Visual Servoing Platform  version 3.4.1 under development (2021-09-19)
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/sensor/vpUeyeGrabber.h>
#include <visp3/io/vpImageStorageWorker.h>
#define USE_COLOR // Comment to acquire gray level images
int main(int argc, const char *argv[])
{
#if defined(VISP_HAVE_UEYE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
unsigned int opt_camera = 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;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--camera")
opt_camera = (unsigned int)atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--config-file")
opt_config_file = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--fps")
opt_fps = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--gain")
opt_gain = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--shutter")
opt_shutter = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--subsample")
opt_subsample = std::atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--white-balance")
opt_white_balance = std::atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--color-mode")
opt_color_mode = std::string(argv[i + 1]);
else 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]) == "--verbose" || std::string(argv[i]) == "-v")
opt_verbose = true;
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--camera <index> (default: 0)]"
<< " [--config-file <filename.ini> (default: empty)]"
<< " [--fps <auto | value> (default: empty)]"
<< " [--gain <auto | value in 0 - 100> (default: empty)]"
<< " [--shutter <auto | exposure value in ms> (default: empty)]"
<< " [--subsample <1,2,3,4,5,6,8,16> (default: 1)]"
<< " [--white-balance <0: disabled, 1: enabled> (default: -1)]"
<< " [--color-mode <mono8, rgb24, rgb32> (default: empty)]"
<< " [--seqname <sequence name> (default: empty)]"
<< " [--record <0: continuous | 1: single shot> (default: 0)]"
<< " [--verbose] [-v]"
<< " [--help] [-h]\n"
<< "\nExample to visualize images:\n"
<< " " << argv[0] << " \n"
<< "\nExample to visualize images and set camera parameter from a config file:\n"
<< " " << argv[0] << " --config-file UI-388xCP-C.ini\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;
}
}
#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_camera == i ? " * Camera " : " Camera ") << i
<< " - ID: " << cam_ids[i] << " Model: " << cam_models[i] << " S/N: " << cam_serials[i] << std::endl;
}
if (! g.setActiveCamera(opt_camera)) {
std::cout << "Unable to select camera " << opt_camera << 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::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;
#ifdef VISP_HAVE_X11
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
d.init(I);
#endif
#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();
} 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
}