int MUCamSource::OnDevice( MM::PropertyBase* pProp, MM::ActionType eAct )
{
#ifdef _LOG_OUT_
OutputDebugString("OnDevice");
#endif
if (eAct == MM::AfterSet)
{
string strName;
pProp->Get(strName);
vector<string>::const_iterator begin = DevicesVec_.begin();
vector<string>::const_iterator end = DevicesVec_.end();
vector<string>::const_iterator it = find(begin, end, strName);
vector<string>::difference_type idx = distance(begin, it);
if (it != end && idx != currentCam_)
{
StopSequenceAcquisition();
if (!OpenCamera(hCameras_[idx])) return DEVICE_ERR;
currentCam_ = idx;// MIDP_GetCurCameraIndex();
InitDevice();
}
}
else if (eAct == MM::BeforeGet)
{
if(currentCam_ >= 0 && currentCam_ < cameraCnt_)
{
string strName = DevicesVec_[currentCam_];
pProp->Set(strName.c_str());
}
}
return DEVICE_OK;
}
/**
* Intializes the hardware.
* Typically we access and initialize hardware at this point.
* Device properties are typically created here as well.
* Required by the MM::Device API.
*/
int MUCamSource::Initialize()
{
if (!LoadFunctions())
return DEVICE_ERR;
if (initialized_)
return DEVICE_OK;
// set property list
// -----------------
FindMoticCameras();
if(cameraCnt_ == 0)
{
return ERR_NO_CAMERAS_FOUND;
}
currentCam_ = 0;//MIDP_GetCurCameraIndex();
int ret;
CPropertyAction* pAct;
if (!OpenCamera(hCameras_[currentCam_])) return DEVICE_ERR;
char sName[Camera_Name_Len];
GetMotiCamNAME(hCameras_[currentCam_], sName);
//memcpy(sName, GetMotiCamNAME(hCameras_[currentCam_]), Camera_Name_Len);
pAct = new CPropertyAction(this, &MUCamSource::OnDevice);
ret = CreateProperty(g_Keyword_Cameras, sName, MM::String, true, pAct);
ret = SetAllowedValues(g_Keyword_Cameras, DevicesVec_);
assert(ret == DEVICE_OK);
ret = InitDevice();
if(ret == DEVICE_OK)
{
initialized_ = true;
}
return ret;
}
void openCamera(CAMediaDelegate* target)
{
delegate = target;
// if (allowEdit) {
// OpenCamera(0);
// }
// else
{
OpenCamera(1);
}
}
int main()
{
int ret = 0;
void * mV4l2_ctx = NULL;
int mCaptureFormat;
int width = 1280;
int height = 720;
int number = 0;
struct v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
mV4l2_ctx = CreateV4l2Context();
setV4L2DeviceName(mV4l2_ctx, "/dev/video1");
// open v4l2 camera device
ret = OpenCamera(mV4l2_ctx);
if (ret != 0)
{
LOGE("openCameraDevice failed\n");
return ret;
}
StartCamera(mV4l2_ctx, &width, &height);
while(number < 300) {
CameraGetOneframe(mV4l2_ctx,&buf);
CameraReturnOneframe(mV4l2_ctx,buf.index);
LOGD("test, number: %d",number);
number ++;
}
StopCamera(mV4l2_ctx);
CloseCamera(mV4l2_ctx);
DestroyV4l2Context(mV4l2_ctx);
mV4l2_ctx = NULL;
return 0;
}
void CDlgPresetSetting::OnNMDblclkTreeLinkageList(NMHDR *pNMHDR, LRESULT *pResult)
{
// TODO: 在此添加控件通知处理程序代码
*pResult = 0;
HTREEITEM hItem = m_treeLinkageList.GetSelectedItem();
if (hItem == NULL)
{
return ;
}
NodeInfo* pNodeInfo = (NodeInfo*)m_treeLinkageList.GetItemData(hItem);
if (pNodeInfo == NULL)
{
return ;
}
GetDlgItem(IDC_EDIT_CURRENT_DEVICE)->SetWindowText("");
if (pNodeInfo->node_type == RVU_DEVICE_NODE)
{
GetDlgItem(IDC_EDIT_CURRENT_DEVICE)->SetWindowText(pNodeInfo->node_name);
SetPresetEditText();
////加载这个设备绑定的摄像头
if (GetCameraInfoByDevId(hItem, pNodeInfo->node_id))
return;
}
if (pNodeInfo->node_type == PRESET_NODE)
{
sprintf_s(m_szCameraCode,64,pNodeInfo->node_code);
//打开摄像头
if (OpenCamera(m_szCameraCode,pNodeInfo->parent_id)==-1)
{
MessageBox("打开摄像头失败！","辅助系统");
return;
}
m_nCameraPresetId = pNodeInfo->node_id;
ToPreset(m_nCameraPresetId);
}
}
void PD_flow_mrpt::initializePDFlow()
{
//Initialize Visualization
initializeScene();
//Initialize CUDA
mrpt::system::sleep(500);
initializeCUDA();
//Start video streaming
OpenCamera();
//Fill empty matrices
CaptureFrame();
createImagePyramidGPU();
CaptureFrame();
createImagePyramidGPU();
solveSceneFlowGPU();
}
void GCamera::LatterInitialization()
{
m_IsOpened = OpenCamera();
if(!m_IsOpened)
return;
if(ImageProcessor()) {
disconnect(ImageProcessor(), SIGNAL(OutputImageDouble(GImageDouble)), this, SLOT(NotifyImageSent()));
disconnect(ImageProcessor(), SIGNAL(ProcessorFailed()), this, SLOT(NotifyImageFailed()));
connect(ImageProcessor(), SIGNAL(OutputImageDouble(GImageDouble)), this, SLOT(NotifyImageSent()), Qt::QueuedConnection);
connect(ImageProcessor(), SIGNAL(ProcessorFailed()), this, SLOT(NotifyImageFailed()), Qt::QueuedConnection);
}
ChangeExposureTime(m_Expo_ms);
ChangeGainFactor(m_Gain);
emit CapabilitiesMayHaveChanged();
GDevice::LatterInitialization();
}
static int startcamera(AWCameraDevice *p)
{
AWCameraDevice* camera_dev = (AWCameraDevice *)(p);
AWCameraContext* CameraCtx = NULL;
int err = 0;
if(!camera_dev)
return -1;
CameraCtx = (AWCameraContext*)(camera_dev->context);
if(CameraCtx->callback.cookie == NULL) {
LOGE("should set callback before start Camera");
return -1;
}
camera_dev->isYUYV = 0;
setV4L2DeviceName(CameraCtx->v4l2ctx, camera_dev->deviceName );
OpenCamera(CameraCtx->v4l2ctx);
StartCamera(CameraCtx->v4l2ctx, &CameraCtx->width, &CameraCtx->height);
camera_dev->isYUYV = V4L2_PIX_FMT_YUYV == v4l2GetCaptureFmt(CameraCtx->v4l2ctx);
err = getFrameRate(CameraCtx->v4l2ctx);
LOGD("Camera FPS=%d", err );
set_state(CameraCtx, 1);
// Create the camera thread
err = pthread_create(&CameraCtx->thread_id, NULL, CameraThread, camera_dev);
if (err || !CameraCtx->thread_id) {
LOGE("Create thread error");
return -1;
}
return 0;
}
//////////////////////////////////////////////////////////////////////////////////
// init --------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////////////
bool ofxUeye::init(int id){
bool success = false;
// close any open camera
close();
// try to create windows bullshit
if(CreateDisplayWindow())
{
// try to open the camera
if(OpenCamera(id))
{
// store sensor size
_sensorWidth = m_nSizeX;
_sensorHeight = m_nSizeY;
success = true;
}
else ofLog(OF_LOG_WARNING, "ofxUeye - init - Couldn't open camera.");
}
else ofLog(OF_LOG_WARNING, "ofxUeye - init - Couldn't create Windows handlers.");
return success;
}
/*
* Method: OnToolClick()
* Purpose: called when the user click on of the tools on the
* toll bar
* Comments: none
*/
void CMainWindow::OnToolClick(wxCommandEvent& aEvent)
{
wxTreeItemId lItem = iTree->GetSelection();
if(lItem.IsOk() && lItem != iRoot || aEvent.GetId() == ID_SEEK)
{
CTreeItemData* lData = (CTreeItemData *)iTree->GetItemData(lItem);
switch(aEvent.GetId())
{
case ID_INFO:
{
if(!lData->iInfo)
{
// create the info window
CInfoWindow* lWindow = new CInfoWindow(*this,lData->iData);
if(lWindow)
{
// keep a pointer to it
lData->iInfo = lWindow;
// and show the window
lWindow->Show(true);
}
}
else
lData->iInfo->Raise();
break;
}
case ID_CTRL:
{
if(!lData->iCtrl)
{
if(!lData->iHandle)
lData->iHandle = OpenCamera(lData->iData.UniqueId,lData->iOwner);
if(lData->iHandle)
{
// create the info window
CCtrlWindow* lWindow = new CCtrlWindow(*this,lData->iData,lData->iHandle,lData->iOwner);
if(lWindow)
{
// keep a pointer to it
lData->iCtrl = lWindow;
// and show the window
lWindow->Show(true);
if(lData->iFinder)
lData->iCtrl->Notify(kEvnLiveOpened,lData->iFinder,true);
}
}
else
{
wxMessageBox(L"Sorry, the camera couldn't be open.",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
}
else
lData->iCtrl->Raise();
break;
}
case ID_LIVE:
{
if(!lData->iFinder)
{
if(!lData->iHandle)
lData->iHandle = OpenCamera(lData->iData.UniqueId,lData->iOwner);
if(lData->iHandle)
{
// create the info window
CFinderWindow* lWindow = new CFinderWindow(*this,lData->iData,lData->iHandle);
if(lWindow)
{
// keep a pointer to it
lData->iFinder = lWindow;
// and show the window
lWindow->Show(true);
if(lData->iCtrl)
lData->iCtrl->Notify(kEvnLiveOpened,lWindow,true);
}
}
else
{
wxMessageBox(L"Sorry, the camera couldn't be open.",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
}
else
lData->iFinder->Raise();
break;
}
case ID_SEEK:
{
wxTextEntryDialog lDialog(this,L"Please enter the IP address of the camera",L"Seek a camera ...",L"0.0.0.0");
if(lDialog.ShowModal() == wxID_OK)
{
unsigned long lAddr = inet_addr(lDialog.GetValue().mb_str(wxConvUTF8));
if(lAddr)
{
iSeeking = new CSeeker(dSEEKER,GetEventHandler(),lAddr);
if(iSeeking)
if(!iSeeking->Start())
{
delete iSeeking;
iSeeking = NULL;
}
}
else
wxMessageBox(L"You need to enter a valid IP address",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
break;
}
case ID_EXPO:
{
bool lClose = false;
if(!lData->iHandle)
{
lData->iHandle = OpenCamera(lData->iData.UniqueId,lData->iOwner);
lClose = true;
}
if(lData->iHandle)
{
wxFileDialog lDialog(NULL,wxT("Select an output file"),wxT(""),
wxString(lData->iData.SerialNumber,wxConvUTF8),
wxT("Text files (*.txt)|*.txt"),wxSAVE | wxOVERWRITE_PROMPT);
if(lDialog.ShowModal() == wxID_OK)
{
wxString lExt = wxT(".txt");
wxString lPath = lDialog.GetPath();
if(!lPath.Contains(lExt))
lPath = lPath + lExt;
if(!ExportCamera(lData->iHandle,lPath))
wxMessageBox(wxT("Camera's setup export failed."),wxT("Ooops ..."),wxOK | wxICON_ERROR,this);
}
if(lClose)
{
CloseCamera(lData->iHandle);
lData->iHandle = NULL;
}
}
break;
}
case ID_EVNT:
{
if(!lData->iEvnt)
{
if(!lData->iHandle)
lData->iHandle = OpenCamera(lData->iData.UniqueId,lData->iOwner);
if(lData->iOwner)
{
if(lData->iHandle)
{
// create the info window
CEvntWindow* lWindow = new CEvntWindow(*this,lData->iData,lData->iHandle);
if(lWindow)
{
// keep a pointer to it
lData->iEvnt = lWindow;
// and show the window
lWindow->Show(true);
}
}
else
{
wxMessageBox(L"Sorry, the camera couldn't be open.",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
}
else
{
wxMessageBox(L"Sorry, the camera is already open",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
}
else
lData->iEvnt->Raise();
break;
}
case ID_SRIO:
{
if(!lData->iSrio)
{
if(!lData->iHandle)
lData->iHandle = OpenCamera(lData->iData.UniqueId,lData->iOwner);
if(lData->iOwner)
{
if(lData->iHandle)
{
// create the info window
CSerialWindow* lWindow = new CSerialWindow(*this,lData->iData,lData->iHandle);
if(lWindow)
{
// keep a pointer to it
lData->iSrio = lWindow;
// and show the window
lWindow->Show(true);
}
}
else
{
wxMessageBox(L"Sorry, the camera couldn't be open.",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
}
else
{
wxMessageBox(L"Sorry, the camera is already open",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
}
else
lData->iSrio->Raise();
break;
}
}
// refresh the list of window
RefreshWindowsList();
// and force the window to be updated
Update();
}
else
{
wxMessageBox(L"You must select a camera first.",
L"Ooops ...",
wxOK | wxICON_ERROR,this);
}
}
void USBCamera::UpdateSettings() {
std::lock_guard<priority_recursive_mutex> lock(m_mutex);
bool wasActive = m_active;
if (wasActive) StopCapture();
if (m_open) CloseCamera();
OpenCamera();
uInt32 count = 0;
uInt32 currentMode = 0;
SAFE_IMAQ_CALL(IMAQdxEnumerateVideoModes, m_id, nullptr, &count, ¤tMode);
auto modes = std::make_unique<IMAQdxVideoMode[]>(count);
SAFE_IMAQ_CALL(IMAQdxEnumerateVideoModes, m_id, modes.get(), &count, ¤tMode);
// Groups are:
// 0 - width
// 1 - height
// 2 - format
// 3 - fps
std::regex reMode("([0-9]+)\\s*x\\s*([0-9]+)\\s+(.*?)\\s+([0-9.]+)\\s*fps");
IMAQdxVideoMode* foundMode = nullptr;
IMAQdxVideoMode* currentModePtr = &modes[currentMode];
double foundFps = 1000.0;
// Loop through the modes, and find the match with the lowest fps
for (unsigned int i = 0; i < count; i++) {
std::cmatch m;
if (!std::regex_match(modes[i].Name, m, reMode)) continue;
unsigned int width = (unsigned int)std::stoul(m[1].str());
unsigned int height = (unsigned int)std::stoul(m[2].str());
if (width != m_width) continue;
if (height != m_height) continue;
double fps = atof(m[4].str().c_str());
if (fps < m_fps) continue;
if (fps > foundFps) continue;
bool isJpeg =
m[3].str().compare("jpeg") == 0 || m[3].str().compare("JPEG") == 0;
if ((m_useJpeg && !isJpeg) || (!m_useJpeg && isJpeg)) continue;
foundMode = &modes[i];
foundFps = fps;
}
if (foundMode != nullptr) {
if (foundMode->Value != currentModePtr->Value) {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, IMAQdxAttributeVideoMode,
IMAQdxValueTypeU32, foundMode->Value);
}
}
if (m_whiteBalance.compare(AUTO) == 0) {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_WB_MODE,
IMAQdxValueTypeString, AUTO);
} else {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_WB_MODE,
IMAQdxValueTypeString, MANUAL);
if (m_whiteBalanceValuePresent)
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_WB_VALUE,
IMAQdxValueTypeU32, m_whiteBalanceValue);
}
if (m_exposure.compare(AUTO) == 0) {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_EX_MODE,
IMAQdxValueTypeString,
std::string("AutoAperaturePriority").c_str());
} else {
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_EX_MODE,
IMAQdxValueTypeString, MANUAL);
if (m_exposureValuePresent) {
double minv = 0.0;
double maxv = 0.0;
SAFE_IMAQ_CALL(IMAQdxGetAttributeMinimum, m_id, ATTR_EX_VALUE,
IMAQdxValueTypeF64, &minv);
SAFE_IMAQ_CALL(IMAQdxGetAttributeMaximum, m_id, ATTR_EX_VALUE,
IMAQdxValueTypeF64, &maxv);
double val = minv + ((maxv - minv) * ((double)m_exposureValue / 100.0));
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_EX_VALUE,
IMAQdxValueTypeF64, val);
}
}
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_BR_MODE, IMAQdxValueTypeString,
MANUAL);
double minv = 0.0;
double maxv = 0.0;
SAFE_IMAQ_CALL(IMAQdxGetAttributeMinimum, m_id, ATTR_BR_VALUE,
IMAQdxValueTypeF64, &minv);
SAFE_IMAQ_CALL(IMAQdxGetAttributeMaximum, m_id, ATTR_BR_VALUE,
IMAQdxValueTypeF64, &maxv);
double val = minv + ((maxv - minv) * ((double)m_brightness / 100.0));
SAFE_IMAQ_CALL(IMAQdxSetAttribute, m_id, ATTR_BR_VALUE, IMAQdxValueTypeF64,
val);
if (wasActive) StartCapture();
}
void CameraDriver::ReconfigureCallback(UVCCameraConfig &new_config, uint32_t level) {
boost::recursive_mutex::scoped_lock(mutex_);
if ((level & kReconfigureClose) == kReconfigureClose) {
if (state_ == kRunning)
CloseCamera();
}
if (state_ == kStopped) {
OpenCamera(new_config);
}
if (new_config.camera_info_url != config_.camera_info_url)
cinfo_manager_.loadCameraInfo(new_config.camera_info_url);
if (state_ == kRunning) {
#define PARAM_INT(name, fn, value) if (new_config.name != config_.name) { \
int val = (value); \
if (uvc_set_##fn(devh_, val)) { \
ROS_WARN("Unable to set " #name " to %d", val); \
new_config.name = config_.name; \
} \
}
PARAM_INT(scanning_mode, scanning_mode, new_config.scanning_mode);
PARAM_INT(auto_exposure, ae_mode, 1 << new_config.auto_exposure);
PARAM_INT(auto_exposure_priority, ae_priority, new_config.auto_exposure_priority);
PARAM_INT(exposure_absolute, exposure_abs, new_config.exposure_absolute * 10000);
PARAM_INT(auto_focus, focus_auto, new_config.auto_focus ? 1 : 0);
PARAM_INT(focus_absolute, focus_abs, new_config.focus_absolute);
#if libuvc_VERSION > 00005 /* version > 0.0.5 */
PARAM_INT(gain, gain, new_config.gain);
PARAM_INT(iris_absolute, iris_abs, new_config.iris_absolute);
PARAM_INT(brightness, brightness, new_config.brightness);
#endif
if (new_config.pan_absolute != config_.pan_absolute || new_config.tilt_absolute != config_.tilt_absolute) {
if (uvc_set_pantilt_abs(devh_, new_config.pan_absolute, new_config.tilt_absolute)) {
ROS_WARN("Unable to set pantilt to %d, %d", new_config.pan_absolute, new_config.tilt_absolute);
new_config.pan_absolute = config_.pan_absolute;
new_config.tilt_absolute = config_.tilt_absolute;
}
}
// TODO: roll_absolute
// TODO: privacy
// TODO: backlight_compensation
// TODO: contrast
// TODO: power_line_frequency
// TODO: auto_hue
// TODO: saturation
// TODO: sharpness
// TODO: gamma
// TODO: auto_white_balance
// TODO: white_balance_temperature
// TODO: white_balance_BU
// TODO: white_balance_RV
}
config_ = new_config;
}
void CAMediaManager::addCameraView()
{
OpenCamera();
}
//双击预置位列表树
void CDlgPresetSetting::OnNMDblclkTreePresettingList(NMHDR *pNMHDR, LRESULT *pResult)
{
// TODO: 在此添加控件通知处理程序代码
*pResult = 0;
HTREEITEM hItem = m_treePresetList.GetSelectedItem();
if (hItem == NULL)
{
return;
}
NodeInfo* pNodeInfo = (NodeInfo*)m_treePresetList.GetItemData(hItem);
if (pNodeInfo == NULL)
{
return;
}
GetDlgItem(IDC_EDIT_CURRENT_CAMERA)->SetWindowText("");
if (pNodeInfo->node_type == CAMERA_NODE)
{
CloseCamera(m_nCurrentID);
//设置各个成员变量
sprintf_s(m_szCameraCode,64,pNodeInfo->node_code);
//打开摄像头
if (OpenCamera(m_szCameraCode,pNodeInfo->parent_id)==-1)
{
MessageBox("转到预置位失败！","辅助系统");
return;
}
GetDlgItem(IDC_EDIT_CURRENT_CAMERA)->SetWindowText(pNodeInfo->node_name);
m_combo_presetnum.SetCurSel(0);
//设置预置位名称
SetPresetEditText();
//加载该摄像头下已经设置的预置位
if (GetPresetInfoByCameraCode(hItem,m_pStationNode->station_id,m_szCameraCode,pNodeInfo->parent_id))
return;
}
if (pNodeInfo->node_type == PRESET_NODE)
{
//关闭摄像头
CloseCamera(m_nCurrentID);
sprintf_s(m_szCameraCode,64,pNodeInfo->node_code);
//打开摄像头
if (OpenCamera(m_szCameraCode,pNodeInfo->parent_id)==-1)
{
MessageBox("转到预置位失败！","辅助系统");
return;
}
m_nCameraPresetId = pNodeInfo->node_id;
ToPreset(m_nCameraPresetId);
}
}
