Visual Servoing Platform version 3.6.0
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tutorial-grabber-basler-pylon.cpp
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageStorageWorker.h>
#include <visp3/sensor/vpPylonFactory.h>
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--device <index>]"
<< " [--type <device type>]"
<< " [--seqname <sequence name>]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --device <index> " << std::endl
<< " Camera device index in range [0...9]. Set 0 to dial with the first camera," << std::endl
<< " and 1 to dial with the second camera attached to the computer." << std::endl
<< " Default: 0." << std::endl
<< std::endl
<< " --type <device type>" << std::endl
<< " Camera device type: GigE or USB" << std::endl
<< " Default: GigE" << std::endl
<< std::endl
<< " --seqname <sequence name>" << std::endl
<< " Name of the sequence of image to create (ie: /tmp/image%04d.jpg)." << std::endl
<< " Default: empty." << std::endl
<< std::endl
<< " --record <mode>" << std::endl
<< " Allowed values for mode are:" << std::endl
<< " 0: record all the captures images (continuous mode)," << std::endl
<< " 1: record only images selected by a user click (single shot mode)." << std::endl
<< " Default mode: 0" << std::endl
<< std::endl
<< " --no-display" << std::endl
<< " Disable displaying captured images." << std::endl
<< " When used and sequence name specified, record mode is internally set to 1 (continuous mode)."
<< std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout << "USAGE" << std::endl
<< " Example to visualize images:" << std::endl
<< " " << argv[0] << std::endl
<< std::endl
<< " Example to visualize images from a second camera GigE:" << std::endl
<< " " << argv[0] << " --device 1 --type GigE" << std::endl
<< std::endl
<< " Examples to record a sequence:" << std::endl
<< " " << argv[0] << " --seqname I%04d.png" << std::endl
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0" << std::endl
<< std::endl
<< " Examples to record single shot images:\n"
<< " " << argv[0] << " --seqname I%04d.png --record 1\n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 1" << std::endl
<< std::endl;
if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}
int main(int argc, const char *argv[])
{
#if defined(VISP_HAVE_PYLON) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
unsigned int opt_device = 0;
std::string opt_type("GigE");
std::string opt_seqname;
int opt_record_mode = 0;
bool opt_change_settings = false;
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--device") {
opt_device = std::atoi(argv[i + 1]);
i++;
}
if (std::string(argv[i]) == "--type") {
opt_type = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--seqname") {
opt_seqname = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--record") {
opt_record_mode = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--no-display") {
opt_display = false;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
usage(argv, 0);
return EXIT_SUCCESS;
} else {
usage(argv, i);
return EXIT_FAILURE;
}
}
if ((!opt_display) && (!opt_seqname.empty())) {
opt_record_mode = 0;
}
std::cout << "Settings : " << (opt_change_settings ? "modified" : "current") << std::endl;
std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
std::cout << "Display : " << (opt_display ? "enabled" : "disabled") << std::endl;
std::string text_record_mode =
std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
if (!opt_seqname.empty()) {
std::cout << text_record_mode << std::endl;
std::cout << "Record name: " << opt_seqname << std::endl;
}
if (opt_type == "GigE" || opt_type == "gige") {
g = factory.createPylonGrabber(vpPylonFactory::BASLER_GIGE);
std::cout << "Opening Basler GigE camera: " << opt_device << std::endl;
} else if (opt_type == "USB" || opt_type == "usb") {
g = factory.createPylonGrabber(vpPylonFactory::BASLER_USB);
std::cout << "Opening Basler USB camera: " << opt_device << std::endl;
} else {
std::cout << "Error: only Basler GigE or USB cameras are supported." << std::endl;
return EXIT_SUCCESS;
}
g->setCameraIndex(opt_device);
g->open(I);
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
vpDisplay *d = NULL;
if (opt_display) {
#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#endif
}
if (opt_display) {
#ifdef VISP_HAVE_X11
d = new vpDisplayX(I);
#elif defined(VISP_HAVE_GDI)
d = new vpDisplayGDI(I);
#elif defined(HAVE_OPENCV_HIGHGUI)
d = new vpDisplayOpenCV(I);
#endif
}
vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
bool quit = false;
while (!quit) {
double t = vpTime::measureTimeMs();
g->acquire(I);
quit = image_queue.record(I);
std::stringstream ss;
ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
}
image_queue.cancel();
image_storage_thread.join();
if (d) {
delete d;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_PYLON
std::cout << "Install Basler Pylon SDK, configure and build ViSP again to use this example" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "This tutorial should be built with c++11 support" << std::endl;
#endif
#endif
}
static const vpColor red
Definition vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
Class that defines generic functionalities for display.
Definition vpDisplay.h:173
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
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
Factory singleton class to create vpPylonGrabber subclass instances.
@ BASLER_GIGE
Basler GigE camera.
@ BASLER_USB
Basler USB camera.
static vpPylonFactory & instance()
Get the vpPylonFactory singleton.
virtual void setCameraIndex(unsigned int index)=0
VISP_EXPORT double measureTimeMs()