test(varargin)

% test program to continiously capture stereoscopic pictures from the 
% first 2 cameras on the bus
%
% try..
% >> test
%
% ... or
%
% >> test(2, 100, 100, 50, 200)

function test(varargin)

supportedModes = { ...
	'YUV444 (160x120, 30 fps)', ...
	'YUV422 (320x240, 30 fps)', ...
	'YUV411 (640x480, 30 fps)', ...
	'YUV422 (640x480, 15 fps)', ...
	'RGB8 (640x480, 15 fps)', ...
	'Y8 (640x480, 30 fps)', ...
	'Y16 (640x480, 15 fps)' ...
    };

if(isempty(varargin))
    disp('Image type not specified - using YUV as the default');
    mode = 2;			% default mode: YUV411 (640x320, 30 fps)
    myWidth  = -1;      % default width (max)
    myHeight = -1;      % default height (max)
    myOrigX  = -1;      % default origin-x (0)
    myOrigY  = -1;      % default origin-y (0)
elseif(nargin == 1 && isnumeric(varargin{1}))
    mode = varargin{1};
    myWidth  = -1;      % default width (max)
    myHeight = -1;      % default height (max)
    myOrigX  = -1;      % default origin-x (0)
    myOrigY  = -1;      % default origin-y (0)
elseif(nargin == 3 && isnumeric(varargin{1}) && isnumeric(varargin{2}) && isnumeric(varargin{3}))
    mode = varargin{1};
    myWidth  = varargin{2};
    myHeight = varargin{3};
    myOrigX  = -1;      % default origin-x (0)
    myOrigY  = -1;      % default origin-y (0)
elseif(nargin == 5 && isnumeric(varargin{1}) && isnumeric(varargin{2}) && isnumeric(varargin{3}) ...
                                             && isnumeric(varargin{4}) && isnumeric(varargin{5}))
    mode = varargin{1};
    myWidth  = varargin{2};
    myHeight = varargin{3};
    myOrigX  = varargin{4};
    myOrigY  = varargin{5};
end

if(mode == -1)
    
    % switch camera off
    capImageStereo(-1);
    
else

    % ensure we can exit from the while(1) loop gracefully...
    steroOut = figure;
    set(gcf, 'Position', [20 100 950 400]);
    set(gcf, 'MenuBar', 'none');
    set(gcf, 'Name', 'Stereoscopic Vision');

    subplot(1,2,1)
    title('first camera')
    axis image
    subplot(1,2,2)
    title('second camera')
    axis image

    evalin('base', 'run = 1;');
    set(steroOut, 'CloseRequestFcn', 'evalin(''base'', ''run = 0;'');');

    run = 1;
    while(run)
        
        try
            % verbosity: on (2nd call-up parameter)
            [im1, im2] = capImageStereo(mode, 1, myWidth, myHeight, myOrigX, myOrigY);
            subplot(1,2,1)
            image(im1);
            title('camera #1 -- Close figure window to exit (e.g. ALT+F4)')
            axis image
            drawnow
            subplot(1,2,2)
            image(im2);
            title('camera #2 -- Close figure window to exit (e.g. ALT+F4)')
            axis image
            drawnow
        catch
            % catch driver errors (e.g. unsupported modes)
            set(gcf, 'CloseRequestFcn', 'closereq');
            close all
            rethrow(lasterror)
        end

        % fetch 'run' from 'base' WS
        run = evalin('base', 'run');
        
    end

end

% switch camera off...
capImageStereo(-1);
set(steroOut, 'CloseRequestFcn', 'closereq');
close all