Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
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>
int main(int argc, 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";
for (int i = 1; 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]) == "--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]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage:\n"
<< " " << argv[0] << " [--seqname <sequence name>] [--record <0: continuous | 1: single shot>]"
<< " [--ip <drone ip>] [--hd_resolution]"
<< " [--help] [-h]\n"
<< std::endl
<< "Description:\n"
<< " --seqname <sequence name>\n"
<< " Desired name for picture sequence (default: empty).\n\n"
<< " --record <0: continuous | 1: single shot>\n"
<< " Record mode (default : 0, continuous).\n\n"
<< " --ip <drone ip>\n"
<< " IP address of the drone to which you want to connect (default : 192.168.42.1).\n\n"
<< " --hd_resolution\n"
<< " Enables HD 720p images instead of default 480p.\n"
<< " Caution : camera calibration settings are different for the two resolutions.\n\n"
<< "--help, -h\n"
<< " Print help message.\n\n"
<< "\nExample to visualize images:\n"
<< " " << argv[0] << "\n"
<< "\nExamples to record a sequence of 720p images from drone with ip different from default:\n"
<< " " << argv[0] << " --seqname I%04d.png --ip 192.168.42.3 --hd_resolution\n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0 --ip 192.168.42.3 --hd_resolution\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;
} else {
std::cout << "Error : unknown parameter " << argv[i] << std::endl
<< "See " << argv[0] << " --help" << std::endl;
return 0;
}
}
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;
}
std::cout << "Image resolution : " << (image_res == 0 ? "480p." : "720p.") << std::endl << std::endl;
vpRobotBebop2 drone(false, true, ip_address);
if (drone.isRunning()) {
drone.setVideoResolution(image_res);
drone.startStreaming();
drone.setExposure(1.5f);
} else {
std::cout << "Error : failed to setup drone control" << std::endl;
return 1;
}
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
#ifdef VISP_HAVE_X11
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#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();
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();
} 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