Visual Servoing Platform version 3.5.0
tutorial-grabber-basler-pylon.cpp
1
2#include <visp3/core/vpImage.h>
3#include <visp3/gui/vpDisplayGDI.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/gui/vpDisplayX.h>
6#include <visp3/sensor/vpPylonFactory.h>
7#include <visp3/io/vpImageStorageWorker.h>
8
14int main(int argc, const char *argv[])
15{
16#if defined(VISP_HAVE_PYLON) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
17 try {
18 unsigned int opt_camera = 0;
19 std::string opt_device("GigE");
20 std::string opt_seqname;
21 int opt_record_mode = 0;
22 bool opt_change_settings = false;
23
24 for (int i = 0; i < argc; i++) {
25 if (std::string(argv[i]) == "--camera")
26 opt_camera = (unsigned int)atoi(argv[i + 1]);
27 else if (std::string(argv[i]) == "--device")
28 opt_device = std::string(argv[i + 1]);
29 else if (std::string(argv[i]) == "--seqname")
30 opt_seqname = std::string(argv[i + 1]);
31 else if (std::string(argv[i]) == "--record")
32 opt_record_mode = std::atoi(argv[i + 1]);
33 else if (std::string(argv[i]) == "--change_settings")
34 opt_change_settings = true;
35 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
36 std::cout << "\nUsage: " << argv[0]
37 << " [--camera <0...9> (default: 0)] [--device <\"GigE\"|\"USB\" (default: GigE)>]"
38 << " [--seqname <sequence name (default: empty)>] [--record <0: continuous | 1: single shot (default: 0)>]"
39 << " [--change_settings] [--help] [-h]\n"
40 << "\nExample to visualize images:\n"
41 << " " << argv[0] << " \n"
42 << " " << argv[0] << " --device GigE --camera 0\n"
43 << "\nExamples to record a sequence:\n"
44 << " " << argv[0] << " --seqname I%04d.png \n"
45 << " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
46 << "\nExamples to record single shot images:\n"
47 << " " << argv[0] << " --seqname I%04d.png --record 1\n"
48 << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
49 << std::endl;
50 return 0;
51 }
52 }
53
54 std::cout << "Settings : " << (opt_change_settings ? "modified" : "current") << std::endl;
55 std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
56
57 std::string text_record_mode = std::string("Record mode: ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
58
59 if (! opt_seqname.empty()) {
60 std::cout << text_record_mode << std::endl;
61 std::cout << "Record name: " << opt_seqname << std::endl;
62 }
63
65
67
69 if (opt_device == "GigE" || opt_device == "gige") {
71 std::cout << "Opening Basler GigE camera: " << opt_camera << std::endl;
72 } else if (opt_device == "USB" || opt_device == "usb") {
74 std::cout << "Opening Basler USB camera: " << opt_camera << std::endl;
75 } else {
76 std::cout << "Error: only Basler GigE or USB cameras are supported." << std::endl;
77 return EXIT_SUCCESS;
78 }
79 g->setCameraIndex(opt_camera);
80
81 g->open(I);
82
83 std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
84
85#ifdef VISP_HAVE_X11
86 vpDisplayX d(I);
87#elif defined(VISP_HAVE_GDI)
88 vpDisplayGDI d(I);
89#elif defined(VISP_HAVE_OPENCV)
90 vpDisplayOpenCV d(I);
91#else
92 std::cout << "No image viewer is available..." << std::endl;
93#endif
94
95 vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
96 vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
97 std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
98
99 bool quit = false;
100 while (! quit) {
101 double t = vpTime::measureTimeMs();
102 g->acquire(I);
103
105
106 quit = image_queue.record(I);
107
108 std::stringstream ss;
109 ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
110 vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
112 }
113 image_queue.cancel();
114 image_storage_thread.join();
115 } catch (const vpException &e) {
116 std::cout << "Catch an exception: " << e << std::endl;
117 }
118#else
119 (void) argc;
120 (void) argv;
121#ifndef VISP_HAVE_PYLON
122 std::cout << "Install Basler Pylon SDK, configure and build ViSP again to use this example" << std::endl;
123#endif
124#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
125 std::cout << "This turorial should be built with c++11 support" << std::endl;
126#endif
127#endif
128}
static const vpColor red
Definition: vpColor.h:217
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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
Factory singleton class to create vpPylonGrabber subclass instances.
@ BASLER_GIGE
Basler GigE camera.
@ BASLER_USB
Basler USB camera.
static vpPylonFactory & instance()
Get the vpPylonFactory singleton.
vpPylonGrabber * createPylonGrabber(DeviceClass dev_class)
Create an object of vpPylonGrabber.
virtual void acquire(vpImage< unsigned char > &I)=0
virtual void open(vpImage< unsigned char > &I)=0
virtual void setCameraIndex(unsigned int index)=0
VISP_EXPORT double measureTimeMs()