test.cpp

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/* +------------------------------------------------------------------------+
   |                     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/hwdrivers/CImageGrabber_dc1394.h>
#include <mrpt/gui/CDisplayWindow.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 =
                        mrpt::make_aligned_shared<CObservationImage>();  // 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 (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}