Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
grabDirectShowMulti.cpp

Example of framegrabbing using vpDirectShowGrabber class.

Grab grey level images using DirectShow frame grabbing capabilities. Display the images using the GTK or GDI display.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Acquire images using DirectShow (under Windows only) and display it
* using GTK or GDI.
*
* Authors:
* Bruno Renier
* Fabien Spindler
* Anthony Saunier
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <vector>
#include <iostream>
#include <sstream>
#if defined(VISP_HAVE_DIRECTSHOW)
#if (defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpImage.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/sensor/vpDirectShowGrabber.h>
// List of allowed command line options
//#define GETOPTARGS "dhn:o:"
#define GETOPTARGS "c:df:hmn:io:st:?"
#define GRAB_COLOR
void usage(const char *name, const char *badparam, unsigned int camera, unsigned int &nframes, std::string &opath)
{
if (badparam)
fprintf(stderr, "\nERREUR: Bad parameter [%s]\n", badparam);
fprintf(stdout, "\n\
Acquire images using DirectShow (under Windows only) and display\n\
it using GTK or the windows GDI if GTK is not available.\n\
For a given camera, mediatype (or video mode) as well as framerate\n\
can be set.\n\
If more than one camera is connected, this example allows also to \n\
acquire images from all the cameras.\n\
\n\
SYNOPSIS\n\
%s [-t <mediatype>] [-f <framerate>] \n\
[-c <camera id>] [-m] [-n <frames>] [-i] [-s] [-d] \n\
[-o <filename>] [-h]\n\
\n\
OPTIONS Default\n\
-t [%%u] \n\
MediaType (or video mode) to set for the active \n\
camera. Use -s option so see which are the supported \n\
Mediatypes. You can select the active camera \n\
using -c option.\n\
\n\
-f [%%d] \n\
Framerate to set for the active camera.\n\
You can select the active camera using -c option.\n", name);
fprintf(stdout, "\n\
-c [%%u] %u\n\
Active camera identifier.\n\
Zero is for the first camera found on the bus.\n\
\n\
-m \n\
Flag to active multi camera acquisition. \n\
You need at least two cameras connected on the bus.\n\
\n\
-n [%%u] %u\n\
Number of frames to acquire.\n\
\n\
-i \n\
Flag to print camera information.\n\
\n\
-s \n\
Print camera settings capabilities such as MediaType \n\
and sizes available and exit.\n\
\n\
-d \n\
Flag to turn off image display.\n\
\n\
-o [%%s] \n\
Filename for image saving. \n\
Example: -o %s\n\
The first %%d is for the camera id, %%04d\n\
is for the image numbering.\n\
\n\
-h \n\
Print the help.\n\
\n", camera, nframes, opath.c_str());
exit(0);
}
void read_options(int argc, const char **argv, bool &multi, unsigned int &camera, unsigned int &nframes,
bool &verbose_info, bool &verbose_settings, bool &mediatype_is_set, unsigned int &mediatypeID,
bool &framerate_is_set, double &framerate, bool &display, bool &save, std::string &opath)
{
const char *optarg;
int c;
/*
* Lecture des options.
*/
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
switch (c) {
case 'c':
camera = atoi(optarg);
break;
case 'd':
display = false;
break;
case 'f':
framerate_is_set = true;
framerate = atoi(optarg);
break;
case 'i':
verbose_info = true;
break;
case 'm':
multi = true;
break;
case 'n':
nframes = atoi(optarg);
break;
case 'o':
save = true;
opath = optarg;
break;
case 's':
verbose_settings = true;
break;
case 't':
mediatype_is_set = true;
mediatypeID = atoi(optarg);
break;
default:
usage(argv[0], NULL, camera, nframes, opath);
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, camera, nframes, opath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
}
}
int main(int argc, const char **argv)
{
try {
unsigned int camera = 0;
bool multi = false;
bool verbose_info = false;
bool verbose_settings = false;
bool display = true;
unsigned int nframes = 50;
bool mediatype_is_set = false;
unsigned int mediatypeID;
bool framerate_is_set = false;
double framerate;
bool save = false;
#ifdef GRAB_COLOR
std::string opath = "C:/temp/I%d-%04d.ppm";
#else
std::string opath = "C:/temp/I%d-%04d.pgm";
#endif
#if defined VISP_HAVE_GDI
#elif defined VISP_HAVE_GTK
#endif
read_options(argc, argv, multi, camera, nframes, verbose_info, verbose_settings, mediatype_is_set, mediatypeID,
framerate_is_set, framerate, display, save, opath);
// Number of cameras connected on the bus
unsigned int ncameras = g->getDeviceNumber();
// Check the consistancy of the options
if (multi) {
// ckeck if two cameras are connected
if (ncameras < 2) {
std::cout << "You have only " << ncameras << " camera connected on the bus." << std::endl;
std::cout << "It is not possible to active multi-camera acquisition." << std::endl;
std::cout << "Disable -m command line option, or connect an other " << std::endl;
std::cout << "cameras on the bus." << std::endl;
g->close();
delete g;
return (0);
}
}
if (camera >= ncameras) {
std::cout << "You have only " << ncameras;
std::cout << " camera connected on the bus." << std::endl;
std::cout << "It is not possible to select camera " << camera << std::endl;
std::cout << "Check your -c <camera> command line option." << std::endl;
g->close();
delete g;
return (0);
}
if (multi) {
camera = 0; // to over write a bad option usage
// reinitialize the grabbers with the right number of devices (one
// grabber per device)
delete[] g;
g = new vpDirectShowGrabber[ncameras];
for (unsigned int i = 0; i < ncameras; i++) {
g[i].open();
}
} else {
ncameras = 1; // acquisition from only one camera
delete[] g;
g = new vpDirectShowGrabber[1];
g[0].open();
g[0].setDevice(camera);
}
// allocate an image and display for each camera to consider
#ifdef GRAB_COLOR
I = new vpImage<vpRGBa>[ncameras];
#else
I = new vpImage<unsigned char>[ncameras];
#endif
if (display)
#ifdef VISP_HAVE_GDI
d = new vpDisplayGDI[ncameras];
#else
d = new vpDisplayGTK[ncameras];
#endif
// If required modify camera settings
if (mediatype_is_set) {
g[0].setMediaType(mediatypeID);
}
if (framerate_is_set) {
for (unsigned int i = 0; i < ncameras; i++) {
unsigned int c;
if (multi)
c = i;
else
c = camera;
std::cout << "camera " << c << std::endl;
if (!g[i].setFramerate(framerate))
std::cout << "Set Framerate failed !!" << std::endl << std::endl;
}
}
// Display information for each camera
if (verbose_info || verbose_settings) {
std::cout << "----------------------------------------------------------" << std::endl;
std::cout << "---- Device List : " << std::endl;
std::cout << "----------------------------------------------------------" << std::endl;
for (unsigned i = 0; i < ncameras; i++) {
unsigned int c;
if (multi)
c = i;
else
c = camera;
if (verbose_info) {
unsigned int width, height;
g[i].getFormat(width, height, framerate);
std::cout << "----------------------------------------------------------" << std::endl
<< "---- MediaType and framerate currently used by device " << std::endl
<< "---- (or camera) " << c << std::endl
<< "---- Current MediaType : " << g[i].getMediaType() << std::endl
<< "---- Current format : " << width << " x " << height << " at " << framerate << " fps"
<< std::endl
<< "----------------------------------------------------------" << std::endl;
}
if (verbose_settings) {
std::cout << "----------------------------------------------------------" << std::endl
<< "---- MediaTypes supported by device (or camera) " << c << std::endl
<< "---- One of the MediaType below can be set using " << std::endl
<< "---- option -t <mediatype>." << std::endl
<< "----------------------------------------------------------" << std::endl;
}
}
delete[] g;
delete[] I;
if (display)
delete[] d;
return 0;
}
// Do a first acquisition to initialise the display
for (unsigned int i = 0; i < ncameras; i++) {
// Acquire the first image
g[i].acquire(I[i]);
unsigned int c;
if (multi)
c = i;
else
c = camera;
std::cout << "Image size for camera " << c << " : width: " << I[i].getWidth() << " height: " << I[i].getHeight()
<< std::endl;
if (display) {
// Initialise the display
char title[100];
sprintf(title, "Images captured by camera %u", c);
d[i].init(I[i], 100 + i * 50, 100 + i * 50, title);
}
}
// Main loop for single or multi-camera acquisition and display
std::cout << "Capture in process..." << std::endl;
double tbegin = 0, ttotal = 0;
ttotal = 0;
for (unsigned i = 0; i < nframes; i++) {
for (unsigned c = 0; c < ncameras; c++) {
// Acquire an image
g[c].acquire(I[c]);
if (display) {
// Display the last image acquired
}
if (save) {
char buf[FILENAME_MAX];
sprintf(buf, opath.c_str(), c, i);
std::string filename(buf);
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(I[c], filename);
}
}
double tend = vpTime::measureTimeMs();
double tloop = tend - tbegin;
tbegin = tend;
std::cout << "loop time: " << tloop << " ms" << std::endl;
ttotal += tloop;
}
std::cout << "Mean loop time: " << ttotal / nframes << " ms" << std::endl;
std::cout << "Mean frequency: " << 1000. / (ttotal / nframes) << " fps" << std::endl;
// Release the framegrabber
delete[] g;
// Free memory
delete[] I;
if (display)
delete[] d;
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else // (defined (VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
int main()
{
std::cout << "You do not have GDI (Graphical Device Interface), or GTK functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif // (defined (VISP_HAVE_GTK) || defined(VISP_HAVE_GDI))
#else // defined (VISP_HAVE_DIRECTSHOW)
int main()
{
std::cout << "This example requires Direct Show SDK. " << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install Direct Show, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif // defined (VISP_HAVE_DIRECTSHOW)