Visual Servoing Platform version 3.5.0
tutorial-grabber-v4l2.cpp
1
2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayX.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/sensor/vpV4l2Grabber.h>
6#include <visp3/io/vpImageStorageWorker.h>
7
8//#define USE_COLOR // Comment to acquire gray level images
9
16int main(int argc, const char *argv[])
17{
18#if defined(VISP_HAVE_V4L2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
19 try {
20 int opt_device = 0;
21 unsigned int opt_scale = 1; // Default value is 2 in the constructor. Turn
22 // it to 1 to avoid subsampling
23 std::string opt_seqname;
24 int opt_record_mode = 0;
25
26 for (int i = 0; i < argc; i++) {
27 if (std::string(argv[i]) == "--camera_device")
28 opt_device = std::atoi(argv[i + 1]);
29 else if (std::string(argv[i]) == "--scale")
30 opt_scale = (unsigned int)atoi(argv[i + 1]);
31 else if (std::string(argv[i]) == "--seqname")
32 opt_seqname = std::string(argv[i + 1]);
33 else if (std::string(argv[i]) == "--record")
34 opt_record_mode = std::atoi(argv[i + 1]);
35 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
36 std::cout << "\nUsage: " << argv[0]
37 << " [--camera_device <camera device (default: 0)>] [--scale <subsampling factor (default: 1)>]"
38 " [--seqname <sequence name (default: empty>] [--record <0: continuous | 1: single shot (default: 0)>]"
39 " [--help] [-h]\n"
40 << "\nExample to visualize images:\n"
41 << " " << argv[0] << "\n"
42 << "\nExample to visualize images from a second camera:\n"
43 << " " << argv[0] << " --camera_device 1\n"
44 << "\nExamples to record a sequence:\n"
45 << " " << argv[0] << " --seqname I%04d.png \n"
46 << " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
47 << "\nExamples to record single shot images:\n"
48 << " " << argv[0] << " --seqname I%04d.png --record 1\n"
49 << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
50 << std::endl;
51 return 0;
52 }
53 }
54
55 std::cout << "Use device : " << opt_device << std::endl;
56 std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
57
58 std::string text_record_mode = std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
59
60 if (! opt_seqname.empty()) {
61 std::cout << text_record_mode << std::endl;
62 std::cout << "Record name: " << opt_seqname << std::endl;
63 }
64
65#ifdef USE_COLOR
66 vpImage<vpRGBa> I; // To acquire color images
67#else
68 vpImage<unsigned char> I; // To acquire gray images
69#endif
70
72 std::ostringstream device;
73 device << "/dev/video" << opt_device;
74 g.setDevice(device.str());
75 g.setScale(opt_scale);
76 g.open(I);
77
78 std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
79
80#ifdef VISP_HAVE_X11
81 vpDisplayX d(I);
82#elif defined(VISP_HAVE_OPENCV)
83 vpDisplayOpenCV d(I);
84#else
85 std::cout << "No image viewer is available..." << std::endl;
86#endif
87
88#ifdef USE_COLOR
89 vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
90 vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
91 std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
92#else
93 vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
94 vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
95 std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
96#endif
97
98 bool quit = false;
99 while (! quit) {
100 double t = vpTime::measureTimeMs();
101 g.acquire(I);
102
104
105 quit = image_queue.record(I);
106
107 std::stringstream ss;
108 ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
109 vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
111 }
112 image_queue.cancel();
113 image_storage_thread.join();
114 } catch (const vpException &e) {
115 std::cout << "Catch an exception: " << e << std::endl;
116 }
117#else
118 (void) argc;
119 (void) argv;
120#ifndef VISP_HAVE_V4L2
121 std::cout << "Install Video 4 Linux 2 (v4l2), configure and build ViSP again to use this example" << std::endl;
122#endif
123#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
124 std::cout << "This turorial should be built with c++11 support" << std::endl;
125#endif
126#endif
127}
static const vpColor red
Definition: vpColor.h:217
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
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 emited by ViSP classes.
Definition: vpException.h:72
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
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)
void acquire(vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()