Line-Following-Robot/Input/Externals/raspicam-master/utils/raspicam_cv_test.cpp

/**********************************************************
 Software developed by AVA ( Ava Group of the University of Cordoba, ava  at uco dot es)
 Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
 This software is released under BSD license as expressed below
-------------------------------------------------------------------
Copyright (c) 2013, AVA ( Ava Group University of Cordoba, ava  at uco dot es)
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   must display the following acknowledgement:

   This product includes software developed by the Ava group of the University of Cordoba.

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   may be used to endorse or promote products derived from this software
   without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY AVA ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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****************************************************************/


#include <iostream>
#include <ctime>
#include <cstdlib>
#include <fstream>
#include <sstream>
#include "raspicam_cv.h"

using namespace std;
bool doTestSpeedOnly=false;
//parse command line
//returns the index of a command line param in argv. If not found, return -1
int findParam ( string param,int argc,char **argv ) {
    int idx=-1;
    for ( int i=0; i<argc && idx==-1; i++ )
        if ( string ( argv[i] ) ==param ) idx=i;
    return idx;

}
//parse command line
//returns the value of a command line param. If not found, defvalue is returned
float getParamVal ( string param,int argc,char **argv,float defvalue=-1 ) {
    int idx=-1;
    for ( int i=0; i<argc && idx==-1; i++ )
        if ( string ( argv[i] ) ==param ) idx=i;
    if ( idx==-1 ) return defvalue;
    else return atof ( argv[  idx+1] );
}

void processCommandLine ( int argc,char **argv,raspicam::RaspiCam_Cv &Camera ) {
    Camera.set ( cv::CAP_PROP_FRAME_WIDTH,  getParamVal ( "-w",argc,argv,1280 ) );
    Camera.set ( cv::CAP_PROP_FRAME_HEIGHT, getParamVal ( "-h",argc,argv,960 ) );
    Camera.set ( cv::CAP_PROP_BRIGHTNESS,getParamVal ( "-br",argc,argv,50 ) );
    Camera.set ( cv::CAP_PROP_CONTRAST ,getParamVal ( "-co",argc,argv,50 ) );
    Camera.set ( cv::CAP_PROP_SATURATION, getParamVal ( "-sa",argc,argv,50 ) );
    Camera.set ( cv::CAP_PROP_GAIN, getParamVal ( "-g",argc,argv ,50 ) );
    Camera.set ( cv::CAP_PROP_FPS, getParamVal ( "-fps",argc,argv, 0 ) );
    if ( findParam ( "-gr",argc,argv ) !=-1 )
        Camera.set ( cv::CAP_PROP_FORMAT, CV_8UC1 );
    if ( findParam ( "-test_speed",argc,argv ) !=-1 )
        doTestSpeedOnly=true;
    if ( findParam ( "-ss",argc,argv ) !=-1 )
        Camera.set ( cv::CAP_PROP_EXPOSURE, getParamVal ( "-ss",argc,argv )  );


//     Camera.setSharpness ( getParamVal ( "-sh",argc,argv,0 ) );
//     if ( findParam ( "-vs",argc,argv ) !=-1 )
//         Camera.setVideoStabilization ( true );
//     Camera.setExposureCompensation ( getParamVal ( "-ev",argc,argv ,0 ) );


}

void showUsage() {
    cout<<"Usage: "<<endl;
    cout<<"[-gr set gray color capture]\n";
    cout<<"[-test_speed use for test speed and no images will be saved]\n";
    cout<<"[-w width] [-h height] \n[-br brightness_val(0,100)]\n";
    cout<<"[-co contrast_val (0 to 100)]\n[-sa saturation_val (0 to 100)]";
    cout<<"[-g gain_val  (0 to 100)]\n";
    cout<<"[-ss shutter_speed (0 to 100) 0 auto]\n";
    cout<<"[-fps frame_rate (0 to 120) 0 auto]\n";
    cout<<"[-nframes val: number of frames captured (100 default). 0 == Infinite lopp]\n";

    cout<<endl;
}



int main ( int argc,char **argv ) {
    if ( argc==1 ) {
        cerr<<"Usage (-help for help)"<<endl;
    }
    if ( findParam ( "-help",argc,argv ) !=-1 ) {
        showUsage();
        return -1;
    }

    raspicam::RaspiCam_Cv Camera;
    processCommandLine ( argc,argv,Camera );
    cout<<"Connecting to camera"<<endl;
    if ( !Camera.open() ) {
        cerr<<"Error opening camera"<<endl;
        return -1;
    }
    cout<<"Connected to camera ="<<Camera.getId() <<endl;

    cv::Mat image;
    int nCount=getParamVal ( "-nframes",argc,argv, 100 );
    cout<<"Capturing"<<endl;

    double time_=cv::getTickCount();

    for ( int i=0; i<nCount || nCount==0; i++ ) {
        Camera.grab();
        Camera.retrieve ( image );
        if ( !doTestSpeedOnly ) {
            if ( i%5==0 ) 	  cout<<"\r capturing ..."<<i<<"/"<<nCount<<std::flush;
            if ( i%30==0 && i!=0 )
                cv::imwrite ("image"+std::to_string(i)+".jpg",image );
        }
    }
    if ( !doTestSpeedOnly )  cout<<endl<<"Images saved in imagexx.jpg"<<endl;
    double secondsElapsed= double ( cv::getTickCount()-time_ ) /double ( cv::getTickFrequency() ); //time in second
    cout<< secondsElapsed<<" seconds for "<< nCount<<"  frames : FPS = "<< ( float ) ( ( float ) ( nCount ) /secondsElapsed ) <<endl;
    Camera.release();

}