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/CFFMPEG_InputStream.h>
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/system/CTicTac.h>
#include <iostream>
 
using namespace mrpt::gui;
using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace mrpt::img;
using namespace std;
 
// ------------------------------------------------------
//                                      Test_FFMPEG_CaptureCamera
// ------------------------------------------------------
void Test_FFMPEG_CaptureCamera(const std::string& video_url)
{
        CFFMPEG_InputStream in_video;
 
        if (!in_video.openURL(video_url, false /*grayscale*/, true /* verbose */))
                return;
 
        CDisplayWindow win("Video");
 
        CTicTac tictac;
        tictac.Tic();
        unsigned int nFrames = 0;
 
        CImage img;
        while (win.isOpen() && in_video.retrieveFrame(img))
        {
                double fps = ++nFrames / tictac.Tac();
                img.textOut(
                        5, 5, mrpt::format("%.02f fps", fps), TColor(0x80, 0x80, 0x80));
                if (nFrames > 100)
                {
                        tictac.Tic();
                        nFrames = 0;
                }
 
                if (nFrames == 1)
                        cout << "Video FPS: " << in_video.getVideoFPS() << endl;
 
                win.showImage(img);
                std::this_thread::sleep_for(10ms);
 
                if (win.keyHit() && win.waitForKey() == 27) break;
        }
 
        in_video.close();
        mrpt::system::pause();
}
 
int main(int argc, char** argv)
{
        try
        {
                if (argc != 2)
                {
                        cout << "Usage: " << endl;
                        cout << " Open a video file: " << argv[0] << " <VIDEOFILE>" << endl;
                        cout << " Open an IP camera: " << argv[0]
                                 << " rtsp://a.b.c.d/live.sdp" << endl;
                        cout << endl;
                        return 1;
                }
 
                Test_FFMPEG_CaptureCamera(argv[1]);
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}