Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
tutorial-grabber-flycapture.cpp
1 #include <visp3/core/vpImage.h>
3 #include <visp3/gui/vpDisplayGDI.h>
4 #include <visp3/gui/vpDisplayX.h>
5 #include <visp3/gui/vpDisplayOpenCV.h>
6 #include <visp3/sensor/vpFlyCaptureGrabber.h>
7 
8 #include "record_helper.h"
9 
10 int main(int argc, char **argv)
11 {
12 #ifdef VISP_HAVE_FLYCAPTURE
13  try {
14  std::string opt_seqname;
15  int opt_record_mode = 0;
16  bool opt_change_settings = false;
17 
18  for (int i = 0; i < argc; i++) {
19  if (std::string(argv[i]) == "--seqname")
20  opt_seqname = std::string(argv[i + 1]);
21  else if (std::string(argv[i]) == "--record")
22  opt_record_mode = std::atoi(argv[i + 1]);
23  else if (std::string(argv[i]) == "--change_settings")
24  opt_change_settings = true;
25  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
26  std::cout << "\nUsage: " << argv[0]
27  << " [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
28  " [--change_settings] [--help] [-h]\n"
29  << "\nExample to visualize images:\n"
30  << " " << argv[0] << "\n"
31  << "\nExamples to record a sequence:\n"
32  << " " << argv[0] << " --seqname I%04d.png \n"
33  << " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
34  << "\nExamples to record single shot images:\n"
35  << " " << argv[0] << " --seqname I%04d.png --record 1\n"
36  << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
37  << std::endl;
38  return 0;
39  }
40  }
41 
42  std::cout << "Settings : " << (opt_change_settings ? "modified" : "current") << std::endl;
43  std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
44 
45  std::string text_record_mode = std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
46 
47  if (! opt_seqname.empty()) {
48  std::cout << text_record_mode << std::endl;
49  std::cout << "Record name: " << opt_seqname << std::endl;
50  }
51 
52  vpImage<unsigned char> I; // Create a gray level image container
54  vpFlyCaptureGrabber g; // Create a grabber based on FlyCapture SDK third party lib
56 
58  if (opt_change_settings) {
59  try {
60  g.setShutter(true); // Turn auto shutter on
61  g.setGain(true); // Turn auto gain on
62  g.setVideoModeAndFrameRate(FlyCapture2::VIDEOMODE_640x480Y8, FlyCapture2::FRAMERATE_60);
63  } catch (...) { // If settings are not available just catch execption to
64  // continue with default settings
65  std::cout << "Warning: cannot modify camera settings" << std::endl;
66  }
67  }
70  g.open(I);
72 
73  std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
74 
75 #if defined(VISP_HAVE_X11)
76  vpDisplayX d(I);
77 #elif defined(VISP_HAVE_GDI)
78  vpDisplayGDI d(I);
79 #elif defined(VISP_HAVE_OPENCV)
80  vpDisplayOpenCV d(I);
81 #else
82  std::cout << "No image viewer is available..." << std::endl;
83 #endif
84 
85  bool quit = false;
86  while (! quit) {
87  double t = vpTime::measureTimeMs();
89  g.acquire(I);
95  quit = record_helper(opt_seqname, opt_record_mode, I);
97  std::stringstream ss;
98  ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
99  vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
100  vpDisplay::flush(I);
101  }
102  } catch (const vpException &e) {
103  std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
104  }
105 #else
106  (void) argc;
107  (void) argv;
108  std::cout << "Install Flycapture SDK, configure and build ViSP again to use this example" << std::endl;
109 #endif
110 }
unsigned int getWidth() const
Definition: vpImage.h:239
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
float setShutter(bool auto_shutter, float shutter_ms=10)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:151
void acquire(vpImage< unsigned char > &I)
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:88
void open(vpImage< unsigned char > &I)
static const vpColor red
Definition: vpColor.h:180
float setGain(bool gain_auto, float gain_value=0)
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:178
const std::string & getStringMessage(void) const
Send a reference (constant) related the error message (can be empty).
Definition: vpException.cpp:92
void setVideoModeAndFrameRate(FlyCapture2::VideoMode video_mode, FlyCapture2::FrameRate frame_rate)