Visual Servoing Platform version 3.5.0
grabOpenCV.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Acquire images using OpenCV cv::VideoCapture.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
46#include <iostream>
47
48#include <visp3/core/vpConfig.h>
49
50#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
51
52#include <visp3/core/vpImage.h>
53#include <visp3/core/vpImageConvert.h>
54#include <visp3/gui/vpDisplayOpenCV.h>
55#include <visp3/sensor/vpOpenCVGrabber.h>
56
57// usage: binary <device name>
58// device name: 0 is the default to dial with the first camera,
59// 1 to dial with a second camera attached to the computer
60int main(int argc, char **argv)
61{
62 try {
63 int device = 0;
64 if (argc > 1)
65 device = atoi(argv[1]);
66
67 std::cout << "Use device: " << device << std::endl;
68 cv::VideoCapture cap(device); // open the default camera
69#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
70 cap.set(cv::CAP_PROP_FRAME_WIDTH, 640);
71 cap.set(cv::CAP_PROP_FRAME_HEIGHT, 480);
72#else
73 cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);
74 cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
75#endif
76 if (!cap.isOpened()) // check if we succeeded
77 return -1;
78 cv::Mat frame;
79 int i = 0;
80 while ((i++ < 100) && !cap.read(frame)) {
81 }; // warm up camera by skiping unread frames
82
83 std::cout << "Image size: "
84#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
85 << (int)cap.get(cv::CAP_PROP_FRAME_WIDTH) << " " << (int)cap.get(cv::CAP_PROP_FRAME_HEIGHT) << std::endl;
86#else
87 << (int)cap.get(CV_CAP_PROP_FRAME_WIDTH) << " " << (int)cap.get(CV_CAP_PROP_FRAME_HEIGHT) << std::endl;
88#endif
89
90 // vpImage<vpRGBa> I; // for color images
91 vpImage<unsigned char> I; // for gray images
93
94 vpDisplayOpenCV d(I);
95
96 for (;;) {
97 cap >> frame; // get a new frame from camera
98
99 // Convert the image in ViSP format and display it
100 vpImageConvert::convert(frame, I);
103 if (vpDisplay::getClick(I, false)) // a click to exit
104 break;
105 }
106 // the camera will be deinitialized automatically in VideoCapture
107 // destructor
108 return EXIT_SUCCESS;
109 } catch (const vpException &e) {
110 std::cout << "Catch an exception: " << e << std::endl;
111 return EXIT_FAILURE;
112 }
113}
114
115#else
116int main()
117{
118 std::cout << "You do not have OpenCV functionalities to display images..." << std::endl;
119 std::cout << "Tip:" << std::endl;
120 std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
121 return EXIT_SUCCESS;
122}
123#endif
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)