int main()
{
int i;
struct picture_t pic;
struct encoded_pic_t encoded_pic;
errno = 0;
if(!camera_init(&pic))
goto error_cam;
if(!encoder_init(&pic)){
fprintf(stderr,"failed to initialize encoder\n");
goto error_encoder;
}
if(!preview_init(&pic))
goto error_preview;
if(!output_init(&pic))
goto error_output;
if(!encoder_encode_headers(&encoded_pic))
goto error_output;
if(!output_write_headers(&encoded_pic))
goto error_output;
if(!camera_on())
goto error_cam_on;
if(signal(SIGINT, stop_recording) == SIG_ERR){
fprintf(stderr,"signal() failed\n");
goto error_signal;
}
printf("Press ctrl-c to stop recording...\n");
recording = 1;
for(i=0; recording; i++){
if(!camera_get_frame(&pic))
break;
gen_osd_info();
osd_print(&pic, osd_string);
if((i&7)==0) // i%8==0
preview_display(&pic);
if(!encoder_encode_frame(&pic, &encoded_pic))
break;
applog_flush();
if(!output_write_frame(&encoded_pic))
break;
}
printf("\nrecorded %d frames\n", i);
error_signal:
camera_off();
error_cam_on:
output_close();
error_output:
preview_close();
error_preview:
encoder_close();
error_encoder:
camera_close();
error_cam:
return 0;
}
void *cam_thread()
{
int number,FileSize;
number=0;
FileSize =0;
fd_set fds;
struct timeval tv;
int r;
printf ("cam_thread : I'm thread 1\n");
while (!g_s32Quit)
{
/* Timeout. */
tv.tv_sec = 0;
tv.tv_usec = 33333;
nanosleep(&tv,NULL);
if(!camera_get_frame(&pic)){
printf("error1\r\n");
break;
}
gen_osd_info();
osd_print(&pic, osd_string);
if(!encoder_encode_frame(&pic, &encoded_pic))
break;
FileSize+=encoded_pic.length;
if(g_s32DoPlay>0)
ringput(encoded_pic.buffer,encoded_pic.length,encoded_pic.frame_type);
if ((FileSize>MAX_SIZE) && (encoded_pic.frame_type ==FRAME_TYPE_I)) {
output_close();
get_filename();
printf("file:%s\n",mkv_filename);
if(!output_init(&pic,mkv_filename))
break;
if(!output_write_headers(&header_pic,&psp))
break;
FileSize=0;
ResetTime(&pic,&encoded_pic);
if(!output_write_frame(&encoded_pic))
break;
encoder_release(&encoded_pic);
} else {
if(!output_write_frame(&encoded_pic))
break;
encoder_release(&encoded_pic);
}
}
printf("exit the enc_thread\n");
g_s32Quit= 0;
//pthread_exit(NULL);
}
void* videoFrame(void){
int cnt = 0;
VideoCopy black;
while(1){
vidbuf = camera_get_frame(fdCamera);
memcpy(vidbuf_overlay.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(vidbuf_overlay.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(vidbuf_overlay.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
memcpy(bufCopy.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(bufCopy.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(bufCopy.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
camera_release_frame(fdCamera,vidbuf);
if(stopflag == 1)
break;
}
camera_stop(fdCamera);
camera_close(fdCamera);
}
// Caculate direction and produce command value
void refreshImage(void) {
//get frame from cam
vidbuf = camera_get_frame(fdCamera);
usleep(3000000); // delay 3sec
camera_release_frame(fdCamera, vidbuf);
vidbuf = camera_get_frame(fdCamera);
//copy frame to var
memcpy(vidbuf_overlay.ycbcr.y, vidbuf->ycbcr.y,len_vidbuf);
memcpy(vidbuf_overlay.ycbcr.cb, vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(vidbuf_overlay.ycbcr.cr, vidbuf->ycbcr.cr,len_vidbuf/2);
memcpy(bufCopy.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(bufCopy.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(bufCopy.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
// !!essential!!
// put image to screen & clean buffer
camera_release_frame(fdCamera, vidbuf);
}
void* videoFrame(void){
int cnt = 0;
while(1){
vidbuf = camera_get_frame(fdCamera);
memcpy(bufCopy.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(bufCopy.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(bufCopy.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
camera_release_frame(fdCamera,vidbuf);
}
}
void copyImage()
{
vidbuf = camera_get_frame(fdCamera);
memcpy(vidbuf_overlay.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(vidbuf_overlay.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(vidbuf_overlay.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
memcpy(bufCopy.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(bufCopy.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(bufCopy.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
camera_release_frame(fdCamera,vidbuf);
}
void screenFoundObject()
{
int i=0, j=0, index;
for(i = minX; i<maxX; i++){
for(j = minY; j<maxY; j++){
index = i*320+j;
vidbuf = camera_get_frame(fdCamera);
//copy frame to var
vidbuf->ycbcr.y[index] = 100;
vidbuf->ycbcr.cb[index/2] = 20;
vidbuf->ycbcr.cr[index/2] = 200;
}
}
}
void* videoFrame(void){
int cnt = 0;
while(1){
vidbuf = camera_get_frame(fdCamera);
memcpy(vidbuf_overlay.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(vidbuf_overlay.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(vidbuf_overlay.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
memcpy(bufCopy.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(bufCopy.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(bufCopy.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
camera_release_frame(fdCamera,vidbuf);
if(stopFlag == 1)
break;
/*
if(obj.x_point >=0 && obj.x_point <320 && obj.y_point >=0 && obj.y_point < 240){
int i, j;
for(i = obj.x_point; i<obj.x_point + 10; i++){
for(j = obj.y_point; j<obj.y_point + 10; j++){
int index = j*320 + i;
vidbuf_overlay.ycbcr.y[index] = 120;
vidbuf_overlay.ycbcr.cb[index/2] = 230;
vidbuf_overlay.ycbcr.cr[index/2] = 30;
}
}
}
*/
}
camera_stop(fdCamera);
camera_close(fdCamera);
}
void map_read(void){
sleep(2);
//vals
int i, timecount;
//thread vals
pthread_t netReadThread;
int thread_id;
timecount = 0;
//malloc project vals
vProjection = (int*)malloc(sizeof(int)*cImg.width);
//netReadThread start
// pthread_create(&netReadThread, NULL, netReadThreadFunc, (void*)NULL);
//pre();
while(1){
//get frame from cam
vidbuf = camera_get_frame(fdCamera);
//copy frame to var
memcpy(vidbuf_overlay.ycbcr.y,vidbuf->ycbcr.y,len_vidbuf);
memcpy(vidbuf_overlay.ycbcr.cb,vidbuf->ycbcr.cb,len_vidbuf/2);
memcpy(vidbuf_overlay.ycbcr.cr,vidbuf->ycbcr.cr,len_vidbuf/2);
if( timecount < 81 ) {
timecount++;
//init mode
if( timecount == 50 ){
command = 26;
}
//turn head
else if ( timecount == 55){
#ifdef SERVERMODE
command = 1;
makeImg (&cImg, 1, 0, &vidbuf_overlay);
#endif
#ifdef CLIENTMODE
command = 3;
makeImg (&cImg, 0, 1, &vidbuf_overlay);
#endif
}
//return head
else if ( timecount == 70){
#ifdef SERVERMODE
command = 3;
makeImg (&cImg, 0, 1, &vidbuf_overlay);
#endif
#ifdef CLIENTMODE
command = 1;
makeImg (&cImg, 1, 0, &vidbuf_overlay);
#endif
}
//print img to lcd
else if ( timecount == 80 ){
command = 2;
//vertical projection
//labeling();
//printf("labling complete!!");
integrateImg(&cImg, &vidbuf_overlay);
printf("Image Integrating complete!!");
//stereo(boundary, recBoundary, heights, recHeights, cordinate);
//printf("stereo complete!!");
sleep(3);
}
}
camera_release_frame(fdCamera,vidbuf);
if( timecount >= 80 )
break;
}
free(vProjection);
return 0;
}
