test.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/hwdrivers/CCameraSensor.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/img/CImage.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::obs;
using namespace mrpt::hwdrivers;
using namespace mrpt::img;
using namespace std;
 
// ------------------------------------------------------
//                              TestCameraCaptureAsk
// ------------------------------------------------------
void TestCameraCaptureAsk()
{
        CCameraSensor::Ptr cam = prepareVideoSourceFromUserSelection();
 
        if (!cam)
        {
                cerr << "The user didn't pick any camera. Exiting." << endl;
                return;
        }
 
        CDisplayWindow win("Live video");
 
        cout << "Press 's' to save frames.\nClose the window to exit.\n";
 
        double counter = 0;
        mrpt::system::CTicTac tictac;
 
        while (win.isOpen())
        {
                if (!counter) tictac.Tic();
 
                mrpt::obs::CObservation::Ptr obs = cam->getNextFrame();
                ASSERT_(obs);
 
                CImage* img = nullptr;
 
                if (IS_CLASS(obs, CObservationImage))
                {
                        CObservationImage::Ptr o =
                                std::dynamic_pointer_cast<CObservationImage>(obs);
                        img = &o->image;
                }
                else if (IS_CLASS(obs, CObservationStereoImages))
                {
                        CObservationStereoImages::Ptr o =
                                std::dynamic_pointer_cast<CObservationStereoImages>(obs);
                        img = &o->imageRight;
                }
                else if (IS_CLASS(obs, CObservation3DRangeScan))
                {
                        CObservation3DRangeScan::Ptr o =
                                std::dynamic_pointer_cast<CObservation3DRangeScan>(obs);
                        if (o->hasIntensityImage) img = &o->intensityImage;
                }
 
                if (img) win.showImage(*img);
 
                if (++counter == 10)
                {
                        double t = tictac.Tac();
                        cout << "Frame Rate: " << counter / t << " fps" << endl;
                        counter = 0;
                }
 
                // Process keystrokes:
                if (mrpt::system::os::kbhit())
                {
                        const int key_code = mrpt::system::os::getch();
                        switch (key_code)
                        {
                                case 's':
                                case 'S':
                                {
                                        static int cnt = 0;
                                        const std::string sFile =
                                                mrpt::format("frame%05i.png", cnt++);
                                        cout << "Saving frame to: " << sFile << endl;
                                        img->saveToFile(sFile);
                                }
                                break;
                                default:
                                        break;
                        };
                }
 
                std::this_thread::sleep_for(2ms);
        }
 
        cout << "Closing..." << endl;
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main()
{
        try
        {
                TestCameraCaptureAsk();
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}