Visual Servoing Platform  version 3.2.0 under development (2018-12-14)
tutorial-grabber-basler-pylon.cpp
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpPylonFactory.h>
#include "record_helper.h"
int main(int argc, const char *argv[])
{
#ifdef VISP_HAVE_PYLON
try {
unsigned int opt_camera = 0;
std::string opt_device("GigE");
std::string opt_seqname;
int opt_record_mode = 0;
bool opt_change_settings = false;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--camera")
opt_camera = (unsigned int)atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--device")
opt_device = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--seqname")
opt_seqname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--record")
opt_record_mode = std::atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--change_settings")
opt_change_settings = true;
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--camera <0...9> (default: 0)] [--device <\"GigE\"|\"USB\" (default: GigE)>]"
<< " [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
<< " [--change_settings] [--help] [-h]\n"
<< "\nExample to visualize images:\n"
<< " " << argv[0] << " \n"
<< " " << argv[0] << " --device GigE --camera 0\n"
<< "\nExamples to record a sequence:\n"
<< " " << argv[0] << " --seqname I%04d.png \n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
<< "\nExamples to record single shot images:\n"
<< " " << argv[0] << " --seqname I%04d.png --record 1\n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
<< std::endl;
return 0;
}
}
std::cout << "Settings : " << (opt_change_settings ? "modified" : "current") << std::endl;
std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << 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;
}
if (opt_device == "GigE" || opt_device == "gige") {
std::cout << "Opening Basler GigE camera: " << opt_camera << std::endl;
} else if (opt_device == "USB" || opt_device == "usb") {
std::cout << "Opening Basler USB camera: " << opt_camera << std::endl;
} else {
std::cout << "Error: only Basler GigE or USB cameras are supported." << std::endl;
return EXIT_SUCCESS;
}
g->setCameraIndex(opt_camera);
g->open(I);
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_X11
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
bool quit = false;
while (! quit) {
double t = vpTime::measureTimeMs();
g->acquire(I);
quit = record_helper(opt_seqname, opt_record_mode, I);
std::stringstream ss;
ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void) argc;
(void) argv;
std::cout << "Install Basler Pylon SDK, configure and build ViSP again to use this example" << std::endl;
#endif
}