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/obs/CObservationImage.h>
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/system/os.h>
#include <mrpt/serialization/CArchive.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 =
                mrpt::make_aligned_shared<CObservationImage>();  // Memory will be freed
        // by SF
        // destructor in each loop.
        obsL->sensorLabel = "LEFT";
 
        CObservationImage::Ptr obsR =
                mrpt::make_aligned_shared<CObservationImage>();  // 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 (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}