cam_filename = output_folder + "/camera.xml";
+
+    std::cout << "Save camera intrinsics in: " << cam_filename << std::endl;
+    if (p.save(cam, cam_filename, "camera")) {
+      std::cout << "Cannot save camera parameters in " << cam_filename << std::endl;
+    }
+
     vpDisplay *d = nullptr;
     if (opt_display) {
 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))