Visual Servoing Platform version 3.5.0
tutorial-grabber-flycapture.cpp
1
2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayGDI.h>
4#include <visp3/gui/vpDisplayX.h>
5#include <visp3/gui/vpDisplayOpenCV.h>
6#include <visp3/sensor/vpFlyCaptureGrabber.h>
7#include <visp3/io/vpImageStorageWorker.h>
8
9int main(int argc, char **argv)
10{
11#if defined(VISP_HAVE_FLYCAPTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
12 try {
13 std::string opt_seqname;
14 int opt_record_mode = 0;
15 bool opt_change_settings = false;
16
17 for (int i = 0; i < argc; i++) {
18 if (std::string(argv[i]) == "--seqname")
19 opt_seqname = std::string(argv[i + 1]);
20 else if (std::string(argv[i]) == "--record")
21 opt_record_mode = std::atoi(argv[i + 1]);
22 else if (std::string(argv[i]) == "--change_settings")
23 opt_change_settings = true;
24 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
25 std::cout << "\nUsage: " << argv[0]
26 << " [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
27 " [--change_settings] [--help] [-h]\n"
28 << "\nExample to visualize images:\n"
29 << " " << argv[0] << "\n"
30 << "\nExamples to record a sequence:\n"
31 << " " << argv[0] << " --seqname I%04d.png \n"
32 << " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
33 << "\nExamples to record single shot images:\n"
34 << " " << argv[0] << " --seqname I%04d.png --record 1\n"
35 << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
36 << std::endl;
37 return 0;
38 }
39 }
40
41 std::cout << "Settings : " << (opt_change_settings ? "modified" : "current") << std::endl;
42 std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
43
44 std::string text_record_mode = std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
45
46 if (! opt_seqname.empty()) {
47 std::cout << text_record_mode << std::endl;
48 std::cout << "Record name: " << opt_seqname << std::endl;
49 }
50
51 vpImage<unsigned char> I; // Create a gray level image container
53 vpFlyCaptureGrabber g; // Create a grabber based on FlyCapture SDK third party lib
55
57 if (opt_change_settings) {
58 try {
59 g.setShutter(true); // Turn auto shutter on
60 g.setGain(true); // Turn auto gain on
61 g.setVideoModeAndFrameRate(FlyCapture2::VIDEOMODE_640x480Y8, FlyCapture2::FRAMERATE_60);
62 } catch (...) { // If settings are not available just catch execption to
63 // continue with default settings
64 std::cout << "Warning: cannot modify camera settings" << std::endl;
65 }
66 }
69 g.open(I);
71
72 std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
73
74#if defined(VISP_HAVE_X11)
75 vpDisplayX d(I);
76#elif defined(VISP_HAVE_GDI)
77 vpDisplayGDI d(I);
78#elif defined(VISP_HAVE_OPENCV)
79 vpDisplayOpenCV d(I);
80#else
81 std::cout << "No image viewer is available..." << std::endl;
82#endif
83
84 vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
85 vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
86 std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
87
88 bool quit = false;
89 while (! quit) {
90 double t = vpTime::measureTimeMs();
92 g.acquire(I);
98 quit = image_queue.record(I);
100 std::stringstream ss;
101 ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
102 vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
104 }
105 image_queue.cancel();
106 image_storage_thread.join();
107 } catch (const vpException &e) {
108 std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
109 }
110#else
111 (void) argc;
112 (void) argv;
113#ifndef VISP_HAVE_FLYCAPTURE
114 std::cout << "Install Flycapture SDK, configure and build ViSP again to use this example" << std::endl;
115#endif
116#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
117 std::cout << "This turorial should be built with c++11 support" << std::endl;
118#endif
119#endif
120}
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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:135
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 emited by ViSP classes.
Definition: vpException.h:72
const std::string & getStringMessage() const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:92
float setGain(bool gain_auto, float gain_value=0)
float setShutter(bool auto_shutter, float shutter_ms=10)
void open(vpImage< unsigned char > &I)
void acquire(vpImage< unsigned char > &I)
void setVideoModeAndFrameRate(FlyCapture2::VideoMode video_mode, FlyCapture2::FrameRate frame_rate)
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
VISP_EXPORT double measureTimeMs()