test-keyboardGrab.C

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/*!@file Beobot/test-keyboardGrab.C Keyboard-controlled camera motion   */
// //////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
// University of Southern California (USC) and the iLab at USC.         //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Laurent Itti <itti@usc.edu>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/test-keyboardGrab.C $
// $Id: test-keyboardGrab.C 6795 2006-06-29 20:45:32Z rjpeters $
//

#include "Component/ModelManager.H"
#include "Devices/FrameGrabberConfigurator.H"
#include "Devices/KeyBoard.H"
#include "Devices/ssc.H"
#include "GUI/XWindow.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "Transport/FrameIstream.H"
#include "Util/Timer.H"
#include "Util/Types.H"
#include "Util/log.H"

#include <cstdio>
#include <cstdlib>
#include <cstring>

// speed and steering servo number
#define SP_SERVO_N    0
#define ST_SERVO_N    1
#define NAVG 20

// ######################################################################
/*! This simple executable tests video frame grabbing through the
  video4linux driver (see V4Lgrabber.H) or the IEEE1394 (firewire)
  grabber (see IEEE1394grabber.H). Selection of the grabber type is
  made via the --fg-type=XX command-line option. */
int main(const int argc, const char **argv)
{
  // instantiate a model manager:
  ModelManager manager("Frame Grabber Tester");

  // Instantiate our various ModelComponents:
  nub::soft_ref<FrameGrabberConfigurator>
    gbc(new FrameGrabberConfigurator(manager));
  manager.addSubComponent(gbc);
  nub::soft_ref<SSC> ssc(new SSC(manager));
  manager.addSubComponent(ssc);

  // Parse command-line:
  if (manager.parseCommandLine(argc, argv, "", 0, 0) == false) return(1);

  // do post-command-line configs:
  nub::soft_ref<FrameIstream> gb = gbc->getFrameGrabber();
  if (gb.isInvalid())
    LFATAL("You need to select a frame grabber type via the "
           "--fg-type=XX command-line option for this program "
           "to be useful");

  // let's get all our ModelComponent instances started:
  manager.start();

  // instantiate a KeyBoard
  KeyBoard kb;

  // get ready for main loop:
  XWindow win(gb->peekDims(), -1, -1, "test-grab window");
  Timer tim; uint64 t[NAVG]; int frame = 0;

  while(1) {
    switch( kb.getKey( false ) )
      {
      case KBD_KEY1:
        if( ssc->getPosition(ST_SERVO_N) < 0.95f )
          ssc->move(ST_SERVO_N, ssc->getPosition(ST_SERVO_N) + 0.05f );
        break;
      case KBD_KEY2:
        if( ssc->getPosition(ST_SERVO_N) > -0.95f )
          ssc->move(ST_SERVO_N, ssc->getPosition(ST_SERVO_N) - 0.05f );
        break;
      case KBD_KEY3:
        if( ssc->getPosition(SP_SERVO_N) > -0.95f )
          ssc->move(SP_SERVO_N, ssc->getPosition(SP_SERVO_N) - 0.05f );
        break;
      case KBD_KEY5:
        if( ssc->getPosition(SP_SERVO_N) < 0.95f )
          ssc->move(SP_SERVO_N, ssc->getPosition(SP_SERVO_N) + 0.05f );
      default:
        break;
      }
    tim.reset();

    Image< PixRGB<byte> > ima = gb->readRGB();

    uint64 t0 = tim.get();  // to measure display time
    win.drawImage(ima);
    t[frame % NAVG] = tim.get();
    t0 = t[frame % NAVG] - t0;
    if (t0 > 20000ULL) LINFO("Display took %lluus", t0);

    // compute and show framerate over the last NAVG frames:
    if (frame % NAVG == 0 && frame > 0)
      {
        uint64 avg = 0ULL; for (int i = 0; i < NAVG; i ++) avg += t[i];
        float avg2 = 1000.0F / float(avg) * float(NAVG);
        printf("Framerate: %.1f fps\n", avg2);
      }
    frame ++;
  }

  // stop all our ModelComponents
  manager.stop();

  // all done!
  return 0;
}

// ######################################################################
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