1 /*! \example tutorial-grabber-ids-ueye.cpp */
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/vpUeyeGrabber.h>
7 #include <visp3/io/vpImageStorageWorker.h>
8
9 #define USE_COLOR // Comment to acquire gray level images
10
11 /*!
12 Usage :
13 To get the help : ./tutorial-grabber-ids-ueye --help
14 To set the device : ./tutorial-grabber-ids-ueye
15 */
main(int argc,const char * argv[])16 int main(int argc, const char *argv[])
17 {
18 #if defined(VISP_HAVE_UEYE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
19 try {
20 unsigned int opt_camera = 0;
21 std::string opt_seqname;
22 int opt_record_mode = 0;
23 std::string opt_config_file = "";
24 std::string opt_fps = "";
25 std::string opt_gain = "";
26 std::string opt_shutter = "";
27 std::string opt_color_mode = "";
28 int opt_white_balance = -1;
29 int opt_subsample = 1;
30 bool opt_verbose = false;
31
32 for (int i = 0; i < argc; i++) {
33 if (std::string(argv[i]) == "--camera")
34 opt_camera = (unsigned int)atoi(argv[i + 1]);
35 else if (std::string(argv[i]) == "--config-file")
36 opt_config_file = std::string(argv[i + 1]);
37 else if (std::string(argv[i]) == "--fps")
38 opt_fps = std::string(argv[i + 1]);
39 else if (std::string(argv[i]) == "--gain")
40 opt_gain = std::string(argv[i + 1]);
41 else if (std::string(argv[i]) == "--shutter")
42 opt_shutter = std::string(argv[i + 1]);
43 else if (std::string(argv[i]) == "--subsample")
44 opt_subsample = std::atoi(argv[i + 1]);
45 else if (std::string(argv[i]) == "--white-balance")
46 opt_white_balance = std::atoi(argv[i + 1]);
47 else if (std::string(argv[i]) == "--color-mode")
48 opt_color_mode = std::string(argv[i + 1]);
49 else if (std::string(argv[i]) == "--seqname")
50 opt_seqname = std::string(argv[i + 1]);
51 else if (std::string(argv[i]) == "--record")
52 opt_record_mode = std::atoi(argv[i + 1]);
53 else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v")
54 opt_verbose = true;
55 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
56 std::cout << "\nUsage: " << argv[0]
57 << " [--camera <index> (default: 0)]"
58 << " [--config-file <filename.ini> (default: empty)]"
59 << " [--fps <auto | value> (default: empty)]"
60 << " [--gain <auto | value in 0 - 100> (default: empty)]"
61 << " [--shutter <auto | exposure value in ms> (default: empty)]"
62 << " [--subsample <1,2,3,4,5,6,8,16> (default: 1)]"
63 << " [--white-balance <0: disabled, 1: enabled> (default: -1)]"
64 << " [--color-mode <mono8, rgb24, rgb32> (default: empty)]"
65 << " [--seqname <sequence name> (default: empty)]"
66 << " [--record <0: continuous | 1: single shot> (default: 0)]"
67 << " [--verbose] [-v]"
68 << " [--help] [-h]\n"
69 << "\nExample to visualize images:\n"
70 << " " << argv[0] << " \n"
71 << "\nExample to visualize images and set camera parameter from a config file:\n"
72 << " " << argv[0] << " --config-file UI-388xCP-C.ini\n"
73 << "\nExamples to record a sequence:\n"
74 << " " << argv[0] << " --seqname I%04d.png \n"
75 << " " << argv[0] << " --seqname folder/I%04d.png --record 0\n"
76 << "\nExamples to record single shot images:\n"
77 << " " << argv[0] << " --seqname I%04d.png --record 1\n"
78 << " " << argv[0] << " --seqname folder/I%04d.png --record 1\n"
79 << std::endl;
80 return 0;
81 }
82 }
83
84 //! [Create image]
85 #ifdef USE_COLOR
86 vpImage<vpRGBa> I; // To acquire color images
87 #else
88 vpImage<unsigned char> I; // To acquire gray images
89 #endif
90 //! [Create image]
91
92 //! [List camera info]
93 vpUeyeGrabber g;
94
95 // Get info on connected cameras
96 std::vector<unsigned int> cam_ids = g.getCameraIDList();
97 std::vector<std::string> cam_models = g.getCameraModelList();
98 std::vector<std::string> cam_serials = g.getCameraSerialNumberList();
99
100 if (! cam_ids.size()) {
101 std::cout << "No camera detected. Plug a camera and try again..." << std::endl;
102 return EXIT_FAILURE;
103 }
104 std::cout << "Found " << cam_ids.size() << " cameras :"<< std::endl;
105 for (unsigned int i = 0; i < cam_ids.size(); i++) {
106 std::cout << (opt_camera == i ? " * Camera " : " Camera ") << i
107 << " - ID: " << cam_ids[i] << " Model: " << cam_models[i] << " S/N: " << cam_serials[i] << std::endl;
108 }
109 //! [List camera info]
110
111 //! [Active camera info]
112 if (! g.setActiveCamera(opt_camera)) {
113 std::cout << "Unable to select camera " << opt_camera << std::endl;
114 return EXIT_FAILURE;
115 };
116 //! [Active camera info]
117
118 std::cout << "Active camera is Model " << g.getActiveCameraModel() << " with S/N: " << g.getActiveCameraSerialNumber() << std::endl;
119
120 //! [Open connection]
121 g.open(I);
122 //! [Open connection]
123
124 if (! opt_config_file.empty()) {
125 //! [Load settings from file]
126 g.loadParameters(opt_config_file);
127 //! [Load settings from file]
128 // Since loaded parameters may affect image size, rescale image in case of
129 //! [Update image size]
130 I.resize(g.getFrameHeight(), g.getFrameWidth());
131 //! [Update image size]
132 }
133
134 if (opt_subsample > 1) {
135 std::cout << "Subsampling factor: " << opt_subsample << std::endl;
136 g.setSubsampling(opt_subsample);
137 // Since subsampling may affect image size, rescale image in case of
138 I.resize(g.getFrameHeight(), g.getFrameWidth());
139 }
140
141 if (! opt_gain.empty()) {
142 if (opt_gain == "auto") {
143 std::cout << "Auto gain : " << (g.setGain(true) ? "enabled" : "N/A") << std::endl;
144 }
145 else {
146 std::cout << "Manual gain : " << (g.setGain(false, std::atoi(opt_gain.c_str())) ? (std::string(opt_gain) + " %") : "N/A") << std::endl;
147 }
148 }
149 if (! opt_shutter.empty()) {
150 if (opt_shutter == "auto") {
151 std::cout << "Auto shutter : " << (g.setExposure(true) ? "enabled" : "N/A") << std::endl;
152 }
153 else {
154 std::cout << "Manual shutter : " << (g.setExposure(false, std::atof(opt_shutter.c_str())) ? (std::string(opt_shutter) + " ms") : "N/A") << std::endl;
155 }
156 }
157
158 if (opt_white_balance > 0) {
159 bool wb = (opt_white_balance ? true : false);
160 std::cout << "Subsampling factor: " << opt_subsample << std::endl;
161 std::cout << "White balance : " << (wb ? "auto" : "disabled") << std::endl;
162 g.setWhiteBalance(wb);
163 }
164
165 if (! opt_color_mode.empty()) {
166 if (g.setColorMode(opt_color_mode)) {
167 std::cout << "Color mode : " << opt_color_mode << std::endl;
168 }
169 }
170
171 if (! opt_fps.empty()) {
172 if (opt_fps == "auto") {
173 std::cout << "Auto framerate : " << (g.setFrameRate(true) ? "enabled" : "N/A") << std::endl;
174 }
175 else {
176 std::cout << "Manual framerate : " << (g.setFrameRate(false, std::atof(opt_fps.c_str())) ? (std::string(opt_fps) + " Hz") : "N/A") << std::endl;
177 }
178 }
179
180 std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
181
182 std::string text_record_mode = std::string("Record mode : ") + (opt_record_mode ? std::string("single") : std::string("continuous"));
183
184 if (! opt_seqname.empty()) {
185 std::cout << text_record_mode << std::endl;
186 std::cout << "Record name : " << opt_seqname << std::endl;
187 }
188
189 std::cout << "Config file : " << (opt_config_file.empty() ? "empty" : opt_config_file) << std::endl;
190 std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
191
192 #ifdef VISP_HAVE_X11
193 vpDisplayX d;
194 #elif defined(VISP_HAVE_GDI)
195 vpDisplayGDI d;
196 #elif defined(VISP_HAVE_OPENCV)
197 vpDisplayOpenCV d;
198 #else
199 std::cout << "No image viewer is available..." << std::endl;
200 #endif
201
202 #if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
203 d.setDownScalingFactor(vpDisplay::SCALE_AUTO);
204 d.init(I);
205 #endif
206
207 #ifdef USE_COLOR
208 vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
209 vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
210 std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
211 #else
212 vpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);
213 vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));
214 std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
215 #endif
216
217 bool quit = false;
218 double timestamp_camera = 0, timestamp_camera_prev = 0;
219 std::string timestamp_system;
220 while (! quit) {
221 g.acquire(I, ×tamp_camera, ×tamp_system);
222 double fps = g.getFramerate();
223
224 vpDisplay::display(I);
225
226 quit = image_queue.record(I, ×tamp_system);
227
228 if (opt_verbose) {
229 std::cout << "System timestamp: " << timestamp_system << std::endl;
230 std::cout << "Camera timestamp diff: " << timestamp_camera - timestamp_camera_prev << std::endl;
231 timestamp_camera_prev = timestamp_camera;
232 }
233 vpDisplay::displayText(I, static_cast<int>(I.getHeight() - 40 * vpDisplay::getDownScalingFactor(I)),
234 static_cast<int>(10 * vpDisplay::getDownScalingFactor(I)), timestamp_system, vpColor::red);
235 {
236 std::stringstream ss;
237 ss << "Camera framerate: " << fps;
238 vpDisplay::displayText(I, static_cast<int>(I.getHeight() - 60 * vpDisplay::getDownScalingFactor(I)),
239 static_cast<int>(10 * vpDisplay::getDownScalingFactor(I)), ss.str(), vpColor::red);
240 }
241
242 vpDisplay::flush(I);
243 }
244 image_queue.cancel();
245 image_storage_thread.join();
246 } catch (const vpException &e) {
247 std::cout << "Catch an exception: " << e << std::endl;
248 }
249 #else
250 (void) argc;
251 (void) argv;
252 #ifndef VISP_HAVE_UEYE
253 std::cout << "Install IDS uEye SDK, configure and build ViSP again to use this example" << std::endl;
254 #endif
255 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
256 std::cout << "This turorial should be built with c++11 support" << std::endl;
257 #endif
258 #endif
259 }
260