Visual Servoing Platform version 3.5.0
tutorial-grabber-1394.cpp
1
2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayX.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/sensor/vp1394TwoGrabber.h>
6#include <visp3/io/vpImageStorageWorker.h>
7
8
9int main(int argc, char **argv)
10{
11#if defined(VISP_HAVE_DC1394) && (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
52 bool reset = false; // Disable bus reset during construction (default)
54 vp1394TwoGrabber g(reset); // Create a grabber based on libdc1394-2.x third party lib
56
58 if (opt_change_settings) {
59 try {
62 }
63 catch(...) { // If settings are not available just catch execption to
64 // continue with default settings
65 std::cout << "Warning: cannot modify camera settings" << std::endl;
66 }
67 }
70 g.open(I);
72
73 std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
74
75#ifdef VISP_HAVE_X11
76 vpDisplayX d(I);
77#elif defined(VISP_HAVE_OPENCV)
78 vpDisplayOpenCV d(I);
79#else
80 std::cout << "No image viewer is available..." << std::endl;
81#endif
82
83 vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
84 vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
85 std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
86
87 bool quit = false;
88 while (! quit) {
89 double t = vpTime::measureTimeMs();
91 g.acquire(I);
95 quit = image_queue.record(I);
97 std::stringstream ss;
98 ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
99 vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
101 }
102 image_queue.cancel();
103 image_storage_thread.join();
104 } catch (const vpException &e) {
105 std::cout << "Catch an exception: " << e << std::endl;
106 }
107#else
108 (void) argc;
109 (void) argv;
110#ifndef VISP_HAVE_DC1394
111 std::cout << "Install libdc1394, configure and build ViSP again to use this example" << std::endl;
112#endif
113#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
114 std::cout << "This turorial should be built with c++11 support" << std::endl;
115#endif
116#endif
117}
Class for firewire ieee1394 video devices using libdc1394-2.x api.
static const vpColor red
Definition: vpColor.h:217
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
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
VISP_EXPORT double measureTimeMs()