void run() {
if (!setup_capture_source()) {
std::cout << "Could not initialize capture source" << std::endl;
return;
}
cv::Size output_size = get_output_size();
size_t full_image_dimensions = output_size.width * output_size.height * 3;
m_framework = create_message_framework(m_direction, full_image_dimensions);
if (m_framework == NULL) {
std::cout << "Could not initialize message framework" << std::endl;
return;
}
std::cout << "Set up camera. Starting image acquisition" << std::endl;
long last_acq_time = 0;
while (running) {
std::experimental::optional<std::pair<cv::Mat, long>> next_image_op = acquire_next_image();
if (!next_image_op) {
std::cout << "Error acquiring image! Trying again." << std::endl;
continue;
}
cv::Mat next_image = next_image_op.value().first;
long acq_time = next_image_op.value().second;
write_frame(m_framework, next_image.data, acq_time, output_size.width, output_size.height, 3);
long curr_time = get_time();
long time_since_last_acq = curr_time - last_acq_time;
long min_acq_time = 1000 / m_max_fps;
auto sleep_time = std::chrono::milliseconds(min_acq_time - time_since_last_acq);
if (sleep_time > std::chrono::milliseconds(0)) {
std::this_thread::sleep_for(sleep_time);
}
last_acq_time = acq_time;
}
destroy_capture_source();
std::cout << "Cleaned up capture source" << std::endl;
cleanup_message_framework(m_framework);
std::cout << "Cleaned up message framework" << std::endl;
}
message_framework_p create_message_framework_from_cstring(const char *direction,
size_t max_image_size) {
return create_message_framework(std::string(direction), max_image_size);
}
