/* +------------------------------------------------------------------------+
   |                     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_FlyCapture2.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>

#include <iostream>

using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::gui;
using namespace mrpt::io;
using namespace mrpt::serialization;
using namespace mrpt::system;
using namespace std;

// ------------------------------------------------------
//				TestCapture_FlyCapture2
// ------------------------------------------------------

void TestCapture_FlyCapture2()
{
	cout << " FlyCapture2 version: "
		 << CImageGrabber_FlyCapture2::getFC2version() << std::endl;

	// Create camera object:
	CImageGrabber_FlyCapture2 capture;

	// Open camera:
	TCaptureOptions_FlyCapture2 cam_options;

	cam_options.framerate = "FRAMERATE_30";
	cam_options.videomode = "VIDEOMODE_1280x960RGB";
	// cam_options.videomode="VIDEOMODE_1280x960Y8";

	capture.open(cam_options);

	CTicTac tictac;
	cout << "Press any key to stop capture to 'capture.rawlog'..." << endl;

	CFileGZOutputStream fil("./capture.rawlog");

	CDisplayWindow win("Capturing...");

	int cnt = 0;

	CObservationImage::Ptr obs =
		CObservationImage::Create();  // Memory will be freed
	// by SF
	// destructor in each loop.

	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();
		}

		if (!capture.getObservation(*obs))
		{
			cerr << "Error retrieving images!" << endl;
			break;
		}

		cout << ".";
		cout.flush();
		if (win.isOpen()) win.showImage(obs->image);

		archiveFrom(fil) << obs;
	}
}

int main(int argc, char** argv)
{
	try
	{
		TestCapture_FlyCapture2();
		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;
	}
}
