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_FlyCapture2.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/os.h>
#include <mrpt/system/CTicTac.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 =
                mrpt::make_aligned_shared<CObservationImage>();  // 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 (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}