Visual Servoing Platform  version 3.2.0 under development (2018-12-14)
tutorial-grabber-opencv.cpp
#include <stdlib.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include "record_helper.h"
// usage: binary -h
// 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, char **argv)
{
int opt_device = 0;
std::string opt_seqname;
int opt_record_mode = 0;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--camera_device")
opt_device = std::atoi(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]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--camera_device <camera device (default: 0>]"
<< " [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
<< " [--help] [-h]\n"
<< "\nExample to visualize images:\n"
<< " " << argv[0] << "\n"
<< "\nExample to visualize images from a second camera:\n"
<< " " << argv[0] << " --camera_device 1\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 << "Use device : " << opt_device << 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 (VISP_HAVE_OPENCV_VERSION >= 0x020100)
try {
cv::VideoCapture cap(opt_device); // open the default camera
if (!cap.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return -1;
}
cv::Mat frame;
int i = 0;
while ((i++ < 20) && !cap.read(frame)) {
}; // warm up camera by skiping unread frames
std::cout << "Image size : " << frame.rows << " " << frame.cols << std::endl;
// vpImage<vpRGBa> I; // for color images
vpImage<unsigned char> I; // for gray images
bool quit = false;
while (! quit) {
double t = vpTime::measureTimeMs();
cap >> frame; // get a new frame from camera
// Convert the image in ViSP format and display it
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 OpenCV, configure and build ViSP again to use this example" << std::endl;
#endif
}