1. 源码附录

1.1 tutorial-grabber-opencv-hyl.cpp

/*! \example tutorial-grabber-opencv.cpp */
#include <stdlib.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpImageStorageWorker.h>#if defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio.hpp>
#endif#define USE_COLOR // Comment to acquire gray level imagesvoid usage(const char *argv[], int error)
{std::cout << "SYNOPSIS" << std::endl<< "  " << argv[0] << " [--device <index>]"<< " [--seqname <sequence name>]"<< " [--record <mode>]"<< " [--no-display]"<< " [--help] [-h]" << std::endl<< std::endl;std::cout << "DESCRIPTION" << std::endl<< "  --device <index> " << std::endl<< "    Camera device index. Set 0 to dial with the first camera," << std::endl<< "    and 1 to dial with the second camera attached to the computer." << std::endl<< "    Default: 0 to consider /dev/video0 device." << 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<< "  Example to visualize images from a second camera:" << std::endl<< "    " << argv[0] << " --device 1" << std::endl<< std::endl<< "  Examples to record a sequence:" << 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 images:\n"<< "    " << argv[0] << " --seqname I%04d.png --record 1\n"<< "    " << argv[0] << " --seqname folder/I%04d.png --record 1" << std::endl<< std::endl;if (error) {std::cout << "Error" << std::endl<< "  "<< "Unsupported parameter " << argv[error] << std::endl;}
}// usage: binary -h
// device name: 0 is the default to dial with the first camera,
// 1 to dial with a second camera attached to the computer
int main(int argc, const char *argv[])
{int opt_device = 0;std::string opt_seqname;std::string opt_filename;int opt_record_mode = 0;bool opt_display = true;for (int i = 1; i < argc; i++) {if (std::string(argv[i]) == "--device") {opt_device = 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]) == "--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 if (std::string(argv[i]) == "--filename") {opt_filename = std::string(argv[i + 1]);i++;}else {usage(argv, i);return EXIT_FAILURE;}}if ((!opt_display) && (!opt_seqname.empty())) {opt_record_mode = 0;}std::cout << "Use device : " << opt_device << std::endl;std::cout << "Recording  : " << (opt_seqname.empty() ? "disabled" : "enabled") << std::endl;std::cout << "Display    : " << (opt_display ? "enabled" : "disabled") << std::endl;std::cout << "Filename   : " << (opt_filename.empty() ? "Filename is null" : opt_filename) << 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;}#if defined(HAVE_OPENCV_VIDEOIO) && defined(HAVE_OPENCV_HIGHGUI) && defined(VISP_HAVE_THREADS)try {cv::VideoCapture cap(opt_filename,opt_device); // open the default cameraif (!cap.isOpened()) {            // check if we succeededstd::cout << "Failed to open the camera" << std::endl;return EXIT_FAILURE;}cv::Mat frame;int i = 0;while ((i++ < 20) && !cap.read(frame)) {}; // warm up camera by skiping unread framesstd::cout << "Image size : " << frame.rows << " " << frame.cols << std::endl;#ifdef USE_COLORvpImage<vpRGBa> I; // To acquire color images
#elsevpImage<unsigned char> I; // To acquire gray images
#endifvpImageConvert::convert(frame, I);vpDisplayOpenCV *d = nullptr;if (opt_display) {d = new vpDisplayOpenCV(I);}#ifdef USE_COLORvpImageQueue<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);
#elsevpImageQueue<unsigned char> image_queue(opt_seqname, opt_record_mode);vpImageStorageWorker<unsigned char> image_storage_worker(std::ref(image_queue));std::thread image_storage_thread(&vpImageStorageWorker<unsigned char>::run, &image_storage_worker);
#endifbool quit = false;while (!quit) {double t = vpTime::measureTimeMs();cap >> frame; // get a new frame from camera// Convert the image in ViSP format and display itvpImageConvert::convert(frame, 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(HAVE_OPENCV_VIDEOIO)std::cout << "Install OpenCV videoio module, 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
}