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/*! \example tutorial-grabber-realsense.cpp */
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageStorageWorker.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>]"
<< " [--save-distortion]"
<< " [--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
<< " --save-distortion" << std::endl
<< " Flag to save the distortion coefficient parameters in the XML file." << 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
<< " --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_REALSENSE2) && defined(VISP_HAVE_THREADS)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
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;
bool save_distortion = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--fps" && i + 1 < argc) {
opt_fps = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--seqname" && i + 1 < argc) {
opt_seqname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--width" && i + 1 < argc) {
opt_width = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--height" && i + 1 < argc) {
opt_height = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--record" && i + 1 < argc) {
opt_record_mode = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--no-display") {
opt_display = false;
}
else if (std::string(argv[i]) == "--save-distortion") {
save_distortion = true;
}
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;
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);
g.acquire(I);
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
vpCameraParameters cam = g.getCameraParameters(RS2_STREAM_COLOR,
save_distortion ? vpCameraParameters::perspectiveProjWithDistortion : vpCameraParameters::perspectiveProjWithoutDistortion
);
#if defined(VISP_HAVE_PUGIXML)
if (!opt_seqname.empty()) {
vpXmlParserCamera p;
std::string output_folder = vpIoTools::getParent(opt_seqname);
if (!vpIoTools::checkDirectory(output_folder)) {
try {
std::cout << "Create output folder: " << output_folder << std::endl;
vpIoTools::makeDirectory(output_folder);
}
catch (const vpException &e) {
std::cout << e.getStringMessage();
return EXIT_FAILURE;
}
}
std::string cam_filename = output_folder + "/camera.xml";
std::cout << "Save camera intrinsics in: " << cam_filename << std::endl;
if (p.save(cam, cam_filename, "camera") != vpXmlParserCamera::SEQUENCE_OK) {
std::cout << "Cannot save camera parameters in " << cam_filename << std::endl;
}
}
#else
std::cout << "Warning: Unable to save camera parameters in xml since pugixml 3rdparty is not enabled" << std::endl;
#endif
if (opt_display) {
#if !(defined(VISP_HAVE_DISPLAY))
std::cout << "No image viewer is available..." << std::endl;
opt_display = false;
#else
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I);
#else
display = vpDisplayFactory::allocateDisplay(I);
#endif
#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();
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
#else
(void)argc;
(void)argv;
#if !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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