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 #include <visp3/sensor/vpOccipitalStructure.h>
9 void usage(
const char *argv[],
int error)
11 std::cout <<
"SYNOPSIS" << std::endl
12 <<
" " << argv[0] <<
" [--depth-fps <6|15|30|60>]"
13 <<
" [--depth-fps <6|15|30|60>]"
15 <<
" [--no-frame-sync]"
16 <<
" [--record <mode>]"
18 <<
" [--help] [-h]" << std::endl
20 std::cout <<
"DESCRIPTION" << std::endl
21 <<
" --visible-fps <6|15|30|60>" << std::endl
22 <<
" Visible camera (gray or color) frames per second." << std::endl
23 <<
" Default: 30." << std::endl
25 <<
" --depth-fps <6|15|30|60>" << std::endl
26 <<
" Depth camera frames per second." << std::endl
27 <<
" Default: 30." << std::endl
29 <<
" --sxga" << std::endl
30 <<
" If available, output 1280x960 high resolution depth array." << std::endl
32 <<
" --no-frame-sync" << std::endl
33 <<
" If available, disable frame synchronization." << std::endl
35 <<
" --record <mode>" << std::endl
36 <<
" Allowed values for mode are:" << std::endl
37 <<
" 0: record all the captures images (continuous mode)," << std::endl
38 <<
" 1: record only images selected by a user click (single shot mode)." << std::endl
39 <<
" Default mode: 0" << std::endl
41 <<
" --no-display" << std::endl
42 <<
" Disable displaying captured images." << std::endl
43 <<
" When used and sequence name specified, record mode is internally set to 1 (continuous mode)."
46 <<
" --help, -h" << std::endl
47 <<
" Print this helper message." << std::endl
49 std::cout <<
"USAGE" << std::endl
50 <<
" Example to visualize images:" << std::endl
51 <<
" " << argv[0] << std::endl
53 <<
" Example to record a sequence of images:" << std::endl
54 <<
" " << argv[0] <<
" --record 0" << std::endl
56 <<
" Example to record a sequence of images at different frame rates:" << std::endl
57 <<
" " << argv[0] <<
" --record 0 --depth-fps 15 --visible-fps 10 --no-frame-sync" << std::endl
59 <<
" Example to record single shot images:\n"
60 <<
" " << argv[0] <<
" --record 1" << std::endl
64 std::cout <<
"Error" << std::endl
66 <<
"Unsupported parameter " << argv[error] << std::endl;
73 int main(
int argc,
const char *argv[])
75 #if defined(VISP_HAVE_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
77 std::string opt_seqname_visible =
"visible-%04d.png", opt_seqname_depth =
"depth-%04d.png";
78 int opt_record_mode = 0;
79 int opt_depth_fps = 30, opt_visible_fps = opt_depth_fps;
80 bool opt_sxga =
false;
81 bool opt_frame_sync =
true;
82 bool opt_display =
true;
84 for (
int i = 1; i < argc; i++) {
85 if (std::string(argv[i]) ==
"--depth-fps") {
86 opt_depth_fps = std::atoi(argv[i + 1]);
88 }
else if (std::string(argv[i]) ==
"--visible-fps") {
89 opt_visible_fps = std::atoi(argv[i + 1]);
91 }
else if (std::string(argv[i]) ==
"--sxga") {
93 }
else if (std::string(argv[i]) ==
"--no-frame-sync") {
94 opt_frame_sync =
false;
95 }
else if (std::string(argv[i]) ==
"--record") {
96 opt_record_mode = std::atoi(argv[i + 1]);
98 }
else if (std::string(argv[i]) ==
"--no-display") {
100 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
113 std::cout <<
"Depth framerate : " << opt_depth_fps << std::endl;
114 std::cout <<
"Visible framerate: " << opt_visible_fps << std::endl;
115 std::cout <<
"Display : " << (opt_display ?
"enabled" :
"disabled") << std::endl;
117 std::string text_record_mode =
118 std::string(
"Record mode: ") + (opt_record_mode ? std::string(
"single") : std::string(
"continuous"));
120 std::cout << text_record_mode << std::endl;
121 std::cout <<
"Visible record name: " << opt_seqname_visible << std::endl;
122 std::cout <<
"Depth record name: " << opt_seqname_depth << std::endl;
131 if (opt_visible_fps < 2) {
135 ST::CaptureSessionSettings settings;
136 settings.source = ST::CaptureSessionSourceId::StructureCore;
137 settings.structureCore.visibleEnabled =
true;
138 settings.frameSyncEnabled = opt_frame_sync;
139 settings.structureCore.depthFramerate = opt_depth_fps;
140 settings.structureCore.visibleFramerate = opt_visible_fps;
142 settings.structureCore.depthResolution = ST::StructureCoreDepthResolution::SXGA;
143 settings.applyExpensiveCorrection =
true;
145 bool is_open = g.
open(settings);
154 vpDisplay *display_visible = NULL, *display_depth = NULL;
156 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
157 std::cout <<
"No image viewer is available..." << std::endl;
163 display_visible =
new vpDisplayX(I_color, 10, 10,
"Visible image");
165 #elif defined(VISP_HAVE_GDI)
166 display_visible =
new vpDisplayGDI(I_color, 10, 10,
"Visible image");
168 #elif defined(HAVE_OPENCV_HIGHGUI)
169 display_visible =
new vpDisplayOpenCV(I_color, 10, 10,
"Visible image");
175 std::thread image_visible_storage_thread;
195 quit = image_queue_visible.record(I_color);
196 quit |= image_queue_depth.record(I_depth, NULL, image_queue_visible.getRecordingTrigger(),
true);
198 std::stringstream ss;
204 image_queue_visible.cancel();
205 image_queue_depth.cancel();
206 image_visible_storage_thread.join();
207 image_depth_storage_thread.join();
209 if (display_visible) {
210 delete display_visible;
213 delete display_depth;
217 std::cout <<
"Catch an exception: " << e << std::endl;
222 #if !(defined(VISP_HAVE_OCCIPITAL_STRUCTURE))
223 std::cout <<
"Install libStructure, configure and build ViSP again to use this example" << std::endl;
225 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
226 std::cout <<
"This tutorial should be built with c++11 support" << std::endl;
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Class that defines generic functionalities for display.
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
unsigned int getWidth() const
Type * bitmap
points toward the bitmap
unsigned int getHeight() const
unsigned int getHeight(vpOccipitalStructureStream stream_type)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=NULL)
unsigned int getWidth(vpOccipitalStructureStream stream_type)
bool open(const ST::CaptureSessionSettings &settings)
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()