4 #include <visp3/core/vpConfig.h>
16 #if (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
17 defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) || \
18 ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
19 ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))) && \
20 ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_FEATURES2D)) || \
21 ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_3D) && defined(HAVE_OPENCV_FEATURES))
23 #ifdef VISP_HAVE_MODULE_SENSOR
25 #include <visp3/sensor/vp1394CMUGrabber.h>
26 #include <visp3/sensor/vp1394TwoGrabber.h>
27 #include <visp3/sensor/vpFlyCaptureGrabber.h>
28 #include <visp3/sensor/vpRealSense2.h>
29 #include <visp3/sensor/vpV4l2Grabber.h>
33 #include <visp3/gui/vpDisplayFactory.h>
36 #include <visp3/me/vpMeLine.h>
39 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
40 #include <opencv2/highgui/highgui.hpp>
41 #elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
42 #include <opencv2/videoio/videoio.hpp>
47 #ifdef ENABLE_VISP_NAMESPACE
51 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
52 std::shared_ptr<vpDisplay> display;
64 #if defined(VISP_HAVE_V4L2)
66 std::ostringstream device;
67 device <<
"/dev/video" << opt_device;
68 std::cout <<
"Use Video 4 Linux grabber on device " << device.str() << std::endl;
72 #elif defined(VISP_HAVE_DC1394)
74 std::cout <<
"Use DC1394 grabber" << std::endl;
77 #elif defined(VISP_HAVE_CMU1394)
79 std::cout <<
"Use CMU1394 grabber" << std::endl;
82 #elif defined(VISP_HAVE_FLYCAPTURE)
84 std::cout <<
"Use FlyCapture grabber" << std::endl;
87 #elif defined(VISP_HAVE_REALSENSE2)
89 std::cout <<
"Use Realsense 2 grabber" << std::endl;
92 config.disable_stream(RS2_STREAM_DEPTH);
93 config.disable_stream(RS2_STREAM_INFRARED);
94 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
97 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
98 std::cout <<
"Use OpenCV grabber on device " << opt_device << std::endl;
99 cv::VideoCapture g(opt_device);
101 std::cout <<
"Failed to open the camera" << std::endl;
110 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
112 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
119 #if defined(VISP_HAVE_DISPLAY)
120 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
126 std::cout <<
"No image viewer is available..." << std::endl;
152 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
154 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
170 std::cout <<
"Catch an exception: " << e << std::endl;
172 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
173 if (display !=
nullptr) {
183 #if defined(VISP_HAVE_OPENCV)
184 std::cout <<
"Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, "
185 <<
"Realsense2), configure and build ViSP again to use this tutorial."
188 std::cout <<
"Install OpenCV 3rd party, configure and build ViSP again to use this tutorial." << std::endl;
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
void open(vpImage< unsigned char > &I)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void open(vpImage< unsigned char > &I)
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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.
void open(vpImage< unsigned char > &I)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Class that tracks in an image a line moving edges.
void display(const vpImage< unsigned char > &I, const vpColor &color, unsigned int thickness=1)
void track(const vpImage< unsigned char > &I)
void initTracking(const vpImage< unsigned char > &I)
void setDisplay(vpMeSite::vpMeSiteDisplayType select)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void open(vpImage< unsigned char > &I)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
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.