/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/hwdrivers/CFFMPEG_InputStream.h>
#include <mrpt/system/CTicTac.h>
#include <iostream>

using namespace mrpt::gui;
using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace mrpt::img;
using namespace std;

// ------------------------------------------------------
//					Test_FFMPEG_CaptureCamera
// ------------------------------------------------------
void Test_FFMPEG_CaptureCamera(const std::string& video_url)
{
	CFFMPEG_InputStream in_video;

	if (!in_video.openURL(video_url, false /*grayscale*/, true /* verbose */))
		return;

	CDisplayWindow win("Video");

	CTicTac tictac;
	tictac.Tic();
	unsigned int nFrames = 0;

	CImage img;
	while (win.isOpen() && in_video.retrieveFrame(img))
	{
		double fps = ++nFrames / tictac.Tac();
		img.textOut(
			5, 5, mrpt::format("%.02f fps", fps), TColor(0x80, 0x80, 0x80));
		if (nFrames > 100)
		{
			tictac.Tic();
			nFrames = 0;
		}

		if (nFrames == 1)
			cout << "Video FPS: " << in_video.getVideoFPS() << endl;

		win.showImage(img);
		std::this_thread::sleep_for(10ms);

		if (win.keyHit() && win.waitForKey() == 27) break;
	}

	in_video.close();
	mrpt::system::pause();
}

int main(int argc, char** argv)
{
	try
	{
		if (argc != 2)
		{
			cout << "Usage: " << endl;
			cout << " Open a video file: " << argv[0] << " <VIDEOFILE>" << endl;
			cout << " Open an IP camera: " << argv[0]
				 << " rtsp://a.b.c.d/live.sdp" << endl;
			cout << endl;
			return 1;
		}

		Test_FFMPEG_CaptureCamera(argv[1]);

		return 0;
	}
	catch (const std::exception& e)
	{
		std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
		return -1;
	}
	catch (...)
	{
		printf("Another exception!!");
		return -1;
	}
}
