Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
tutorial-grabber-bebop2.cpp
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageStorageWorker.h>
#ifdef VISP_HAVE_MODULE_ROBOT
#include <visp3/robot/vpRobotBebop2.h>
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--ip <address>]"
<< " [--hd-resolution]"
<< " [--seqname <sequence name>]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --ip <address>" << std::endl
<< " IP address of the drone to which you want to connect." << std::endl
<< " Default: 192.168.42.1" << std::endl
<< std::endl
<< " --hd-resolution" << std::endl
<< " Enables HD 720p images instead of default 480p." << std::endl
<< " Caution : The camera settings are different depending on whether the resolution is 720p or 480p."
<< std::endl
<< std::endl
<< " --seqname <sequence name>" << std::endl
<< " Name of the sequence of image to create (ie: /tmp/image%04d.jpg)." << std::endl
<< " Default: empty." << std::endl
<< std::endl
<< " --record <mode>" << std::endl
<< " Allowed values for mode are:" << std::endl
<< " 0: record all the captures images (continuous mode)," << std::endl
<< " 1: record only images selected by a user click (single shot mode)." << std::endl
<< " Default mode: 0" << std::endl
<< std::endl
<< " --no-display" << std::endl
<< " Disable displaying captured images." << std::endl
<< " When used and sequence name specified, record mode is internaly set to 1 (continuous mode)."
<< std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout << "USAGE" << std::endl
<< " Example to visualize images:" << std::endl
<< " " << argv[0] << std::endl
<< std::endl
<< " Examples to record a sequence of 720p images from drone with ip different from default:" << std::endl
<< " " << argv[0] << " --seqname I%04d.png --ip 192.168.42.3 --hd_resolution" << std::endl
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0 --ip 192.168.42.3 --hd-resolution"
<< std::endl
<< std::endl
<< " Examples to record single shot images:" << std::endl
<< " " << argv[0] << " --seqname I%04d.png --record 1" << std::endl
<< " " << argv[0] << " --seqname folder/I%04d.png --record 1" << std::endl
<< std::endl;
if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_ARSDK) && defined(VISP_HAVE_FFMPEG) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
std::string opt_seqname;
int opt_record_mode = 0;
int image_res = 0;
std::string ip_address = "192.168.42.1";
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--seqname") {
opt_seqname = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--record") {
opt_record_mode = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
ip_address = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--hd-resolution") {
image_res = 1;
} else if (std::string(argv[i]) == "--no-display") {
opt_display = false;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
usage(argv, 0);
return EXIT_SUCCESS;
} else {
usage(argv, i);
return EXIT_FAILURE;
}
}
if ((!opt_display) && (!opt_seqname.empty())) {
opt_record_mode = 0;
}
std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
std::cout << "Display : " << (opt_display ? "enabled" : "disabled") << 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;
}
std::cout << "Image resolution : " << (image_res == 0 ? "480p." : "720p.") << std::endl << std::endl;
vpImage<vpRGBa> I(1, 1, 0);
vpRobotBebop2 drone(false, true, ip_address);
if (drone.isRunning()) {
drone.setVideoResolution(image_res);
drone.startStreaming();
drone.setExposure(1.5f);
drone.getRGBaImage(I);
} else {
std::cout << "Error : failed to setup drone control" << std::endl;
return 1;
}
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
vpDisplay *d = NULL;
if (opt_display) {
#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#endif
}
if (opt_display) {
#ifdef VISP_HAVE_X11
d = new vpDisplayX(I);
#elif defined(VISP_HAVE_GDI)
d = new vpDisplayGDI(I);
#elif defined(VISP_HAVE_OPENCV)
d = new vpDisplayOpenCV(I);
#endif
}
vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
bool quit = false;
while (!quit) {
double t = vpTime::measureTimeMs();
drone.getRGBaImage(I);
quit = image_queue.record(I);
std::stringstream ss;
ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
vpDisplay::displayText(I, static_cast<int>(I.getHeight()) - 20, 10, ss.str(), vpColor::red);
}
image_queue.cancel();
image_storage_thread.join();
if (d) {
delete d;
}
} catch (const vpException &e) {
std::cout << "Caught an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_ARSDK
std::cout << "Install Parrot ARSDK3, configure and build ViSP again to use this example" << std::endl;
#endif
#ifndef VISP_HAVE_FFMPEG
std::cout << "Install ffmpeg, 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 // #if defined(VISP_HAVE_ARSDK) && defined(VISP_HAVE_FFMPEG)
}
#else
int main() { std::cout << "This tutorial needs visp_robot module that is not built." << std::endl; }
#endif
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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...
Definition: vpDisplayX.h:135
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
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 emited by ViSP classes.
Definition: vpException.h:72
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
VISP_EXPORT double measureTimeMs()