Visual Servoing Platform version 3.6.0
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tutorial-grabber-1394.cpp
1
2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayOpenCV.h>
4#include <visp3/gui/vpDisplayX.h>
5#include <visp3/io/vpImageStorageWorker.h>
6#include <visp3/sensor/vp1394TwoGrabber.h>
7
8void usage(const char *argv[], int error)
9{
10 std::cout << "SYNOPSIS" << std::endl
11 << " " << argv[0] << " [--change-settings]"
12 << " [--seqname <sequence name>]"
13 << " [--record <mode>]"
14 << " [--no-display]"
15 << " [--help] [-h]" << std::endl
16 << std::endl;
17 std::cout << "DESCRIPTION" << std::endl
18 << " --change-settings" << std::endl
19 << " Force camera settings to acquire 640x480 images in M0NO8 at 60 fps." << std::endl
20 << std::endl
21 << " --seqname <sequence name>" << std::endl
22 << " Name of the sequence of image to create (ie: /tmp/image%04d.jpg)." << std::endl
23 << " Default: empty." << std::endl
24 << std::endl
25 << " --record <mode>" << std::endl
26 << " Allowed values for mode are:" << std::endl
27 << " 0: record all the captures images (continuous mode)," << std::endl
28 << " 1: record only images selected by a user click (single shot mode)." << std::endl
29 << " Default mode: 0" << std::endl
30 << std::endl
31 << " --no-display" << std::endl
32 << " Disable displaying captured images." << std::endl
33 << " When used and sequence name specified, record mode is internally set to 1 (continuous mode)."
34 << std::endl
35 << std::endl
36 << " --help, -h" << std::endl
37 << " Print this helper message." << std::endl
38 << std::endl;
39 std::cout << "USAGE" << std::endl
40 << " Example to visualize images:" << std::endl
41 << " " << argv[0] << std::endl
42 << std::endl
43 << " Examples to record a sequence:" << std::endl
44 << " " << argv[0] << " --seqname I%04d.png" << std::endl
45 << " " << argv[0] << " --seqname folder/I%04d.png --record 0" << std::endl
46 << std::endl
47 << " Examples to record single shot images:\n"
48 << " " << argv[0] << " --seqname I%04d.png --record 1\n"
49 << " " << argv[0] << " --seqname folder/I%04d.png --record 1" << std::endl
50 << std::endl;
51
52 if (error) {
53 std::cout << "Error" << std::endl
54 << " "
55 << "Unsupported parameter " << argv[error] << std::endl;
56 }
57}
58
59int main(int argc, const char *argv[])
60{
61#if defined(VISP_HAVE_DC1394) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
62 try {
63 std::string opt_seqname;
64 int opt_record_mode = 0;
65 bool opt_change_settings = false;
66 bool opt_display = true;
67
68 for (int i = 1; i < argc; i++) {
69 if (std::string(argv[i]) == "--change-settings") {
70 opt_change_settings = true;
71 } else if (std::string(argv[i]) == "--seqname") {
72 opt_seqname = std::string(argv[i + 1]);
73 i++;
74 } else if (std::string(argv[i]) == "--record") {
75 opt_record_mode = std::atoi(argv[i + 1]);
76 i++;
77 } else if (std::string(argv[i]) == "--no-display") {
78 opt_display = false;
79 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
80 usage(argv, 0);
81 return EXIT_SUCCESS;
82 } else {
83 usage(argv, i);
84 return EXIT_FAILURE;
85 }
86 }
87
88 if ((!opt_display) && (!opt_seqname.empty())) {
89 opt_record_mode = 0;
90 }
91
92 std::cout << "Settings : " << (opt_change_settings ? "modified" : "current") << std::endl;
93 std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
94 std::cout << "Display : " << (opt_display ? "enabled" : "disabled") << std::endl;
95
96 std::string text_record_mode =
97 std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
98
99 if (!opt_seqname.empty()) {
100 std::cout << text_record_mode << std::endl;
101 std::cout << "Record name: " << opt_seqname << std::endl;
102 }
103
104 vpImage<vpRGBa> I; // Create a color image container
105 bool reset = false; // Disable bus reset during construction (default)
107 vp1394TwoGrabber g(reset); // Create a grabber based on libdc1394-2.x third party lib
109
111 if (opt_change_settings) {
112 try {
114 g.setFramerate(vp1394TwoGrabber::vpFRAMERATE_60);
115 } catch (...) { // If settings are not available just catch execption to
116 // continue with default settings
117 std::cout << "Warning: cannot modify camera settings" << std::endl;
118 }
119 }
122 g.open(I);
124
125 std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
126
127 vpDisplay *d = NULL;
128 if (opt_display) {
129#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_OPENCV))
130 std::cout << "No image viewer is available..." << std::endl;
131 opt_display = false;
132#endif
133 }
134 if (opt_display) {
135#ifdef VISP_HAVE_X11
136 d = new vpDisplayX(I);
137#elif defined(HAVE_OPENCV_HIGHGUI)
138 d = new vpDisplayOpenCV(I);
139#endif
140 }
141
142 vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
143 vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
144 std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
145
146 bool quit = false;
147 while (!quit) {
148 double t = vpTime::measureTimeMs();
150 g.acquire(I);
154 quit = image_queue.record(I);
156 std::stringstream ss;
157 ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
158 vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
160 }
161 image_queue.cancel();
162 image_storage_thread.join();
163
164 if (d) {
165 delete d;
166 }
167 } catch (const vpException &e) {
168 std::cout << "Catch an exception: " << e << std::endl;
169 }
170#else
171 (void)argc;
172 (void)argv;
173#ifndef VISP_HAVE_DC1394
174 std::cout << "Install libdc1394, configure and build ViSP again to use this example" << std::endl;
175#endif
176#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
177 std::cout << "This tutorial should be built with c++11 support" << std::endl;
178#endif
179#endif
180}
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void open(vpImage< unsigned char > &I)
static const vpColor red
Definition vpColor.h:211
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
VISP_EXPORT double measureTimeMs()