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

Example of framegrabbing using OpenCV cv::VideoCapture class.

/****************************************************************************
*
* 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 OpenCV cv::VideoCapture.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_FLYCAPTURE)
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#define GETOPTARGS "cdhi:n:o:"
void usage(const char *name, const char *badparam, unsigned int icamera, std::string &opath)
{
fprintf(stdout, "\n\
Acquire and display images using PointGrey FlyCapture SDK.\n\
\n\
SYNOPSIS\n\
%s [-c] [-d] [-i <camera index>] [-o <output image filename>] [-h] \n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-c \n\
Disable mouse click and acquire only 10 images.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-i [%%d] %u\n\
Camera index to connect (0 for the first one). \n\
\n\
-o [%%s]\n\
Filename for image saving. \n\
Example: -o %s\n\
The %%d is for the image numbering.\n\
\n\
-h \n\
Print the help.\n\
\n", icamera, opath.c_str());
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
}
}
bool getOptions(int argc, const char **argv, bool &display, bool &click, bool &save, std::string &opath,
unsigned int &icamera)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click = false;
break;
case 'd':
display = false;
break;
case 'i':
icamera = (unsigned int)atoi(optarg_);
break;
case 'o':
save = true;
opath = optarg_;
break;
case 'h':
usage(argv[0], NULL, icamera, opath);
return false;
break;
default:
usage(argv[0], optarg_, icamera, opath);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, icamera, opath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
// usage: binary <device name>
// device name: 0 is the default to dial with the first camera,
// 1 to dial with a second camera attached to the computer
int main(int argc, const char **argv)
{
try {
bool opt_display = true;
bool opt_click = true;
bool opt_save = false;
unsigned int opt_icamera = 0;
std::string opt_opath = "I%04d.pgm";
// vpImage<vpRGBa> I; // for color images
vpImage<unsigned char> I; // for gray images
// Read the command line options
if (getOptions(argc, argv, opt_display, opt_click, opt_save, opt_opath, opt_icamera) == false) {
return 0;
}
std::cout << "Use device : " << opt_icamera << std::endl;
g.setCameraIndex(opt_icamera); // open the default camera
g.open(I);
std::cout << "Camera serial: " << g.getCameraSerial(g.getCameraIndex()) << std::endl;
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
vpDisplay *display = NULL;
if (opt_display) {
#if defined(VISP_HAVE_X11)
display = new vpDisplayX(I);
#elif defined(VISP_HAVE_GDI)
display = new vpDisplayGDI(I);
#elif defined(VISP_HAVE_OPENCV)
display = new vpDisplayOpenCV(I);
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
}
for (;;) {
g.acquire(I); // get a new frame from camera
if (opt_save) {
static unsigned int frame = 0;
char buf[FILENAME_MAX];
sprintf(buf, opt_opath.c_str(), frame++);
std::string filename(buf);
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(I, filename);
}
vpDisplay::displayText(I, 10, 10, "A click to quit...", vpColor::red);
if (opt_click && opt_display) {
if (vpDisplay::getClick(I, false) == true)
break;
} else {
static unsigned int cpt = 0;
if (cpt++ == 10)
break;
}
}
if (display)
delete display;
// The camera connection will be closed automatically in vpFlyCapture
// destructor
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
return EXIT_FAILURE;
}
}
#else
int main() {
std::cout << "You do not have PointGrey FlyCapture SDK enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install FlyCapture SDK, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif