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/*! \example tutorial-grabber-realsense.cpp */
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageStorageWorker.h>
#include <visp3/sensor/vpRealSense.h>
#include <visp3/sensor/vpRealSense2.h>
void usage(const char *argv[], int error)
{
std::cout << "SYNOPSIS" << std::endl
<< " " << argv[0] << " [--fps <6|15|30|60>]"
<< " [--width <image width>]"
<< " [--height <image height>]"
<< " [--seqname <sequence name>]"
<< " [--record <mode>]"
<< " [--no-display]"
<< " [--help] [-h]" << std::endl
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --fps <6|15|30|60>" << std::endl
<< " Frames per second." << std::endl
<< " Default: 30." << std::endl
<< std::endl
<< " --width <image width>" << std::endl
<< " Default: 640." << std::endl
<< std::endl
<< " --height <image height>" << std::endl
<< " Default: 480." << std::endl
<< std::endl
<< " --seqname <sequence name>" << std::endl
<< " Name of the sequence of image to create (ie: /tmp/image%04d.jpg)." << std::endl
<< " Default: empty." << 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
<< " Examples to record a sequence of successive images in 640x480 resolution:" << std::endl
<< " " << argv[0] << " --seqname I%04d.png" << std::endl
<< " " << argv[0] << " --seqname folder/I%04d.png --record 0" << std::endl
<< std::endl
<< " Examples to record single shot 640x480 images:\n"
<< " " << argv[0] << " --seqname I%04d.png --record 1\n"
<< " " << argv[0] << " --seqname folder/I%04d.png --record 1" << std::endl
<< std::endl
<< " Examples to record single shot 1280x720 images:\n"
<< " " << argv[0] << " --seqname I%04d.png --record 1 --width 1280 --height 720" << std::endl
<< std::endl;
if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}
/*!
Grab images from an Intel realsense camera
*/
int main(int argc, const char *argv[])
{
#if defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
try {
std::string opt_seqname;
int opt_record_mode = 0;
int opt_fps = 30;
bool opt_display = true;
unsigned int opt_width = 640;
unsigned int opt_height = 480;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--fps") {
opt_fps = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--seqname") {
opt_seqname = std::string(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--width") {
opt_width = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--height") {
opt_height = std::atoi(argv[i + 1]);
i++;
} else if (std::string(argv[i]) == "--record") {
opt_record_mode = std::atoi(argv[i + 1]);
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_seqname.empty())) {
opt_record_mode = 0;
}
if (opt_fps != 6 && opt_fps != 15 && opt_fps != 30 && opt_fps != 60) {
opt_fps = 30; // Default
}
std::cout << "Resolution : " << opt_width << " x " << opt_height << std::endl;
std::cout << "Recording : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;
std::cout << "Framerate : " << opt_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"));
if (!opt_seqname.empty()) {
std::cout << text_record_mode << std::endl;
std::cout << "Record name: " << opt_seqname << std::endl;
}
vpImage<vpRGBa> I;
#ifdef VISP_HAVE_REALSENSE2
std::cout << "SDK : Realsense 2" << std::endl;
vpRealSense2 g;
rs2::config config;
config.disable_stream(RS2_STREAM_DEPTH);
config.disable_stream(RS2_STREAM_INFRARED);
config.enable_stream(RS2_STREAM_COLOR, opt_width, opt_height, RS2_FORMAT_RGBA8, opt_fps);
g.open(config);
#else
std::cout << "SDK : Realsense 1" << std::endl;
vpRealSense g;
g.setStreamSettings(rs::stream::color, vpRealSense::vpRsStreamParams(opt_width, opt_height, rs::format::rgba8, 60));
g.open();
#endif
g.acquire(I);
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
vpDisplay *d = NULL;
if (opt_display) {
#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#endif
}
if (opt_display) {
#ifdef VISP_HAVE_X11
d = new vpDisplayX(I);
#elif defined(VISP_HAVE_GDI)
d = new vpDisplayGDI(I);
#elif defined(HAVE_OPENCV_HIGHGUI)
d = new vpDisplayOpenCV(I);
#endif
}
vpImageQueue<vpRGBa> image_queue(opt_seqname, opt_record_mode);
vpImageStorageWorker<vpRGBa> image_storage_worker(std::ref(image_queue));
std::thread image_storage_thread(&vpImageStorageWorker<vpRGBa>::run, &image_storage_worker);
bool quit = false;
while (!quit) {
double t = vpTime::measureTimeMs();
g.acquire(I);
vpDisplay::display(I);
quit = image_queue.record(I);
std::stringstream ss;
ss << "Acquisition time: " << std::setprecision(3) << vpTime::measureTimeMs() - t << " ms";
vpDisplay::displayText(I, I.getHeight() - 20, 10, ss.str(), vpColor::red);
vpDisplay::flush(I);
}
image_queue.cancel();
image_storage_thread.join();
if (d) {
delete d;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
#if !(defined(VISP_HAVE_REALSENSE) || defined(VISP_HAVE_REALSENSE2))
std::cout << "Install librealsense version > 2.31.0, 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
}
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