test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/hwdrivers/CImageGrabber_dc1394.h>
#include <mrpt/system/CTicTac.h>
#include <iostream>

using namespace mrpt::hwdrivers;
using namespace mrpt::gui;
using namespace mrpt::obs;
using namespace mrpt::system;
using namespace std;

//#define DO_CAPTURE        1
#define DO_CAPTURE 0

// ------------------------------------------------------
//              TestCapture
// ------------------------------------------------------

void TestCapture_1394()
{
    TCaptureOptions_dc1394 options;

    uint64_t cameraGUID = 0;
    uint16_t cameraUnit = 0;

    options.frame_width = 1024;  // 640;
    options.frame_height = 768;  // 480;
    options.color_coding = COLOR_CODING_YUV422;

    // Other capture options:
    // options.shutter = 900;

    // For stereo Bumblebee tests/debugging (Use the Bumblebee class in
    // mrpt::vision instead!)
    //  options.mode7 = 3;
    //  options.deinterlace_stereo = true;

    CImageGrabber_dc1394 capture(
        cameraGUID, cameraUnit, options, true /* Verbose */);

    CTicTac tictac;

    cout << "Press any key to stop capture to 'capture.rawlog'..." << endl;

#if DO_CAPTURE
    CFileGZOutputStream fil("./capture.rawlog");
#endif

    CDisplayWindow win("Capturing...");

    int cnt = 0;

    while (!mrpt::system::os::kbhit())
    {
        if ((cnt++ % 10) == 0)
        {
            if (cnt > 0)
            {
                double t = tictac.Tac();
                double FPS = 10 / t;
                printf("\n %f FPS\n", FPS);

                // Other capture options:
                // options.shutter = cnt + 1;
                // capture.changeCaptureOptions(options);
            }
            tictac.Tic();
        }

        CObservationImage::Ptr obs =
            CObservationImage::Create();  // Memory will be
        // freed by
        // SF destructor in each
        // loop.
        if (!capture.getObservation(*obs))
        {
            cerr << "Error retrieving images!" << endl;
            break;
        }

#if DO_CAPTURE
        fil << obs;
#endif
        cout << ".";
        cout.flush();
        if (win.isOpen()) win.showImage(obs->image);
    }
}

int main(int argc, char** argv)
{
    try
    {
        TestCapture_1394();

        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Another exception!!");
        return -1;
    }
}