text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
     | See: http://www.mrpt.org/Authors - All rights reserved.                |
     | Released under BSD License. See details in http://www.mrpt.org/License |
     +------------------------------------------------------------------------+ */
  
  #include <mrpt/hwdrivers/CImageGrabber_FlyCapture2.h>
  #include <mrpt/utils/CFileGZOutputStream.h>
  #include <mrpt/utils/CTicTac.h>
  #include <mrpt/obs/CObservationImage.h>
  #include <mrpt/gui/CDisplayWindow.h>
  #include <mrpt/system/os.h>
  
  using namespace mrpt::utils;
  using namespace mrpt::hwdrivers;
  using namespace mrpt::gui;
  using namespace mrpt::obs;
  using namespace std;
  
  // ------------------------------------------------------
  //				TestCapture_FlyCapture2_stereo
  // ------------------------------------------------------
  
  void TestCapture_FlyCapture2_stereo()
  {
  	cout << " FlyCapture2 version: "
  		 << CImageGrabber_FlyCapture2::getFC2version() << std::endl;
  
  	// Left camera:
  	// ------------------------------------------
  	CImageGrabber_FlyCapture2 capture_left;
  	TCaptureOptions_FlyCapture2 cam_options_left;
  
  	cam_options_left.framerate = "FRAMERATE_30";
  	cam_options_left.videomode = "VIDEOMODE_1280x960RGB";
  
  	cam_options_left.open_by_guid = true;
  	cam_options_left.camera_guid[0] = 0x63A8D3CE;
  	cam_options_left.camera_guid[1] = 0xB49580D6;
  	cam_options_left.camera_guid[2] = 0x004AED1C;
  	cam_options_left.camera_guid[3] = 0xDDE4EF14;
  
  	cam_options_left.strobe_enabled = true;
  	cam_options_left.strobe_source = 1;  // GPIO pin #
  	cam_options_left.strobe_duration = 1.0;  // ms
  
  	capture_left.open(
  		cam_options_left, false /*only open, don't start grabbing*/);
  
  	// Right camera:
  	// ------------------------------------------
  	CImageGrabber_FlyCapture2 capture_right;
  	TCaptureOptions_FlyCapture2 cam_options_right;
  
  	cam_options_right.framerate = cam_options_left.framerate;
  	cam_options_right.videomode = cam_options_left.videomode;
  
  	cam_options_right.open_by_guid = true;
  	cam_options_right.camera_guid[0] = 0xB9862FD2;
  	cam_options_right.camera_guid[1] = 0x7AE0E03A;
  	cam_options_right.camera_guid[2] = 0xA6BC0321;
  	cam_options_right.camera_guid[3] = 0x16654DC9;
  
  	cam_options_right.trigger_enabled = true;
  	cam_options_right.trigger_source = 0;  // GPIO pin #
  
  	capture_right.open(
  		cam_options_right, false /*only open, don't start grabbing*/);
  
  // Open both cameras simultaneously:
  #if 0
  	const CImageGrabber_FlyCapture2 *cameras[2] = { &capture_left, &capture_right };
  	CImageGrabber_FlyCapture2::startSyncCapture(2 /*numCameras*/, cameras);
  #else
  	capture_right.startCapture();  // Will not start until a strobe is got from
  	// the "master" camera:
  	capture_left.startCapture();
  #endif
  
  	CTicTac tictac;
  	cout << "Press any key to stop capture to 'capture.rawlog'..." << endl;
  
  	CFileGZOutputStream fil("./capture.rawlog");
  
  	CDisplayWindow winL("Left"), winR("Right");
  
  	int cnt = 0;
  
  	CObservationImage::Ptr obsL = mrpt::make_aligned_shared<
  		CObservationImage>();  // Memory will be freed by SF
  	// destructor in each loop.
  	obsL->sensorLabel = "LEFT";
  
  	CObservationImage::Ptr obsR = mrpt::make_aligned_shared<
  		CObservationImage>();  // Memory will be freed by SF
  	// destructor in each loop.
  	obsR->sensorLabel = "RIGHT";
  
  	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();
  		}
  
  		const bool ok1 = capture_left.getObservation(*obsL);
  		const bool ok2 = capture_right.getObservation(*obsR);
  		if (!ok1 || !ok2)
  		{
  			cerr << "Error retrieving images!" << endl;
  			break;
  		}
  
  		cout << ".";
  		cout.flush();
  		if (winL.isOpen()) winL.showImage(obsL->image);
  		if (winR.isOpen()) winR.showImage(obsR->image);
  
  		fil << obsL << obsR;
  	}
  }
  
  int main(int argc, char** argv)
  {
  	try
  	{
  		TestCapture_FlyCapture2_stereo();
  		return 0;
  	}
  	catch (std::exception& e)
  	{
  		std::cout << "MRPT exception caught: " << e.what() << std::endl;
  		return -1;
  	}
  	catch (...)
  	{
  		printf("Another exception!!");
  		return -1;
  	}
  }
  