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|
/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/hwdrivers/CImageGrabber_OpenCV.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/serialization/CArchive.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 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 =
CObservationImage::Create(); // 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 (const std::exception& e)
{
std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
return -1;
}
catch (...)
{
printf("Another exception!!");
return -1;
}
}
|
