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ex-file_io.cpp
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ex-file_io.cpp
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/*
* Copyright (C) 2016 Love Park Robotics, LLC
* Copyright (C) 2017 ifm syntron gmbh
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distribted on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
//
// ex-file_io.cpp
//
// Capture a frame from the camera, and write the data out to files. For
// exemplary purposes, we will write the amplitdue and radial distance images
// to PNG files. NOTE: we have removed the PCL I/O from this example for now as
// we are trying to deprecate PCL from our library.
//
#include <iostream>
#include <memory>
#include <opencv2/opencv.hpp>
#include <ifm3d/camera.h>
#include <ifm3d/fg.h>
#include <ifm3d/image.h>
int main(int argc, const char **argv)
{
auto cam = ifm3d::Camera::MakeShared();
ifm3d::ImageBuffer::Ptr img = std::make_shared<ifm3d::ImageBuffer>();
ifm3d::FrameGrabber::Ptr fg =
std::make_shared<ifm3d::FrameGrabber>(
cam, ifm3d::IMG_AMP|ifm3d::IMG_CART|ifm3d::IMG_RDIS);
if (! fg->WaitForFrame(img.get(), 1000))
{
std::cerr << "Timeout waiting for camera!" << std::endl;
return -1;
}
imwrite("amplitude.png", img->AmplitudeImage());
imwrite("radial_distance.png", img->DistanceImage());
return 0;
}