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_FlyCapture2.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>
#include <iostream>

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

// ------------------------------------------------------
//              TestCapture_FlyCapture2
// ------------------------------------------------------

void TestCapture_FlyCapture2()
{
    cout << " FlyCapture2 version: "
         << CImageGrabber_FlyCapture2::getFC2version() << std::endl;

    // Create camera object:
    CImageGrabber_FlyCapture2 capture;

    // Open camera:
    TCaptureOptions_FlyCapture2 cam_options;

    cam_options.framerate = "FRAMERATE_30";
    cam_options.videomode = "VIDEOMODE_1280x960RGB";
    // cam_options.videomode="VIDEOMODE_1280x960Y8";

    capture.open(cam_options);

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

    CFileGZOutputStream fil("./capture.rawlog");

    CDisplayWindow win("Capturing...");

    int cnt = 0;

    CObservationImage::Ptr obs =
        CObservationImage::Create();  // Memory will be freed
    // by SF
    // destructor in each loop.

    while (!mrpt::system::os::kbhit())
    {
        if ((cnt++ % 20) == 0)
        {
            if (cnt > 0)
            {
                double t = tictac.Tac();
                double FPS = 20 / t;
                printf("\n %f FPS\n", FPS);
            }
            tictac.Tic();
        }

        if (!capture.getObservation(*obs))
        {
            cerr << "Error retrieving images!" << endl;
            break;
        }

        cout << ".";
        cout.flush();
        if (win.isOpen()) win.showImage(obs->image);

        archiveFrom(fil) << obs;
    }
}

int main(int argc, char** argv)
{
    try
    {
        TestCapture_FlyCapture2();
        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;
    }
}