dump.cpp
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00001 #include <unistd.h>
00002 #include <cstdio>
00003 #include <cassert>
00004 #include <ros/time.h>
00005 #include "uvc_cam/uvc_cam.h"
00006 #include <signal.h>
00007 #include <stdexcept>
00008 
00009 const unsigned WIDTH = 640, HEIGHT = 480, FPS = 30;
00010 static bool done = false;
00011 
00012 void sigint_handler(int sig)
00013 {
00014   done = true;
00015 }
00016 
00017 int main(int argc, char **argv)
00018 {
00019   if (argc < 2)
00020   {
00021     fprintf(stderr, "usage: view DEVICE\n");
00022     return 1;
00023   }
00024   ros::Time t_prev(ros::Time::now());
00025   char fname[200], log_fname[200];
00026   sprintf(fname, "%.3f.raw", t_prev.toSec());
00027   FILE *f = fopen(fname, "w");
00028   uvc_cam::Cam cam(argv[1], uvc_cam::Cam::MODE_YUYV, WIDTH, HEIGHT, FPS);
00029   int count = 0, keyframe = 1;
00030   signal(SIGINT, sigint_handler);
00031   while (!done)
00032   {
00033     unsigned char *frame = NULL;
00034     uint32_t bytes_used;
00035     int buf_idx = cam.grab(&frame, bytes_used);
00036     if (frame)
00037     {
00038       double d = ros::Time::now().toSec();
00039       fwrite(&d, sizeof(double), 1, f);
00040       fwrite(frame, WIDTH*HEIGHT*2, 1, f);
00041       cam.release(buf_idx);
00042     }
00043     if (count++ % FPS == 0)
00044     {
00045       ros::Time t(ros::Time::now());
00046       ros::Duration d(t - t_prev);
00047       printf("%10d %.1f fps\n", count, (double)FPS / d.toSec());
00048       t_prev = t;
00049     }
00050   }
00051   fclose(f);
00052   printf("goodbye\n");
00053   return 0;
00054 }
00055 


corobot_camera
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autogenerated on Sun Oct 5 2014 23:17:57