Visual Servoing Platform  version 3.6.1 under development (2024-03-18)
tutorial-grabber-opencv.cpp
1 
2 #include <stdlib.h>
3 #include <visp3/core/vpImageConvert.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/io/vpImageStorageWorker.h>
6 
7 #if defined(HAVE_OPENCV_VIDEOIO)
8 #include <opencv2/videoio.hpp>
9 #endif
10 
11 #define USE_COLOR // Comment to acquire gray level images
12 
13 void usage(const char *argv[], int error)
14 {
15  std::cout << "SYNOPSIS" << std::endl
16  << " " << argv[0] << " [--device <index>]"
17  << " [--seqname <sequence name>]"
18  << " [--record <mode>]"
19  << " [--no-display]"
20  << " [--help] [-h]" << std::endl
21  << std::endl;
22  std::cout << "DESCRIPTION" << std::endl
23  << " --device <index> " << std::endl
24  << " Camera device index. Set 0 to dial with the first camera," << std::endl
25  << " and 1 to dial with the second camera attached to the computer." << std::endl
26  << " Default: 0 to consider /dev/video0 device." << std::endl
27  << std::endl
28  << " --seqname <sequence name>" << std::endl
29  << " Name of the sequence of image to create (ie: /tmp/image%04d.jpg)." << std::endl
30  << " Default: empty." << std::endl
31  << std::endl
32  << " --record <mode>" << std::endl
33  << " Allowed values for mode are:" << std::endl
34  << " 0: record all the captures images (continuous mode)," << std::endl
35  << " 1: record only images selected by a user click (single shot mode)." << std::endl
36  << " Default mode: 0" << std::endl
37  << std::endl
38  << " --no-display" << std::endl
39  << " Disable displaying captured images." << std::endl
40  << " When used and sequence name specified, record mode is internally set to 1 (continuous mode)."
41  << std::endl
42  << std::endl
43  << " --help, -h" << std::endl
44  << " Print this helper message." << std::endl
45  << std::endl;
46  std::cout << "USAGE" << std::endl
47  << " Example to visualize images:" << std::endl
48  << " " << argv[0] << std::endl
49  << std::endl
50  << " Example to visualize images from a second camera:" << std::endl
51  << " " << argv[0] << " --device 1" << std::endl
52  << std::endl
53  << " Examples to record a sequence:" << std::endl
54  << " " << argv[0] << " --seqname I%04d.png" << std::endl
55  << " " << argv[0] << " --seqname folder/I%04d.png --record 0" << std::endl
56  << std::endl
57  << " Examples to record single shot images:\n"
58  << " " << argv[0] << " --seqname I%04d.png --record 1\n"
59  << " " << argv[0] << " --seqname folder/I%04d.png --record 1" << std::endl
60  << std::endl;
61 
62  if (error) {
63  std::cout << "Error" << std::endl
64  << " "
65  << "Unsupported parameter " << argv[error] << std::endl;
66  }
67 }
68 
69 // usage: binary -h
70 // device name: 0 is the default to dial with the first camera,
71 // 1 to dial with a second camera attached to the computer
72 int main(int argc, const char *argv[])
73 {
74  int opt_device = 0;
75  std::string opt_seqname;
76  int opt_record_mode = 0;
77  bool opt_display = true;
78 
79  for (int i = 1; i < argc; i++) {
80  if (std::string(argv[i]) == "--device") {
81  opt_device = std::atoi(argv[i + 1]);
82  i++;
83  }
84  else if (std::string(argv[i]) == "--seqname") {
85  opt_seqname = std::string(argv[i + 1]);
86  i++;
87  }
88  else if (std::string(argv[i]) == "--record") {
89  opt_record_mode = std::atoi(argv[i + 1]);
90  i++;
91  }
92  else if (std::string(argv[i]) == "--no-display") {
93  opt_display = false;
94  }
95  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
96  usage(argv, 0);
97  return EXIT_SUCCESS;
98  }
99  else {
100  usage(argv, i);
101  return EXIT_FAILURE;
102  }
103  }
104 
105  if ((!opt_display) && (!opt_seqname.empty())) {
106  opt_record_mode = 0;
107  }
108 
109  std::cout << "Use device : " << opt_device << std::endl;
110  std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
111  std::cout << "Display : " << (opt_display ? "enabled" : "disabled") << std::endl;
112 
113  std::string text_record_mode =
114  std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
115 
116  if (!opt_seqname.empty()) {
117  std::cout << text_record_mode << std::endl;
118  std::cout << "Record name: " << opt_seqname << std::endl;
119  }
120 
121 #if defined(HAVE_OPENCV_VIDEOIO) && defined(HAVE_OPENCV_HIGHGUI) && defined(VISP_HAVE_THREADS)
122  try {
123  cv::VideoCapture cap(opt_device); // open the default camera
124  if (!cap.isOpened()) { // check if we succeeded
125  std::cout << "Failed to open the camera" << std::endl;
126  return EXIT_FAILURE;
127  }
128  cv::Mat frame;
129  int i = 0;
130  while ((i++ < 20) && !cap.read(frame)) {
131  }; // warm up camera by skiping unread frames
132 
133  std::cout << "Image size : " << frame.rows << " " << frame.cols << std::endl;
134 
135 #ifdef USE_COLOR
136  vpImage<vpRGBa> I; // To acquire color images
137 #else
138  vpImage<unsigned char> I; // To acquire gray images
139 #endif
140  vpImageConvert::convert(frame, I);
141 
142  vpDisplayOpenCV *d = nullptr;
143  if (opt_display) {
144  d = new vpDisplayOpenCV(I);
145  }
146 
147 #ifdef USE_COLOR
148  vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
149  vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
150  std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
151 #else
152  vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
153  vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
154  std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
155 #endif
156 
157  bool quit = false;
158  while (!quit) {
159  double t = vpTime::measureTimeMs();
160  cap >> frame; // get a new frame from camera
161  // Convert the image in ViSP format and display it
162  vpImageConvert::convert(frame, I);
163 
165 
166  quit = image_queue.record(I);
167 
168  std::stringstream ss;
169  ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
170  vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
171  vpDisplay::flush(I);
172  }
173  image_queue.cancel();
174  image_storage_thread.join();
175 
176  if (d) {
177  delete d;
178  }
179  }
180  catch (const vpException &e) {
181  std::cout << "Catch an exception: " << e << std::endl;
182  }
183 #else
184  (void)argc;
185  (void)argv;
186 #if !defined(HAVE_OPENCV_VIDEOIO)
187  std::cout << "Install OpenCV videoio module, configure and build ViSP again to use this example" << std::endl;
188 #endif
189 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
190  std::cout << "This tutorial should be built with c++11 support" << std::endl;
191 #endif
192 #endif
193 }
static const vpColor red
Definition: vpColor.h:211
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
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.
Definition: vpException.h:59
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
unsigned int getHeight() const
Definition: vpImage.h:184
VISP_EXPORT double measureTimeMs()