/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2010 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLIO/examples/xcf-grabber-benchmark.cpp               **
** Module : ICLIO                                                  **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** Commercial License                                              **
** ICL can be used commercially, please refer to our website       **
** www.iclcv.org for more details.                                 **
**                                                                 **
** GNU General Public License Usage                                **
** Alternatively, this file may be used under the terms of the     **
** GNU General Public License version 3.0 as published by the      **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the GNU General Public License  **
** version 3.0 requirements will be met:                           **
** http://www.gnu.org/copyleft/gpl.html.                           **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
*********************************************************************/

#ifdef HAVE_XCF
#include <vector>
#include <ICLIO/XCFServerGrabber.h>
#ifdef WIN32
#include <log4cxx/PropertyConfigurator.h>
#endif
using namespace icl;
#endif

int main() {
#ifdef HAVE_XCF
#ifdef WIN32
	log4cxx::PropertyConfigurator::configure(std::string("log4cxx.props"));
#endif
	XCFServerGrabber *grabber = new XCFServerGrabber("XCFSonyFwImageServer");
	grabber->setRequest("<IMAGEREQUEST>"
                    	"<GRAB stereo=\"true\" timestamp=\"\"/>"
                    	"</IMAGEREQUEST>");

	std::vector<ImgBase*> imgs;
	imgs.resize(2);
	imgs[0] = 0;
	imgs[1] = 0;

	Time before = Time::now();
	for (int i=0; i<200; i++) {
		grabber->grab(imgs);
	}
	Time dur = before.age();
	std::cout << "Grabbed 200 images in " << dur.toSeconds() << " seconds!" << std::endl;
	std::cout << 200.0 / dur.toSeconds() << " hz" << std::endl;

#ifdef WIN32
	Sleep(1000);
#endif

	delete imgs[0];
	delete imgs[1];
	delete grabber;
#endif
	return 0;
}