#include <opencv2/opencv.hpp>
//#include <opencv.hpp>
#include <iostream>
#include <string>
cv::Mat dst_frame;
cv::Mat src_frame;
void read_cam(int width, int height, int fps) {
    std::string v4l2_cmd = "media-ctl -d /dev/video0 --set-v4l2 '\"m00_b_mvcam 7-003b\":0[fmt:Y8_1X8/" + std::to_string(width) + "x" + std::to_string(height) + "@1/" + std::to_string(fps) + " field:none]'";
    system(v4l2_cmd.c_str());

    cv::VideoCapture cap("v4l2src io-mode=dmabuf device=/dev/video0 ! video/x-raw, format=(string)GRAY8, width=(int)" + std::to_string(width) + ", height=(int)" + std::to_string(height) + " ! appsink");
    if (cap.isOpened()) {
        cv::namedWindow("demo", cv::WINDOW_AUTOSIZE);
        while (true) {
            
            bool ret_val = cap.read(src_frame);
            if (ret_val) {
		        cv::medianBlur(src_frame, dst_frame, 5);
                cv::imshow("demo", dst_frame);
                cv::waitKey(1);
            } else {
                std::cout << "camera open failed" << std::endl;
                break;
            }
        }
    } else {
        std::cout << "camera open failed" << std::endl;
    }

    cv::destroyAllWindows();
}

int main(int argc, char** argv) {
    int width = 1080;
    int height = 1080;
    int fps = 30;

    if (argc > 1) {
        width = std::stoi(argv[1]);
    }
    if (argc > 2) {
        height = std::stoi(argv[2]);
    }
    if (argc > 3) {
        fps = std::stoi(argv[3]);
    }

    read_cam(width, height, fps);

    return 0;
}