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/obs/CObservationImage.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::gui;
using namespace mrpt::obs;
using namespace mrpt::io;
using namespace mrpt::system;
using namespace mrpt::serialization;
using namespace std;

// ------------------------------------------------------
//              TestCapture_FlyCapture2_stereo
// ------------------------------------------------------

void TestCapture_FlyCapture2_stereo()
{
    cout << " FlyCapture2 version: "
         << CImageGrabber_FlyCapture2::getFC2version() << std::endl;

    // Left camera:
    // ------------------------------------------
    CImageGrabber_FlyCapture2 capture_left;
    TCaptureOptions_FlyCapture2 cam_options_left;

    cam_options_left.framerate = "FRAMERATE_30";
    cam_options_left.videomode = "VIDEOMODE_1280x960RGB";

    cam_options_left.open_by_guid = true;
    cam_options_left.camera_guid[0] = 0x63A8D3CE;
    cam_options_left.camera_guid[1] = 0xB49580D6;
    cam_options_left.camera_guid[2] = 0x004AED1C;
    cam_options_left.camera_guid[3] = 0xDDE4EF14;

    cam_options_left.strobe_enabled = true;
    cam_options_left.strobe_source = 1;  // GPIO pin #
    cam_options_left.strobe_duration = 1.0;  // ms

    capture_left.open(
        cam_options_left, false /*only open, don't start grabbing*/);

    // Right camera:
    // ------------------------------------------
    CImageGrabber_FlyCapture2 capture_right;
    TCaptureOptions_FlyCapture2 cam_options_right;

    cam_options_right.framerate = cam_options_left.framerate;
    cam_options_right.videomode = cam_options_left.videomode;

    cam_options_right.open_by_guid = true;
    cam_options_right.camera_guid[0] = 0xB9862FD2;
    cam_options_right.camera_guid[1] = 0x7AE0E03A;
    cam_options_right.camera_guid[2] = 0xA6BC0321;
    cam_options_right.camera_guid[3] = 0x16654DC9;

    cam_options_right.trigger_enabled = true;
    cam_options_right.trigger_source = 0;  // GPIO pin #

    capture_right.open(
        cam_options_right, false /*only open, don't start grabbing*/);

// Open both cameras simultaneously:
#if 0
    const CImageGrabber_FlyCapture2 *cameras[2] = { &capture_left, &capture_right };
    CImageGrabber_FlyCapture2::startSyncCapture(2 /*numCameras*/, cameras);
#else
    capture_right.startCapture();  // Will not start until a strobe is got from
    // the "master" camera:
    capture_left.startCapture();
#endif

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

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

    CDisplayWindow winL("Left"), winR("Right");

    int cnt = 0;

    CObservationImage::Ptr obsL =
        CObservationImage::Create();  // Memory will be freed
    // by SF
    // destructor in each loop.
    obsL->sensorLabel = "LEFT";

    CObservationImage::Ptr obsR =
        CObservationImage::Create();  // Memory will be freed
    // by SF
    // destructor in each loop.
    obsR->sensorLabel = "RIGHT";

    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();
        }

        const bool ok1 = capture_left.getObservation(*obsL);
        const bool ok2 = capture_right.getObservation(*obsR);
        if (!ok1 || !ok2)
        {
            cerr << "Error retrieving images!" << endl;
            break;
        }

        cout << ".";
        cout.flush();
        if (winL.isOpen()) winL.showImage(obsL->image);
        if (winR.isOpen()) winR.showImage(obsR->image);

        archiveFrom(fil) << obsL << obsR;
    }
}

int main(int argc, char** argv)
{
    try
    {
        TestCapture_FlyCapture2_stereo();
        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;
    }
}