grab1394CMU.cpp

Video capture example based on CMU 1394 Digital Camera SDK using vp1394CMUGrabber class. Display the images using the GDI or OpenCV display.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Video capture example based on CMU 1394 Digital Camera SDK.
 */

#include <iostream>
#include <stdio.h>
#include <stdlib.h>
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/sensor/vp1394CMUGrabber.h>
 
#define GRAB_COLOR
 
// List of allowed command line options
#define GETOPTARGS "dhn:o:"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
 
void usage(const char *name, const char *badparam, unsigned &nframes, std::string &opath);
bool getOptions(int argc, const char **argv, bool &display, unsigned int &nframes, bool &save, std::string &opath);

void usage(const char *name, const char *badparam, unsigned &nframes, std::string &opath)
{
  fprintf(stdout, "\n\
Acquire images using CMU 1394 Digital Camera SDK (available under Windows only) and display\n\
it using GDI or OpenCV if GDI is not available.\n\
\n\
SYNOPSIS\n\
  %s [-d] [-n] [-o] [-h] \n",
          name);
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -d \n\
     Turn off the display.\n\
\n\
  -n [%%u]                                               %u\n\
     Number of frames to acquire.               \n\
\n\
  -o [%%s] \n\
     Filename for image saving.                    \n\
     Example: -o %s\n\
     The %%d is for the image numbering.\n\
\n\
  -h \n\
     Print the help.\n\
\n",
nframes, opath.c_str());
  if (badparam) {
    fprintf(stderr, "ERROR: \n");
    fprintf(stderr, "\nBad parameter [%s]\n", badparam);
  }
}
bool getOptions(int argc, const char **argv, bool &display, unsigned int &nframes, bool &save, std::string &opath)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'd':
      display = false;
      break;
    case 'n':
      nframes = static_cast<unsigned int>(atoi(optarg_));
      break;
    case 'o':
      save = true;
      opath = optarg_;
      break;
    case 'h':
      usage(argv[0], nullptr, nframes, opath);
      return false;
 
    default:
      usage(argv[0], optarg_, nframes, opath);
      return false;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, nframes, opath);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}

#if defined(VISP_HAVE_CMU1394)
int main(int argc, const char **argv)
{
  bool opt_display = true;
  unsigned nframes = 50;
  bool save = false;
 
// Declare an image. It size is not defined yet. It will be defined when the
// image will acquired the first time.
#ifdef GRAB_COLOR
  vpImage<vpRGBa> I; // This is a color image (in RGBa format)
#else
  vpImage<unsigned char> I; // This is a B&W image
#endif
 
// Set default output image name for saving
#ifdef GRAB_COLOR
  // Color images will be saved in PGM P6 format
  std::string opath = "C:/temp/I%04d.ppm";
#else
  // B&W images will be saved in PGM P5 format
  std::string opath = "C:/temp/I%04d.pgm";
#endif
 
  // Read the command line options
  if (getOptions(argc, argv, opt_display, nframes, save, opath) == false) {
    return EXIT_FAILURE;
  }
 
  // Create the grabber
  vp1394CMUGrabber g;
  unsigned short gain_min, gain_max;
  g.getGainMinMax(gain_min, gain_max);
  std::cout << "Gain range [" << gain_min << ", " << gain_max << "]" << std::endl;
  unsigned short shutter_min, shutter_max;
  g.getShutterMinMax(shutter_min, shutter_max);
  std::cout << "Shutter range [" << shutter_min << ", " << shutter_max << "]" << std::endl;
  g.setFramerate(4); // 30 fps
  std::cout << "Actual framerate: " << g.getFramerate() << std::endl;
  g.setVideoMode(0, 0);
  g.acquire(I);
 
  std::cout << "Image size: width : " << I.getWidth() << " height: " << I.getHeight() << std::endl;
 
#if (defined(VISP_HAVE_GDI) || defined(HAVE_OPENCV_HIGHGUI))
 
// Creates a display
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display = vpDisplayFactory::createDisplay();
#else
  vpDisplay *display = vpDisplayFactory::allocateDisplay();
#endif
  if (opt_display) {
    display->init(I, 100, 100, "Current image");
  }
#endif
#endif
 
  try {
    double tbegin = 0, ttotal = 0;
 
    ttotal = 0;
    tbegin = vpTime::measureTimeMs();
    // Loop for image acquisition and display
    for (unsigned i = 0; i < nframes; i++) {
      // Acquires an RGBa image
      g.acquire(I);
 
#if defined(VISP_HAVE_DISPLAY)
      if (opt_display) {
        // Displays the grabbed rgba image
        vpDisplay::display(I);
        vpDisplay::flush(I);
        if (vpDisplay::getClick(I, false)) // A click to exit
          break;
      }
#endif
 
      if (save) {
        char buf[FILENAME_MAX];
        snprintf(buf, FILENAME_MAX, opath.c_str(), i);
        std::string filename(buf);
        std::cout << "Write: " << filename << std::endl;
        vpImageIo::write(I, filename);
      }
      double tend = vpTime::measureTimeMs();
      double tloop = tend - tbegin;
      tbegin = tend;
      std::cout << "loop time: " << tloop << " ms" << std::endl;
      ttotal += tloop;
    }
    std::cout << "Mean loop time: " << ttotal / nframes << " ms" << std::endl;
    std::cout << "Mean frequency: " << 1000. / (ttotal / nframes) << " fps" << std::endl;
 
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11) && defined(VISP_HAVE_DISPLAY)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11) && defined(VISP_HAVE_DISPLAY)
    if (display != nullptr) {
      delete display;
    }
#endif
    return EXIT_FAILURE;
  }
}
#else
int main()
{
  std::cout << "This example requires CMU 1394 Digital Camera SDK. " << std::endl;
  std::cout << "Tip if you are on a windows-like system:" << std::endl;
  std::cout << "- Install CMU 1394 SDK, configure again ViSP using cmake and build again this example" << std::endl;
  return EXIT_SUCCESS;
}
#endif