Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
tutorial-grabber-bebop2.cpp
1 
2 #include <visp3/core/vpImage.h>
3 #include <visp3/gui/vpDisplayGDI.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/gui/vpDisplayX.h>
6 #include <visp3/io/vpImageStorageWorker.h>
7 
8 #ifdef VISP_HAVE_MODULE_ROBOT
9 #include <visp3/robot/vpRobotBebop2.h>
10 
14 int main(int argc, char **argv)
15 {
16 #if defined(VISP_HAVE_ARSDK) && defined(VISP_HAVE_FFMPEG) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
17  try {
18  std::string opt_seqname;
19  int opt_record_mode = 0;
20  int image_res = 0;
21  std::string ip_address = "192.168.42.1";
22 
23  for (int i = 1; i < argc; i++) {
24  if (std::string(argv[i]) == "--seqname")
25  opt_seqname = std::string(argv[i + 1]);
26  else if (std::string(argv[i]) == "--record")
27  opt_record_mode = std::atoi(argv[i + 1]);
28  else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
29  ip_address = std::string(argv[i + 1]);
30  i++;
31  } else if (std::string(argv[i]) == "--hd_resolution")
32  image_res = 1;
33  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
34  std::cout << "\nUsage:\n"
35  << " " << argv[0] << " [--seqname <sequence name>] [--record <0: continuous | 1: single shot>]"
36  << " [--ip <drone ip>] [--hd_resolution]"
37  << " [--help] [-h]\n"
38  << std::endl
39  << "Description:\n"
40  << " --seqname <sequence name>\n"
41  << " Desired name for picture sequence (default: empty).\n\n"
42  << " --record <0: continuous | 1: single shot>\n"
43  << " Record mode (default : 0, continuous).\n\n"
44  << " --ip <drone ip>\n"
45  << " IP address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
46  << " --hd_resolution\n"
47  << " Enables HD 720p images instead of default 480p.\n"
48  << " Caution : camera calibration settings are different for the two resolutions.\n\n"
49  << "--help, -h\n"
50  << " Print help message.\n\n"
51 
52  << "\nExample to visualize images:\n"
53  << " " << argv[0] << "\n"
54  << "\nExamples to record a sequence of 720p images from drone with ip different from default:\n"
55  << " " << argv[0] << " --seqname I%04d.png --ip 192.168.42.3 --hd_resolution\n"
56  << " " << argv[0] << " --seqname folder/I%04d.png --record 0 --ip 192.168.42.3 --hd_resolution\n"
57  << "\nExamples to record single shot images:\n"
58  << " " << argv[0] << " --seqname I%04d.png --record 1\n"
59  << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
60  << std::endl;
61  return 0;
62  } else {
63  std::cout << "Error : unknown parameter " << argv[i] << std::endl
64  << "See " << argv[0] << " --help" << std::endl;
65  return 0;
66  }
67  }
68 
69  std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
70 
71  std::string text_record_mode =
72  std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
73 
74  if (!opt_seqname.empty()) {
75  std::cout << text_record_mode << std::endl;
76  std::cout << "Record name: " << opt_seqname << std::endl;
77  }
78  std::cout << "Image resolution : " << (image_res == 0 ? "480p." : "720p.") << std::endl << std::endl;
79 
80  vpImage<unsigned char> I(1, 1, 0);
81 
82  vpRobotBebop2 drone(false, true, ip_address);
83 
84  if (drone.isRunning()) {
85 
86  drone.setVideoResolution(image_res);
87 
88  drone.startStreaming();
89  drone.setExposure(1.5f);
90  drone.getGrayscaleImage(I);
91  } else {
92  std::cout << "Error : failed to setup drone control" << std::endl;
93  return 1;
94  }
95 
96  std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
97 
98 #ifdef VISP_HAVE_X11
99  vpDisplayX d(I);
100 #elif defined(VISP_HAVE_GDI)
101  vpDisplayGDI d(I);
102 #elif defined(VISP_HAVE_OPENCV)
103  vpDisplayOpenCV d(I);
104 #else
105  std::cout << "No image viewer is available..." << std::endl;
106 #endif
107 
108  vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
109  vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
110  std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
111 
112  bool quit = false;
113  while (!quit) {
114  double t = vpTime::measureTimeMs();
115  drone.getGrayscaleImage(I);
116 
118 
119  quit = image_queue.record(I);
120 
121  std::stringstream ss;
122  ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
123  vpDisplay::displayText(I, static_cast<int>(I.getHeight()) - 20, 10, ss.str(), vpColor::red);
124  vpDisplay::flush(I);
125  }
126  image_queue.cancel();
127  image_storage_thread.join();
128  } catch (const vpException &e) {
129  std::cout << "Caught an exception: " << e << std::endl;
130  }
131 #else
132  (void)argc;
133  (void)argv;
134 #ifndef VISP_HAVE_ARSDK
135  std::cout << "Install Parrot ARSDK3, configure and build ViSP again to use this example" << std::endl;
136 #endif
137 #ifndef VISP_HAVE_FFMPEG
138  std::cout << "Install ffmpeg, configure and build ViSP again to use this example" << std::endl;
139 #endif
140 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
141  std::cout << "This turorial should be built with c++11 support" << std::endl;
142 #endif
143 #endif // #if defined(VISP_HAVE_ARSDK) && defined(VISP_HAVE_FFMPEG)
144 }
145 #else
146 int main()
147 {
148  std::cout << "This tutorial needs visp_robot module that is not built." << std::endl;
149 }
150 #endif
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:134
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:126
static const vpColor red
Definition: vpColor.h:217
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:188
unsigned int getWidth() const
Definition: vpImage.h:246