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_OpenCV.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/serialization/CArchive.h>
#include <iostream>
 
using namespace mrpt::hwdrivers;
using namespace mrpt::gui;
using namespace mrpt::obs;
using namespace mrpt::system;
using namespace mrpt::io;
using namespace mrpt::serialization;
using namespace std;
 
// ------------------------------------------------------
//                              TestCaptureOpenCV
// ------------------------------------------------------
bool LIVE_CAM = true;
int N_CAM_TO_OPEN = 0;
std::string AVI_TO_OPEN;
 
void TestCapture_OpenCV()
{
        CImageGrabber_OpenCV* capture = nullptr;
 
        if (LIVE_CAM)
        {
#if 0  // test: Select the desired resolution
                mrpt::vision::TCaptureCVOptions opts;
                opts.frame_width = 320;
                opts.frame_height = 240;
                capture = new CImageGrabber_OpenCV( 0, CAMERA_CV_AUTODETECT, opts );
#else
                capture = new CImageGrabber_OpenCV(N_CAM_TO_OPEN, CAMERA_CV_AUTODETECT);
#endif
        }
        else
        {
                capture = new CImageGrabber_OpenCV(AVI_TO_OPEN);
        }
 
        CTicTac tictac;
 
        cout << "Press any key to stop capture to 'capture.rawlog'..." << endl;
 
        CFileGZOutputStream fil("./capture.rawlog");
 
        CDisplayWindow win("Capturing...");
 
        int cnt = 0;
 
        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();
                }
 
                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;
                }
 
                archiveFrom(fil) << obs;
 
                cout << ".";
                cout.flush();
                if (win.isOpen()) win.showImage(obs->image);
        }
 
        delete capture;
}
 
int main(int argc, char** argv)
{
        try
        {
                if (argc > 1)
                {
                        if (!strstr(argv[1], ".avi"))
                        {
                                LIVE_CAM = true;
                                N_CAM_TO_OPEN = atoi(argv[1]);
                        }
                        else
                        {
                                LIVE_CAM = false;
                                AVI_TO_OPEN = argv[1];
                        }
                }
 
                TestCapture_OpenCV();
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}