/* +---------------------------------------------------------------------------+ | The Mobile Robot Programming Toolkit (MRPT) C++ library | | | | http://www.mrpt.org/ | | | | Copyright (C) 2005-2011 University of Malaga | | | | This software was written by the Machine Perception and Intelligent | | Robotics Lab, University of Malaga (Spain). | | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | | | | This file is part of the MRPT project. | | | | MRPT is free software: you can redistribute it and/or modify | | it under the terms of the GNU General Public License as published by | | the Free Software Foundation, either version 3 of the License, or | | (at your option) any later version. | | | | MRPT is distributed in the hope that it will be useful, | | but WITHOUT ANY WARRANTY; without even the implied warranty of | | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | | GNU General Public License for more details. | | | | You should have received a copy of the GNU General Public License | | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | | | +---------------------------------------------------------------------------+ */ #include <mrpt/hwdrivers.h> using namespace mrpt::utils; using namespace mrpt::hwdrivers; using namespace mrpt::gui; using namespace mrpt::slam; using namespace std; //#define DO_CAPTURE 1 #define DO_CAPTURE 0 // ------------------------------------------------------ // TestCapture // ------------------------------------------------------ void TestCapture_1394() { TCaptureOptions_dc1394 options; uint64_t cameraGUID = 0; uint16_t cameraUnit = 0; options.frame_width = 1024; //640; options.frame_height = 768; // 480; options.color_coding = COLOR_CODING_YUV422; // Other capture options: //options.shutter = 900; // For stereo Bumblebee tests/debugging (Use the Bumblebee class in mrpt::vision instead!) // options.mode7 = 3; // options.deinterlace_stereo = true; CImageGrabber_dc1394 capture( cameraGUID, cameraUnit, options, true /* Verbose */ ); CTicTac tictac; cout << "Press any key to stop capture to 'capture.rawlog'..." << endl; #if DO_CAPTURE CFileGZOutputStream fil("./capture.rawlog"); #endif CDisplayWindow win("Capturing..."); int cnt = 0; while (!mrpt::system::os::kbhit()) { if ( (cnt++ % 10) == 0 ) { if (cnt>0) { double t = tictac.Tac(); double FPS = 10 / t; printf("\n %f FPS\n", FPS); // Other capture options: //options.shutter = cnt + 1; //capture.changeCaptureOptions(options); } tictac.Tic(); } CObservationImagePtr obs= CObservationImage::Create(); // Memory will be freed by SF destructor in each loop. if (!capture.getObservation( *obs )) { cerr << "Error retrieving images!" << endl; break; } #if DO_CAPTURE fil << obs; #endif cout << "."; cout.flush(); if (win.isOpen()) win.showImage( obs->image ); } } int main(int argc, char **argv) { try { TestCapture_1394(); return 0; } catch (std::exception &e) { std::cout << "MRPT exception caught: " << e.what() << std::endl; return -1; } catch (...) { printf("Another exception!!"); return -1; } }