146 lines
5.8 KiB
C++
146 lines
5.8 KiB
C++
/**********************************************************
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Software developed by AVA ( Ava Group of the University of Cordoba, ava at uco dot es)
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Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
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This software is released under BSD license as expressed below
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-------------------------------------------------------------------
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Copyright (c) 2013, AVA ( Ava Group University of Cordoba, ava at uco dot es)
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. All advertising materials mentioning features or use of this software
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must display the following acknowledgement:
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This product includes software developed by the Ava group of the University of Cordoba.
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4. Neither the name of the University nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY AVA ''AS IS'' AND ANY
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EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL AVA BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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****************************************************************/
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#include <iostream>
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#include <ctime>
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#include <cstdlib>
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#include <fstream>
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#include <sstream>
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#include "raspicam_cv.h"
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using namespace std;
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bool doTestSpeedOnly=false;
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//parse command line
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//returns the index of a command line param in argv. If not found, return -1
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int findParam ( string param,int argc,char **argv ) {
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int idx=-1;
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for ( int i=0; i<argc && idx==-1; i++ )
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if ( string ( argv[i] ) ==param ) idx=i;
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return idx;
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}
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//parse command line
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//returns the value of a command line param. If not found, defvalue is returned
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float getParamVal ( string param,int argc,char **argv,float defvalue=-1 ) {
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int idx=-1;
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for ( int i=0; i<argc && idx==-1; i++ )
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if ( string ( argv[i] ) ==param ) idx=i;
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if ( idx==-1 ) return defvalue;
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else return atof ( argv[ idx+1] );
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}
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void processCommandLine ( int argc,char **argv,raspicam::RaspiCam_Cv &Camera ) {
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Camera.set ( cv::CAP_PROP_FRAME_WIDTH, getParamVal ( "-w",argc,argv,1280 ) );
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Camera.set ( cv::CAP_PROP_FRAME_HEIGHT, getParamVal ( "-h",argc,argv,960 ) );
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Camera.set ( cv::CAP_PROP_BRIGHTNESS,getParamVal ( "-br",argc,argv,50 ) );
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Camera.set ( cv::CAP_PROP_CONTRAST ,getParamVal ( "-co",argc,argv,50 ) );
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Camera.set ( cv::CAP_PROP_SATURATION, getParamVal ( "-sa",argc,argv,50 ) );
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Camera.set ( cv::CAP_PROP_GAIN, getParamVal ( "-g",argc,argv ,50 ) );
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Camera.set ( cv::CAP_PROP_FPS, getParamVal ( "-fps",argc,argv, 0 ) );
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if ( findParam ( "-gr",argc,argv ) !=-1 )
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Camera.set ( cv::CAP_PROP_FORMAT, CV_8UC1 );
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if ( findParam ( "-test_speed",argc,argv ) !=-1 )
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doTestSpeedOnly=true;
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if ( findParam ( "-ss",argc,argv ) !=-1 )
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Camera.set ( cv::CAP_PROP_EXPOSURE, getParamVal ( "-ss",argc,argv ) );
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// Camera.setSharpness ( getParamVal ( "-sh",argc,argv,0 ) );
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// if ( findParam ( "-vs",argc,argv ) !=-1 )
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// Camera.setVideoStabilization ( true );
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// Camera.setExposureCompensation ( getParamVal ( "-ev",argc,argv ,0 ) );
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}
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void showUsage() {
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cout<<"Usage: "<<endl;
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cout<<"[-gr set gray color capture]\n";
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cout<<"[-test_speed use for test speed and no images will be saved]\n";
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cout<<"[-w width] [-h height] \n[-br brightness_val(0,100)]\n";
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cout<<"[-co contrast_val (0 to 100)]\n[-sa saturation_val (0 to 100)]";
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cout<<"[-g gain_val (0 to 100)]\n";
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cout<<"[-ss shutter_speed (0 to 100) 0 auto]\n";
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cout<<"[-fps frame_rate (0 to 120) 0 auto]\n";
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cout<<"[-nframes val: number of frames captured (100 default). 0 == Infinite lopp]\n";
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cout<<endl;
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}
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int main ( int argc,char **argv ) {
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if ( argc==1 ) {
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cerr<<"Usage (-help for help)"<<endl;
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}
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if ( findParam ( "-help",argc,argv ) !=-1 ) {
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showUsage();
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return -1;
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}
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raspicam::RaspiCam_Cv Camera;
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processCommandLine ( argc,argv,Camera );
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cout<<"Connecting to camera"<<endl;
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if ( !Camera.open() ) {
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cerr<<"Error opening camera"<<endl;
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return -1;
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}
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cout<<"Connected to camera ="<<Camera.getId() <<endl;
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cv::Mat image;
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int nCount=getParamVal ( "-nframes",argc,argv, 100 );
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cout<<"Capturing"<<endl;
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double time_=cv::getTickCount();
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for ( int i=0; i<nCount || nCount==0; i++ ) {
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Camera.grab();
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Camera.retrieve ( image );
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if ( !doTestSpeedOnly ) {
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if ( i%5==0 ) cout<<"\r capturing ..."<<i<<"/"<<nCount<<std::flush;
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if ( i%30==0 && i!=0 )
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cv::imwrite ("image"+std::to_string(i)+".jpg",image );
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}
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}
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if ( !doTestSpeedOnly ) cout<<endl<<"Images saved in imagexx.jpg"<<endl;
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double secondsElapsed= double ( cv::getTickCount()-time_ ) /double ( cv::getTickFrequency() ); //time in second
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cout<< secondsElapsed<<" seconds for "<< nCount<<" frames : FPS = "<< ( float ) ( ( float ) ( nCount ) /secondsElapsed ) <<endl;
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Camera.release();
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}
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