60 #include <visp3/core/vpDebug.h> 61 #include <visp3/core/vpImagePoint.h> 62 #include <visp3/sensor/vpSickLDMRS.h> 63 #include <visp3/core/vpImage.h> 64 #include <visp3/io/vpImageIo.h> 65 #include <visp3/core/vpDisplay.h> 66 #ifdef VISP_HAVE_MODULE_GUI 67 # include <visp3/gui/vpDisplayX.h> 68 # include <visp3/gui/vpDisplayGDI.h> 69 # include <visp3/gui/vpDisplayGTK.h> 71 #include <visp3/io/vpParseArgv.h> 72 #include <visp3/sensor/vp1394TwoGrabber.h> 73 #include <visp3/core/vpIoTools.h> 75 #if ( !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) ) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_GTK)) 78 static int layerToDisplay = 0xF;
80 double time_offset = 0;
81 #ifdef VISP_HAVE_PTHREAD 82 pthread_mutex_t shm_mutex;
84 std::string output_path;
86 void *laser_display_and_save_loop(
void *);
87 void *laser_acq_loop(
void *);
88 void *camera_acq_and_display_loop(
void *);
90 void *laser_display_and_save_loop(
void *)
94 unsigned int width = map.getWidth();
95 unsigned int height = map.getHeight();
101 char filename[FILENAME_MAX];
102 std::ofstream fdscan;
105 for (
int layer=0; layer<4; layer++) {
115 #ifdef VISP_HAVE_MODULE_GUI 116 #if defined VISP_HAVE_X11 118 #elif defined VISP_HAVE_GDI 120 #elif defined VISP_HAVE_GTK 123 display->init (map, 10, 10,
"Laser scan");
126 unsigned int iter = 0;
129 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined (VISP_HAVE_GTK) ) 133 #ifdef VISP_HAVE_PTHREAD 134 pthread_mutex_lock(&shm_mutex);
136 for (
int layer=0; layer < 4; layer++)
137 laserscan[layer] = shm_laserscan[layer];
138 #ifdef VISP_HAVE_PTHREAD 139 pthread_mutex_unlock(&shm_mutex);
146 for (
int layer=0; layer<4; layer++) {
147 if (! ((0x1<<layer) & layerToDisplay)) {
148 std::cout <<
"Layer " << layer+1 <<
" is not displayed" << std::endl;
152 std::vector<vpScanPoint> pointsLayer = laserscan[layer].
getScanPoints();
156 sprintf(filename,
"%s/scan%04u-layer%d.txt",
157 output_path.c_str(), iter, layer+1);
158 fdscan.open(filename);
161 fdscan <<
"# Scan layer [1 to 4] : " << layer+1 << std::endl
162 <<
"# Start timestamp (s) : " 165 <<
"# End timestamp (s) : " 168 <<
"# Data : \"radial distance (m)\" \"horizontal angle (rad)\" \"vertical angle (rad)\" \"X (m)\" \"Y (m)\" \"Z (m)\"" 174 double resolution = 5;
177 for (
unsigned int i=0; i<pointsLayer.size(); i++) {
182 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined (VISP_HAVE_GTK) ) 187 fdscan << p << std::endl;
194 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined (VISP_HAVE_GTK) ) 205 void *laser_acq_loop(
void *)
207 std::string ip =
"131.254.12.119";
214 unsigned int iter = 0;
217 if (laser.
measure(laserscan) ==
false)
220 #ifdef VISP_HAVE_PTHREAD 221 pthread_mutex_lock(&shm_mutex);
223 for (
int layer=0; layer < 4; layer++)
224 shm_laserscan[layer] = laserscan[layer];
225 #ifdef VISP_HAVE_PTHREAD 226 pthread_mutex_unlock(&shm_mutex);
237 void *camera_acq_and_display_loop(
void *)
239 #ifdef VISP_HAVE_DC1394 257 #ifdef VISP_HAVE_MODULE_GUI 258 #if defined VISP_HAVE_X11 260 #elif defined VISP_HAVE_GDI 262 #elif defined VISP_HAVE_GTK 265 display->init (Q, 320, 10,
"Camera");
269 std::ofstream fdimage_ts;
271 std::string filename = output_path +
"/image_timestamp.txt";
272 fdimage_ts.open( filename.c_str() );
273 fdimage_ts <<
"# [image name] [time stamp in second]" << std::endl;
276 char filename[FILENAME_MAX];
280 dc1394video_frame_t *frame = g.
dequeue(I, timestamp,
id);
282 double image_timestamp = timestamp/1000000. - time_offset;
283 std::cout <<
"camera timestamp: " << image_timestamp <<
" s " << std::endl;
286 sprintf(filename,
"%s/image%04u.png", output_path.c_str(), iter);
288 fdimage_ts << filename <<
" " << image_timestamp << std::endl;
290 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined (VISP_HAVE_GTK) ) 311 int main(
int argc,
const char ** argv)
314 output_path =
"data";
322 std::cout <<
"Cannot create " << output_path <<
" directory" << std::endl;
328 vpParseArgv::vpArgvInfo argTable[] =
331 "The layer to display:\n" 332 "\t\t. 0x1 for layer 1.\n" 333 "\t\t. 0x2 for layer 2.\n" 334 "\t\t. 0x4 for layer 3.\n" 335 "\t\t. 0x8 for layer 4.\n" 336 "\t\tTo display all the layers you should set 0xF value." 339 "Turn to 1 in order to save data." 342 "Display one or more measured layers form a Sick LD-MRS laser scanner."},
355 #ifdef VISP_HAVE_PTHREAD 356 pthread_t thread_camera_acq;
357 pthread_t thread_laser_acq;
358 pthread_t thread_laser_display;
359 pthread_create(&thread_camera_acq, NULL, &camera_acq_and_display_loop, NULL);
360 pthread_create(&thread_laser_acq, NULL, &laser_acq_loop, NULL);
361 pthread_create(&thread_laser_display, NULL, &laser_display_and_save_loop, NULL);
362 pthread_join(thread_camera_acq, 0);
363 pthread_join(thread_laser_acq, 0);
364 pthread_join(thread_laser_display, 0);
370 std::cout <<
"Catch an exception: " << e << std::endl;
375 #else // #ifdef UNIX and display 379 std::cout <<
"This example is only working on UNIX platforms \n" 380 <<
"since the Sick LD-MRS driver was not ported to Windows." 385 #endif // #ifdef UNIX
void getNumCameras(unsigned int &ncameras) const
bool setup(std::string ip, int port)
Class that defines generic functionnalities for display.
static void close(vpImage< unsigned char > &I)
double getRadialDist() const
VISP_EXPORT double measureTimeSecond()
Display for windows using GDI (available on any windows 32 platform).
Class to define colors available for display functionnalities.
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
error that can be emited by ViSP classes.
std::vector< vpScanPoint > getScanPoints()
static const vpColor green
void acquire(vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Implements a laser scan data structure that contains especially the list of scanned points that have ...
static void write(const vpImage< unsigned char > &I, const std::string &filename)
void set_i(const double ii)
Class that defines a single laser scanner point.
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void enqueue(dc1394video_frame_t *frame)
void quarterSizeImage(vpImage< Type > &res) const
void set_j(const double jj)
double getStartTimestamp()
Driver for the Sick LD-MRS laser scanner.
dc1394video_frame_t * dequeue()
bool measure(vpLaserScan laserscan[4])
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
static const vpColor yellow
void setIpAddress(std::string ip_address)
static const vpColor blue