/* +------------------------------------------------------------------------+
   |                     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_dc1394.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 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();
		}

		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;
		}

#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 (const std::exception& e)
	{
		std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
		return -1;
	}
	catch (...)
	{
		printf("Another exception!!");
		return -1;
	}
}
