Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
tutorial-grabber-opencv.cpp
1 
2 #include <stdlib.h>
3 #include <visp3/core/vpImageConvert.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/io/vpImageStorageWorker.h>
6 
7 //#define USE_COLOR // Comment to acquire gray level images
8 
9 // usage: binary -h
10 // device name: 0 is the default to dial with the first camera,
11 // 1 to dial with a second camera attached to the computer
12 int main(int argc, char **argv)
13 {
14  int opt_device = 0;
15  std::string opt_seqname;
16  int opt_record_mode = 0;
17 
18  for (int i = 0; i < argc; i++) {
19  if (std::string(argv[i]) == "--camera_device")
20  opt_device = std::atoi(argv[i + 1]);
21  else if (std::string(argv[i]) == "--seqname")
22  opt_seqname = std::string(argv[i + 1]);
23  else if (std::string(argv[i]) == "--record")
24  opt_record_mode = std::atoi(argv[i + 1]);
25  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
26  std::cout << "\nUsage: " << argv[0]
27  << " [--camera_device <camera device (default: 0>]"
28  << " [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
29  << " [--help] [-h]\n"
30  << "\nExample to visualize images:\n"
31  << " " << argv[0] << "\n"
32  << "\nExample to visualize images from a second camera:\n"
33  << " " << argv[0] << " --camera_device 1\n"
34  << "\nExamples to record a sequence:\n"
35  << " " << argv[0] << " --seqname I%04d.png \n"
36  << " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
37  << "\nExamples to record single shot images:\n"
38  << " " << argv[0] << " --seqname I%04d.png --record 1\n"
39  << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
40  << std::endl;
41  return 0;
42  }
43  }
44 
45  std::cout << "Use device : " << opt_device << std::endl;
46  std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
47 
48  std::string text_record_mode = std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
49 
50  if (! opt_seqname.empty()) {
51  std::cout << text_record_mode << std::endl;
52  std::cout << "Record name: " << opt_seqname << std::endl;
53  }
54 
55 #if (VISP_HAVE_OPENCV_VERSION >= 0x020100) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
56  try {
57  cv::VideoCapture cap(opt_device); // open the default camera
58  if (!cap.isOpened()) { // check if we succeeded
59  std::cout << "Failed to open the camera" << std::endl;
60  return -1;
61  }
62  cv::Mat frame;
63  int i = 0;
64  while ((i++ < 20) && !cap.read(frame)) {
65  }; // warm up camera by skiping unread frames
66 
67  std::cout << "Image size : " << frame.rows << " " << frame.cols << std::endl;
68 
69 #ifdef USE_COLOR
70  vpImage<vpRGBa> I; // To acquire color images
71 #else
72  vpImage<unsigned char> I; // To acquire gray images
73 #endif
74  vpImageConvert::convert(frame, I);
75 
76  vpDisplayOpenCV d(I);
77 
78 #ifdef USE_COLOR
79  vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
80  vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
81  std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
82 #else
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 #endif
87 
88  bool quit = false;
89  while (! quit) {
90  double t = vpTime::measureTimeMs();
91  cap >> frame; // get a new frame from camera
92  // Convert the image in ViSP format and display it
93  vpImageConvert::convert(frame, I);
94 
96 
97  quit = image_queue.record(I);
98 
99  std::stringstream ss;
100  ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
101  vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
102  vpDisplay::flush(I);
103  }
104  image_queue.cancel();
105  image_storage_thread.join();
106  } catch (const vpException &e) {
107  std::cout << "Catch an exception: " << e << std::endl;
108  }
109 #else
110  (void) argc;
111  (void) argv;
112 #if (VISP_HAVE_OPENCV_VERSION < 0x020100)
113  std::cout << "Install OpenCV, configure and build ViSP again to use this example" << std::endl;
114 #endif
115 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
116  std::cout << "This turorial should be built with c++11 support" << std::endl;
117 #endif
118 #endif
119 }
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
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:71
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
static const vpColor red
Definition: vpColor.h:217
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
unsigned int getHeight() const
Definition: vpImage.h:188