Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
tutorial-grabber-ids-ueye.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>
#include <visp3/sensor/vpUeyeGrabber.h>
#define USE_COLOR // Comment to acquire gray level images
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--device <index>]"
<< " [--config-file <filename.ini>]"
<< " [--fps <auto|fps value like 6|15|30|60>]"
<< " [--gain <auto|value in 0 - 100>]"
<< " [--shutter <auto|exposure value in ms>]"
<< " [--subsample <factor>]"
<< " [--white-balance <value>]"
<< " [--color-mode <mode>]"
<< " [--seqname <sequence name>]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--verbose] [-v]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --device <index>" << std::endl
<< " Camera device index. Set 0 to dial with the first camera," << std::endl
<< " and 1 to dial with the second camera attached to the computer." << std::endl
<< " Default: 0" << std::endl
<< std::endl
<< " --config-file <filename.ini>" << std::endl
<< " Camera config file." << std::endl
<< " Default: empty." << std::endl
<< std::endl
<< " --fps <auto|fps value like 6|15|30|60>" << std::endl
<< " \"Auto\" or a frames per second value." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --gain <auto|value in 0 - 100>" << std::endl
<< " \"Auto\" or manual gain with a value in 0 - 100." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --shutter <auto|manu>" << std::endl
<< " \"Auto\" or manual shutter." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --subsample <factor>" << std::endl
<< " Subsample factor to reduce image size alog rows and columns." << std::endl
<< " Default: 1." << std::endl
<< std::endl
<< " --white-balance <value>" << std::endl
<< " Possible values are 0 (disabled) or 1 (enabled)." << std::endl
<< " Default: current setting." << std::endl
<< std::endl
<< " --color-mode <mode>" << std::endl
<< " Possible modes are: mono8, rgb24, rgb32, bayer8." << std::endl
<< " Default: current setting." << 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
<< " --verbose, -v" << std::endl
<< " Enable extra printings." << 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 images:" << std::endl
<< " " << argv[0] << " --seqname I%04d.png" << std::endl
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0" << std::endl
<< std::endl
<< " Examples to record single shot images:\n"
<< " " << argv[0] << " --seqname I%04d.png --record 1\n"
<< " " << 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_UEYE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
unsigned int opt_device = 0;
std::string opt_seqname;
int opt_record_mode = 0;
std::string opt_config_file = "";
std::string opt_fps = "";
std::string opt_gain = "";
std::string opt_shutter = "";
std::string opt_color_mode = "";
int opt_white_balance = -1;
int opt_subsample = 1;
bool opt_verbose = false;
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--device") {
opt_device = static_cast<unsigned int>(std::atoi(argv[i + 1]));
i++;
} else if (std::string(argv[i]) == "--config-file") {
opt_config_file = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--fps") {
opt_fps = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--gain") {
opt_gain = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--shutter") {
opt_shutter = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--subsample") {
opt_subsample = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--white-balance") {
opt_white_balance = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--color-mode") {
opt_color_mode = std::string(argv[i + 1]);
i++;
} else 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]) == "--verbose" || std::string(argv[i]) == "-v") {
opt_verbose = true;
} 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;
}
#ifdef USE_COLOR
vpImage<vpRGBa> I; // To acquire color images
#else
vpImage<unsigned char> I; // To acquire gray images
#endif
// Get info on connected cameras
std::vector<unsigned int> cam_ids = g.getCameraIDList();
std::vector<std::string> cam_models = g.getCameraModelList();
std::vector<std::string> cam_serials = g.getCameraSerialNumberList();
if (!cam_ids.size()) {
std::cout << "No camera detected. Plug a camera and try again..." << std::endl;
return EXIT_FAILURE;
}
std::cout << "Found " << cam_ids.size() << " cameras :" << std::endl;
for (unsigned int i = 0; i < cam_ids.size(); i++) {
std::cout << (opt_device == i ? " * Camera " : " Camera ") << i << " - ID: " << cam_ids[i]
<< " Model: " << cam_models[i] << " S/N: " << cam_serials[i] << std::endl;
}
if (!g.setActiveCamera(opt_device)) {
std::cout << "Unable to select camera " << opt_device << std::endl;
return EXIT_FAILURE;
};
std::cout << "Active camera is Model " << g.getActiveCameraModel()
<< " with S/N: " << g.getActiveCameraSerialNumber() << std::endl;
g.open(I);
if (!opt_config_file.empty()) {
g.loadParameters(opt_config_file);
// Since loaded parameters may affect image size, rescale image in case of
}
if (opt_subsample > 1) {
std::cout << "Subsampling factor: " << opt_subsample << std::endl;
g.setSubsampling(opt_subsample);
// Since subsampling may affect image size, rescale image in case of
}
if (!opt_gain.empty()) {
if (opt_gain == "auto") {
std::cout << "Auto gain : " << (g.setGain(true) ? "enabled" : "N/A") << std::endl;
} else {
std::cout << "Manual gain : "
<< (g.setGain(false, std::atoi(opt_gain.c_str())) ? (std::string(opt_gain) + " %") : "N/A")
<< std::endl;
}
}
if (!opt_shutter.empty()) {
if (opt_shutter == "auto") {
std::cout << "Auto shutter : " << (g.setExposure(true) ? "enabled" : "N/A") << std::endl;
} else {
std::cout << "Manual shutter : "
<< (g.setExposure(false, std::atof(opt_shutter.c_str())) ? (std::string(opt_shutter) + " ms") : "N/A")
<< std::endl;
}
}
if (opt_white_balance > 0) {
bool wb = (opt_white_balance ? true : false);
std::cout << "Subsampling factor: " << opt_subsample << std::endl;
std::cout << "White balance : " << (wb ? "auto" : "disabled") << std::endl;
}
if (!opt_color_mode.empty()) {
if (g.setColorMode(opt_color_mode)) {
std::cout << "Color mode : " << opt_color_mode << std::endl;
}
}
if (!opt_fps.empty()) {
if (opt_fps == "auto") {
std::cout << "Auto framerate : " << (g.setFrameRate(true) ? "enabled" : "N/A") << std::endl;
} else {
std::cout << "Manual framerate : "
<< (g.setFrameRate(false, std::atof(opt_fps.c_str())) ? (std::string(opt_fps) + " Hz") : "N/A")
<< std::endl;
}
}
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 << "Config file : " << (opt_config_file.empty() ? "empty" : opt_config_file) << std::endl;
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;
#elif defined(VISP_HAVE_GDI)
d = new vpDisplayGDI;
#elif defined(VISP_HAVE_OPENCV)
d = new vpDisplayOpenCV;
#endif
d->init(I);
}
#ifdef USE_COLOR
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);
#else
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);
#endif
bool quit = false;
double timestamp_camera = 0, timestamp_camera_prev = 0;
std::string timestamp_system;
while (!quit) {
g.acquire(I, &timestamp_camera, &timestamp_system);
double fps = g.getFramerate();
quit = image_queue.record(I, &timestamp_system);
if (opt_verbose) {
std::cout << "System timestamp: " << timestamp_system << std::endl;
std::cout << "Camera timestamp diff: " << timestamp_camera - timestamp_camera_prev << std::endl;
timestamp_camera_prev = timestamp_camera;
}
static_cast<int>(10 * vpDisplay::getDownScalingFactor(I)), timestamp_system, vpColor::red);
{
std::stringstream ss;
ss << "Camera framerate: " << fps;
static_cast<int>(10 * vpDisplay::getDownScalingFactor(I)), ss.str(), vpColor::red);
}
}
image_queue.cancel();
image_storage_thread.join();
if (d) {
delete d;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#ifndef VISP_HAVE_UEYE
std::cout << "Install IDS uEye 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
}
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
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:231
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
@ SCALE_AUTO
Definition: vpDisplay.h:183
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:235
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
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:799
unsigned int getHeight() const
Definition: vpImage.h:188
void open(vpImage< unsigned char > &I)
std::vector< std::string > getCameraSerialNumberList() const
void acquire(vpImage< unsigned char > &I, double *timestamp_camera=NULL, std::string *timestamp_system=NULL)
bool setExposure(bool auto_exposure, double exposure_ms=-1)
bool setFrameRate(bool auto_frame_rate, double manual_frame_rate_hz=-1)
void setWhiteBalance(bool auto_wb)
bool setGain(bool auto_gain, int master_gain=-1, bool gain_boost=false)
double getFramerate() const
void loadParameters(const std::string &filename)
std::vector< std::string > getCameraModelList() const
std::vector< unsigned int > getCameraIDList() const
void setSubsampling(int factor)
unsigned int getFrameHeight() const
unsigned int getFrameWidth() const
bool setActiveCamera(unsigned int cam_index)
bool setColorMode(const std::string &color_mode)
std::string getActiveCameraModel() const
std::string getActiveCameraSerialNumber() const