tutorial-grabber-flycapture.cpp

#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/io/vpImageStorageWorker.h>

int main(int argc, char **argv)
{
#if defined(VISP_HAVE_FLYCAPTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  try {
    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]) == "--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]
                  << " [--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"
                  << "\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;
    }

    vpImage<unsigned char> I; // Create a gray level image container
    vpFlyCaptureGrabber g; // Create a grabber based on FlyCapture SDK third party lib

    if (opt_change_settings) {
      try {
        g.setShutter(true); // Turn auto shutter on
        g.setGain(true);    // Turn auto gain on
        g.setVideoModeAndFrameRate(FlyCapture2::VIDEOMODE_640x480Y8, FlyCapture2::FRAMERATE_60);
      } catch (...) { // If settings are not available just catch execption to
        // continue with default settings
        std::cout << "Warning: cannot modify camera settings" << std::endl;
      }
    }
    g.open(I);

    std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;

#if defined(VISP_HAVE_X11)
    vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI d(I);
#elif defined(VISP_HAVE_OPENCV)
    vpDisplayOpenCV d(I);
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif

    vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
    vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
    std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);

    bool quit = false;
    while (! quit) {
      double t = vpTime::measureTimeMs();
      g.acquire(I);
      vpDisplay::display(I);
      quit = image_queue.record(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);
      vpDisplay::flush(I);
    }
    image_queue.cancel();
    image_storage_thread.join();
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
  }
#else
  (void) argc;
  (void) argv;
#ifndef VISP_HAVE_FLYCAPTURE
  std::cout << "Install Flycapture SDK, configure and build ViSP again to use this example" << std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  std::cout << "This turorial should be built with c++11 support" << std::endl;
#endif
#endif
}