Visual Servoing Platform version 3.6.0
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tutorial-grabber-ids-ueye.cpp
#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>
#include <visp3/sensor/vpUeyeGrabber.h>
#define USE_COLOR // Comment to acquire gray level images
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--device <index>]"
<< " [--config-file <filename.ini>]"
<< " [--fps <auto|fps value like 6|15|30|60>]"
<< " [--gain <auto|value in 0 - 100>]"
<< " [--shutter <auto|exposure value in ms>]"
<< " [--subsample <factor>]"
<< " [--white-balance <value>]"
<< " [--color-mode <mode>]"
<< " [--seqname <sequence name>]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--verbose] [-v]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --device <index>" << std::endl
<< " Camera device index. Set 0 to dial with the first camera," << std::endl
<< " and 1 to dial with the second camera attached to the computer." << std::endl
<< " Default: 0" << std::endl
<< std::endl
<< " --config-file <filename.ini>" << std::endl
<< " Camera config file." << std::endl
<< " Default: empty." << std::endl
<< std::endl
<< " --fps <auto|fps value like 6|15|30|60>" << std::endl
<< " \"Auto\" or a frames per second value." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --gain <auto|value in 0 - 100>" << std::endl
<< " \"Auto\" or manual gain with a value in 0 - 100." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --shutter <auto|manu>" << std::endl
<< " \"Auto\" or manual shutter." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --subsample <factor>" << std::endl
<< " Subsample factor to reduce image size alog rows and columns." << std::endl
<< " Default: 1." << std::endl
<< std::endl
<< " --white-balance <value>" << std::endl
<< " Possible values are 0 (disabled) or 1 (enabled)." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --color-mode <mode>" << std::endl
<< " Possible modes are: mono8, rgb24, rgb32, bayer8." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --seqname <sequence name>" << std::endl
<< " Name of the sequence of image to create (ie: /tmp/image%04d.jpg)." << std::endl
<< " Default: empty." << std::endl
<< std::endl
<< " --record <mode>" << std::endl
<< " Allowed values for mode are:" << std::endl
<< " 0: record all the captures images (continuous mode)," << std::endl
<< " 1: record only images selected by a user click (single shot mode)." << std::endl
<< " Default mode: 0" << std::endl
<< std::endl
<< " --no-display" << std::endl
<< " Disable displaying captured images." << std::endl
<< " When used and sequence name specified, record mode is internally set to 1 (continuous mode)."
<< std::endl
<< std::endl
<< " --verbose, -v" << std::endl
<< " Enable extra printings." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout << "USAGE" << std::endl
<< " Example to visualize images:" << std::endl
<< " " << argv[0] << std::endl
<< std::endl
<< " Examples to record a sequence of images:" << std::endl
<< " " << argv[0] << " --seqname I%04d.png" << std::endl
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0" << std::endl
<< std::endl
<< " Examples to record single shot images:\n"
<< " " << argv[0] << " --seqname I%04d.png --record 1\n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 1" << std::endl
<< std::endl;
if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}
int main(int argc, const char *argv[])
{
#if defined(VISP_HAVE_UEYE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
unsigned int opt_device = 0;
std::string opt_seqname;
int opt_record_mode = 0;
std::string opt_config_file = "";
std::string opt_fps = "";
std::string opt_gain = "";
std::string opt_shutter = "";
std::string opt_color_mode = "";
int opt_white_balance = -1;
int opt_subsample = 1;
bool opt_verbose = false;
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--device") {
opt_device = static_cast<unsigned int>(std::atoi(argv[i + 1]));
i++;
} else if (std::string(argv[i]) == "--config-file") {
opt_config_file = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--fps") {
opt_fps = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--gain") {
opt_gain = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--shutter") {
opt_shutter = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--subsample") {
opt_subsample = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--white-balance") {
opt_white_balance = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--color-mode") {
opt_color_mode = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--seqname") {
opt_seqname = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--record") {
opt_record_mode = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
opt_verbose = true;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
usage(argv, 0);
return EXIT_SUCCESS;
} else {
usage(argv, i);
return EXIT_FAILURE;
}
}
if ((!opt_display) && (!opt_seqname.empty())) {
opt_record_mode = 0;
}
#ifdef USE_COLOR
vpImage<vpRGBa> I; // To acquire color images
#else
vpImage<unsigned char> I; // To acquire gray images
#endif
// Get info on connected cameras
std::vector<unsigned int> cam_ids = g.getCameraIDList();
std::vector<std::string> cam_models = g.getCameraModelList();
std::vector<std::string> cam_serials = g.getCameraSerialNumberList();
if (!cam_ids.size()) {
std::cout << "No camera detected. Plug a camera and try again..." << std::endl;
return EXIT_FAILURE;
}
std::cout << "Found " << cam_ids.size() << " cameras :" << std::endl;
for (unsigned int i = 0; i < cam_ids.size(); i++) {
std::cout << (opt_device == i ? " * Camera " : " Camera ") << i << " - ID: " << cam_ids[i]
<< " Model: " << cam_models[i] << " S/N: " << cam_serials[i] << std::endl;
}
if (!g.setActiveCamera(opt_device)) {
std::cout << "Unable to select camera " << opt_device << std::endl;
return EXIT_FAILURE;
};
std::cout << "Active camera is Model " << g.getActiveCameraModel()
<< " with S/N: " << g.getActiveCameraSerialNumber() << std::endl;
g.open(I);
if (!opt_config_file.empty()) {
g.loadParameters(opt_config_file);
// Since loaded parameters may affect image size, rescale image in case of
}
if (opt_subsample > 1) {
std::cout << "Subsampling factor: " << opt_subsample << std::endl;
g.setSubsampling(opt_subsample);
// Since subsampling may affect image size, rescale image in case of
}
if (!opt_gain.empty()) {
if (opt_gain == "auto") {
std::cout << "Auto gain : " << (g.setGain(true) ? "enabled" : "N/A") << std::endl;
} else {
std::cout << "Manual gain : "
<< (g.setGain(false, std::atoi(opt_gain.c_str())) ? (std::string(opt_gain) + " %") : "N/A")
<< std::endl;
}
}
if (!opt_shutter.empty()) {
if (opt_shutter == "auto") {
std::cout << "Auto shutter : " << (g.setExposure(true) ? "enabled" : "N/A") << std::endl;
} else {
std::cout << "Manual shutter : "
<< (g.setExposure(false, std::atof(opt_shutter.c_str())) ? (std::string(opt_shutter) + " ms") : "N/A")
<< std::endl;
}
}
if (opt_white_balance > 0) {
bool wb = (opt_white_balance ? true : false);
std::cout << "Subsampling factor: " << opt_subsample << std::endl;
std::cout << "White balance : " << (wb ? "auto" : "disabled") << std::endl;
}
if (!opt_color_mode.empty()) {
if (g.setColorMode(opt_color_mode)) {
std::cout << "Color mode : " << opt_color_mode << std::endl;
}
}
if (!opt_fps.empty()) {
if (opt_fps == "auto") {
std::cout << "Auto framerate : " << (g.setFrameRate(true) ? "enabled" : "N/A") << std::endl;
} else {
std::cout << "Manual framerate : "
<< (g.setFrameRate(false, std::atof(opt_fps.c_str())) ? (std::string(opt_fps) + " Hz") : "N/A")
<< std::endl;
}
}
std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
std::cout << "Display : " << (opt_display ? "enabled" : "disabled") << 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 << "Config file : " << (opt_config_file.empty() ? "empty" : opt_config_file) << std::endl;
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
vpDisplay *d = NULL;
if (opt_display) {
#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#endif
}
if (opt_display) {
#ifdef VISP_HAVE_X11
d = new vpDisplayX;
#elif defined(VISP_HAVE_GDI)
d = new vpDisplayGDI;
#elif defined(HAVE_OPENCV_HIGHGUI)
d = new vpDisplayOpenCV;
#endif
d->init(I);
}
#ifdef USE_COLOR
vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
#else
vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
#endif
bool quit = false;
double timestamp_camera = 0, timestamp_camera_prev = 0;
std::string timestamp_system;
while (!quit) {
g.acquire(I, &timestamp_camera, &timestamp_system);
double fps = g.getFramerate();
quit = image_queue.record(I, &timestamp_system);
if (opt_verbose) {
std::cout << "System timestamp: " << timestamp_system << std::endl;
std::cout << "Camera timestamp diff: " << timestamp_camera - timestamp_camera_prev << std::endl;
timestamp_camera_prev = timestamp_camera;
}
static_cast<int>(10 * vpDisplay::getDownScalingFactor(I)), timestamp_system, vpColor::red);
{
std::stringstream ss;
ss << "Camera framerate: " << fps;
static_cast<int>(10 * vpDisplay::getDownScalingFactor(I)), ss.str(), vpColor::red);
}
}
image_queue.cancel();
image_storage_thread.join();
if (d) {
delete d;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_UEYE
std::cout << "Install IDS uEye SDK, configure and build ViSP again to use this example" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "This tutorial should be built with c++11 support" << std::endl;
#endif
#endif
}
static const vpColor red
Definition vpColor.h:211
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...
Definition vpDisplayX.h:132
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
Class that defines generic functionalities for display.
Definition vpDisplay.h:173
virtual void setDownScalingFactor(unsigned int scale)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
unsigned int getDownScalingFactor()
Definition vpDisplay.h:231
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
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition vpImage.h:795
unsigned int getHeight() const
Definition vpImage.h:184
void open(vpImage< unsigned char > &I)
std::vector< std::string > getCameraSerialNumberList() const
void acquire(vpImage< unsigned char > &I, double *timestamp_camera=NULL, std::string *timestamp_system=NULL)
bool setExposure(bool auto_exposure, double exposure_ms=-1)
bool setFrameRate(bool auto_frame_rate, double manual_frame_rate_hz=-1)
void setWhiteBalance(bool auto_wb)
bool setGain(bool auto_gain, int master_gain=-1, bool gain_boost=false)
double getFramerate() const
void loadParameters(const std::string &filename)
std::vector< std::string > getCameraModelList() const
std::vector< unsigned int > getCameraIDList() const
void setSubsampling(int factor)
unsigned int getFrameHeight() const
unsigned int getFrameWidth() const
bool setActiveCamera(unsigned int cam_index)
bool setColorMode(const std::string &color_mode)
std::string getActiveCameraModel() const
std::string getActiveCameraSerialNumber() const