#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayFactory.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 internally 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) && defined(VISP_HAVE_THREADS)
#ifdef ENABLE_VISP_NAMESPACE
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display_visible;
std::shared_ptr<vpDisplay> display_depth;
#else
#endif
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;
bool opt_sxga = false;
bool opt_frame_sync = true;
bool opt_display = true;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--depth-fps" && i + 1 < argc) {
opt_depth_fps = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--visible-fps" && i + 1 < argc) {
opt_visible_fps = std::atoi(argv[++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" && i + 1 < argc) {
opt_record_mode = std::atoi(argv[++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;
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;
bool is_open = g.
open(settings);
if (is_open) {
if (opt_display) {
#if !(defined(VISP_HAVE_DISPLAY))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#else
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#else
#endif
#endif
}
vpImageQueue<vpRGBa> image_queue_visible(opt_seqname_visible, opt_record_mode);
std::thread image_visible_storage_thread;
vpImageQueue<vpRGBa> image_queue_depth(opt_seqname_depth, opt_record_mode);
bool quit = false;
double t;
while (!quit) {
quit = image_queue_visible.record(I_color);
quit |= image_queue_depth.record(I_depth, nullptr, image_queue_visible.getRecordingTrigger(), true);
std::stringstream ss;
}
image_queue_visible.cancel();
image_queue_depth.cancel();
image_visible_storage_thread.join();
image_depth_storage_thread.join();
}
}
std::cout << "Catch an exception: " << e << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display_visible != nullptr) {
delete display_visible;
}
if (display_depth != nullptr) {
delete display_depth;
}
#endif
#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 tutorial should be built with c++11 support" << std::endl;
#endif
#endif
}
Class that defines generic functionalities for display.
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.
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
unsigned int getWidth() const
Type * bitmap
points toward the bitmap
unsigned int getHeight() const
unsigned int getHeight(vpOccipitalStructureStream stream_type)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=nullptr)
unsigned int getWidth(vpOccipitalStructureStream stream_type)
bool open(const ST::CaptureSessionSettings &settings)
std::shared_ptr< vpDisplay > createDisplay()
Return a smart pointer vpDisplay specialization if a GUI library is available or nullptr otherwise.
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeMs()