#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>
#ifdef VISP_HAVE_MODULE_ROBOT
#include <visp3/robot/vpRobotBebop2.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_ARSDK) && defined(VISP_HAVE_FFMPEG) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
std::string opt_seqname;
int opt_record_mode = 0;
int image_res = 0;
std::string ip_address = "192.168.42.1";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--seqname")
opt_seqname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--record")
opt_record_mode = std::atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
ip_address = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--hd_resolution")
image_res = 1;
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage:\n"
<< " " << argv[0] << " [--seqname <sequence name>] [--record <0: continuous | 1: single shot>]"
<< " [--ip <drone ip>] [--hd_resolution]"
<< " [--help] [-h]\n"
<< std::endl
<< "Description:\n"
<< " --seqname <sequence name>\n"
<< " Desired name for picture sequence (default: empty).\n\n"
<< " --record <0: continuous | 1: single shot>\n"
<< " Record mode (default : 0, continuous).\n\n"
<< " --ip <drone ip>\n"
<< " IP address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
<< " --hd_resolution\n"
<< " Enables HD 720p images instead of default 480p.\n"
<< " Caution : camera calibration settings are different for the two resolutions.\n\n"
<< "--help, -h\n"
<< " Print help message.\n\n"
<< "\nExample to visualize images:\n"
<< " " << argv[0] << "\n"
<< "\nExamples to record a sequence of 720p images from drone with ip different from default:\n"
<< " " << argv[0] << " --seqname I%04d.png --ip 192.168.42.3 --hd_resolution\n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0 --ip 192.168.42.3 --hd_resolution\n"
<< "\nExamples to record single shot images:\n"
<< " " << argv[0] << " --seqname I%04d.png --record 1\n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
<< std::endl;
return 0;
} else {
std::cout << "Error : unknown parameter " << argv[i] << std::endl
<< "See " << argv[0] << " --help" << std::endl;
return 0;
}
}
std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << 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;
}
std::cout << "Image resolution : " << (image_res == 0 ? "480p." : "720p.") << std::endl << std::endl;
} else {
std::cout << "Error : failed to setup drone control" << std::endl;
return 1;
}
#ifdef VISP_HAVE_X11
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
bool quit = false;
while (!quit) {
std::stringstream ss;
}
image_storage_thread.join();
std::cout << "Caught an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_ARSDK
std::cout << "Install Parrot ARSDK3, configure and build ViSP again to use this example" << std::endl;
#endif
#ifndef VISP_HAVE_FFMPEG
std::cout << "Install ffmpeg, configure and build ViSP again to use this example" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "This turorial should be built with c++11 support" << std::endl;
#endif
#endif
}
#else
int main()
{
std::cout << "This tutorial needs visp_robot module that is not built." << std::endl;
}
#endif
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...
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.
bool record(const vpImage< Type > &I, std::string *data=NULL, bool trigger_recording=false, bool disable_left_click=false)
unsigned int getWidth() const
unsigned int getHeight() const
void setExposure(float expo)
void getGrayscaleImage(vpImage< unsigned char > &I)
void setVideoResolution(int mode)
VISP_EXPORT double measureTimeMs()