RASPICAMERA

#include <iostream>
#include <opencv/opencv.hpp>
#include <raspicam_cv.h>
#include <chorno> 
#include <ctime>
using namespace cv;
using namespace raspicam;



Mat frame;

void Setup (int argc, char **argv, RaspiCam_cv &Camera) // argc and argv are command line arguements. argv - is an array of cstring pointers and arc - specifies # of elements within.
{
  // Camera settings to capture images, this value can be adjusted depending on the enviorment used to test the car in.
  // Camera(video) will automatically try to adjust exposure
  // Can change the bitrate from the computer remote connection to reduce lag
  Camera.set (CAP_PROP_FRAME_WIDTH, ("-w", argc, argv, 350)); 
  Camera.set (CAP_PROP_FRAME_HEIGHT, ("-h", argc, argv, 240)); 
  Camera.set (CAP_PROP_BRIGHTNESS, ("-br", argc, argv, 50));
  Camera.set (CAP_PROP_SATURATION, ("-SA", argc, argv, 50));
  Camera.set (CAP_PROP_GAIN, "-g", argc, argv, 50));
  Camera.set (CAP_PROP_FPS, "-fps", argc, argv, 0); // FPS is set to 0 so it will be uncapped.
}
int main() {
 Raspicam_cv Camera; // Calling a class and object to use
 cout << "Connecting to camera" << endl;
 if (!Camera.open()) // Will return 1 if connected to camera, if not, it will return 0
 {
   cout << "Failed to connect" << endl; // This message will print if failed to connect to camera
   return -1 // -1 if failed to connect to camera.
 }
 cout << "Camera ID = " << camera.getId() << endl; // This will print the camera ID.
 
while(1)
{
 auto start = std::chrono::system_clock::now(); // time will start
 Camera.grab(); // function to capture image
 Camera.retrieve(frame); //
auto end = std::chrono::system_clock::now(); // end time
std::chrono::duration<double> elapsed_seconds = end-start; // difference in time between the start and end
float time = elaspsed_seconds.count() // variable for time display
int FPS = 1/t; // frames per second
cout << "FPS = " << FPS << endl;
 imshow("frame, frame") // loads the image
 waitKey(1); // displays the image for a few seconds, will set to 0 so the window can be displayed until closed.
}
 return 0;
}