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80 lines
2.4 KiB
80 lines
2.4 KiB
2 months ago
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// License: Apache 2.0. See LICENSE file in root directory.
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// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
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#include <librealsense2/rs.hpp>
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#include <iostream>
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#include <iomanip>
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#include <thread>
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#include <mutex>
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#include <stdio.h>
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#include <memory>
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#include <functional>
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#include <thread>
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#include <string.h>
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#include <chrono>
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#include "tclap/CmdLine.h"
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using namespace TCLAP;
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int main(int argc, char * argv[]) try
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{
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// Parse command line arguments
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CmdLine cmd("librealsense rs-record example tool", ' ');
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SwitchArg debug_arg( "", "debug", "Turn on LibRS debug logs" );
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ValueArg<double> time("t", "Time", "Amount of time to record (in seconds)", false, 10., "");
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ValueArg<std::string> out_file("f", "FullFilePath", "the file where the data will be saved to", false, "test.bag", "");
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cmd.add(debug_arg);
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cmd.add(time);
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cmd.add(out_file);
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cmd.parse(argc, argv);
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#ifdef BUILD_EASYLOGGINGPP
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bool const debugging = debug_arg.getValue();
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rs2::log_to_console( debugging ? RS2_LOG_SEVERITY_DEBUG : RS2_LOG_SEVERITY_ERROR );
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#endif
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rs2::pipeline pipe;
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rs2::config cfg;
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cfg.enable_record_to_file(out_file.getValue());
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std::mutex m;
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auto callback = [&](const rs2::frame& frame)
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{
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std::lock_guard<std::mutex> lock(m);
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auto t = std::chrono::system_clock::now();
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static auto tk = t;
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static auto t0 = t;
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if (t - tk >= std::chrono::seconds(1)) {
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std::cout << "\r" << std::setprecision(3) << std::fixed
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<< "Recording t = " << std::chrono::duration_cast<std::chrono::seconds>(t-t0).count() << "s" << std::flush;
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tk = t;
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}
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};
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rs2::pipeline_profile profiles = pipe.start(cfg, callback);
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auto t = std::chrono::system_clock::now();
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auto t0 = t;
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while( t - t0 <= std::chrono::milliseconds( (unsigned)( time.getValue() * 1000 ) ) )
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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t = std::chrono::system_clock::now();
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}
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std::cout << "\nFinished" << std::endl;
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pipe.stop();
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return EXIT_SUCCESS;
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}
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catch (const rs2::error & e)
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{
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std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
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return EXIT_FAILURE;
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}
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catch (const std::exception& e)
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{
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std::cerr << e.what() << std::endl;
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return EXIT_FAILURE;
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}
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