Visual Servoing Platform  version 3.5.1 under development (2022-05-18)
tutorial-grabber-structure-core.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/vpOccipitalStructure.h>
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--depth-fps <6|15|30|60>]"
<< " [--depth-fps <6|15|30|60>]"
<< " [--sxga]"
<< " [--no-frame-sync]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --visible-fps <6|15|30|60>" << std::endl
<< " Visible camera (gray or color) frames per second." << std::endl
<< " Default: 30." << std::endl
<< std::endl
<< " --depth-fps <6|15|30|60>" << std::endl
<< " Depth camera frames per second." << std::endl
<< " Default: 30." << std::endl
<< std::endl
<< " --sxga" << std::endl
<< " If available, output 1280x960 high resolution depth array." << std::endl
<< std::endl
<< " --no-frame-sync" << std::endl
<< " If available, disable frame synchronization." << 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
<< " Example to record a sequence of images:" << std::endl
<< " " << argv[0] << " --record 0" << std::endl
<< std::endl
<< " Example to record a sequence of images at different frame rates:" << std::endl
<< " " << argv[0] << " --record 0 --depth-fps 15 --visible-fps 10 --no-frame-sync" << std::endl
<< std::endl
<< " Example to record single shot images:\n"
<< " " << argv[0] << " --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_OCCIPITAL_STRUCTURE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
std::string opt_seqname_visible = "visible-%04d.png", opt_seqname_depth = "depth-%04d.png";
int opt_record_mode = 0;
int opt_depth_fps = 30, opt_visible_fps = opt_depth_fps; // frame synchronization by default.
bool opt_sxga = false; // Used for high resolution depth array (true => 1280x960).
bool opt_frame_sync = true; // Used to set/unset frame synchronization (default: true).
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--depth-fps") {
opt_depth_fps = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--visible-fps") {
opt_visible_fps = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--sxga") {
opt_sxga = true;
} else if (std::string(argv[i]) == "--no-frame-sync") {
opt_frame_sync = false;
} else if (std::string(argv[i]) == "--record") {
opt_record_mode = std::atoi(argv[i + 1]);
i++;
} 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_record_mode = 0;
}
std::cout << "Depth framerate : " << opt_depth_fps << std::endl;
std::cout << "Visible framerate: " << opt_visible_fps << 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"));
std::cout << text_record_mode << std::endl;
std::cout << "Visible record name: " << opt_seqname_visible << std::endl;
std::cout << "Depth record name: " << opt_seqname_depth << std::endl;
vpImage<vpRGBa> I_color, I_depth;
vpImage<float> I_depth_raw;
// There's an issue in the firmware when visible fps is set between 1 Hz and 2 Hz.
// The visible frame is damaged. The depth frame can be streamed at 1Hz without any problem.
if (opt_visible_fps < 2) {
opt_visible_fps = 2;
}
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.visibleEnabled = true;
settings.frameSyncEnabled = opt_frame_sync;
settings.structureCore.depthFramerate = opt_depth_fps;
settings.structureCore.visibleFramerate = opt_visible_fps;
if (opt_sxga)
settings.structureCore.depthResolution = ST::StructureCoreDepthResolution::SXGA;
settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.
bool is_open = g.open(settings);
if (is_open) {
// Wait some time to at least have 1 frame of each enabled stream (worst case scenario fps = 1Hz).
vpTime::wait(1000);
vpDisplay *display_visible = NULL, *display_depth = 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
display_visible = new vpDisplayX(I_color, 10, 10, "Visible image");
display_depth = new vpDisplayX(I_depth, 10 + I_color.getWidth(), 10, "Depth image");
#elif defined(VISP_HAVE_GDI)
display_visible = new vpDisplayGDI(I_color, 10, 10, "Visible image");
display_depth = new vpDisplayGDI(I_depth, 10 + I_color.getWidth(), 10, "Depth image");
#elif defined(VISP_HAVE_OPENCV)
display_visible = new vpDisplayOpenCV(I_color, 10, 10, "Visible image");
display_depth = new vpDisplayOpenCV(I_depth, 10 + I_color.getWidth(), 10, "Depth image");
#endif
}
vpImageQueue<vpRGBa> image_queue_visible(opt_seqname_visible, opt_record_mode);
std::thread image_visible_storage_thread;
vpImageStorageWorker<vpRGBa> image_visible_storage_worker(std::ref(image_queue_visible));
image_visible_storage_thread = std::thread(&vpImageStorageWorker<vpRGBa>::run, &image_visible_storage_worker);
vpImageQueue<vpRGBa> image_queue_depth(opt_seqname_depth, opt_record_mode);
vpImageStorageWorker<vpRGBa> image_depth_storage_worker(std::ref(image_queue_depth));
std::thread image_depth_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_depth_storage_worker);
bool quit = false;
double t;
while (!quit) {
g.acquire((unsigned char *)I_color.bitmap, (unsigned char *)I_depth_raw.bitmap);
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
quit = image_queue_visible.record(I_color);
quit |= image_queue_depth.record(I_depth, NULL, image_queue_visible.getRecordingTrigger(), true);
std::stringstream ss;
ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
vpDisplay::displayText(I_depth, I_depth.getHeight() - 20, 10, ss.str(), vpColor::red);
vpDisplay::flush(I_color);
vpDisplay::flush(I_depth);
}
image_queue_visible.cancel();
image_queue_depth.cancel();
image_visible_storage_thread.join();
image_depth_storage_thread.join();
if (display_visible) {
delete display_visible;
}
if (display_depth) {
delete display_depth;
}
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#if !(defined(VISP_HAVE_OCCIPITAL_STRUCTURE))
std::cout << "Install libStructure, 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
}