void ofxLibdc::initCamera(int cameraNumber) { // create camera struct dc1394camera_list_t* list; dc1394_camera_enumerate(libdcContext, &list); if(list->num == 0) { ofLog(OF_LOG_ERROR, "No cameras found."); return; } camera = dc1394_camera_new(libdcContext, list->ids[cameraNumber].guid); if (!camera) { stringstream error; error << "Failed to initialize camera " << cameraNumber << " with guid " << list->ids[cameraNumber].guid; ofLog(OF_LOG_ERROR, error.str()); return; } else { stringstream msg; msg << "Using camera with GUID " << camera->guid; ofLog(OF_LOG_VERBOSE, msg.str()); } dc1394_camera_free_list(list); #ifdef TARGET_OSX dc1394_iso_release_bandwidth(camera, INT_MAX); for (int channel = 0; channel < 64; channel++) dc1394_iso_release_channel(camera, channel); #endif #ifdef TARGET_LINUX dc1394_reset_bus(camera); #endif }
void FWCamera::resetBus() { #ifdef AVG_ENABLE_1394_2 dc1394_t* pDC1394 = dc1394_new(); if (pDC1394 == 0) { return; } dc1394camera_list_t * pCameraList; int err=dc1394_camera_enumerate(pDC1394, &pCameraList); if (err == DC1394_SUCCESS) { if (pCameraList->num != 0) { dc1394camera_t * pCam = dc1394_camera_new(pDC1394, pCameraList->ids[0].guid); if (pCam) { dc1394_reset_bus(pCam); dc1394_camera_free(pCam); } } dc1394_camera_free_list(pCameraList); } dc1394_free(pDC1394); #endif }
int main(int argc, char *argv[]) { dc1394_t * d; dc1394camera_list_t * list; dc1394camera_t *camera; dc1394error_t err; d = dc1394_new (); if (!d) return 1; int cam=0; int num=-1; int chan; unsigned int val; do { err=dc1394_camera_enumerate (d, &list); DC1394_ERR_RTN(err,"Failed to enumerate cameras"); if (list->num == 0) { dc1394_log_error("No cameras found"); return 1; } else { num=list->num; } printf("Camera %d\n",cam); camera = dc1394_camera_new (d, list->ids[cam].guid); if (!camera) { dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[cam].guid); return 1; } dc1394_camera_free_list (list); printf("Using camera with GUID %"PRIx64"\n", camera->guid); printf ("Reseting bus...\n"); if (dc1394_reset_bus (camera) != DC1394_SUCCESS) printf ("Warning: reset reported error\n"); dc1394_capture_stop(camera); dc1394_iso_release_all(camera); if ( dc1394_video_get_bandwidth_usage(camera,&val) == DC1394_SUCCESS && dc1394_iso_release_bandwidth(camera,val) == DC1394_SUCCESS) { printf("Freed %d Bandwidth\n",val); } if ( dc1394_video_get_iso_channel(camera,&val) == DC1394_SUCCESS && dc1394_iso_release_channel(camera,val) == DC1394_SUCCESS) { printf("Freed ISO %d\n",val); } dc1394_video_set_transmission(camera, DC1394_OFF); //dc1394_iso_release_bandwidth(camera, 10000000); /*dc1394_iso_release_bandwidth(camera, INT_MAX); for(chan=0;chan<64;chan++) { dc1394_iso_release_channel(camera,chan); }*/ dc1394_camera_free (camera); cam++; } while(cam<num); dc1394_free (d); return 0; }
static void reset_bus (opts_t *opts, dc1394_t *dc1394_cxt, dc1394camera_list_t *cam_list) { int is_found[MAX_NUM_ID] = { 0 }; dc1394camera_id_t target[MAX_NUM_ID]; dc1394error_t err; int i; /* search target cameras connected to the buses for resetting */ for (i = 0; i < cam_list->num; ++i) { dc1394camera_t *camera = NULL; camera = dc1394_camera_new_unit (dc1394_cxt, cam_list->ids[i].guid, cam_list->ids[i].unit); if (camera != NULL) { uint32_t port = -1; err = dc1394_camera_get_linux_port (camera, &port); if (err == DC1394_SUCCESS) { int j; for (j = 0; j < opts->num_id; ++j) { if ((is_found[j] == 0) && (opts->bus_id[j] == port)) { target[j] = cam_list->ids[i]; is_found[j] = -1; break; } } } dc1394_camera_free (camera); camera = NULL; } } /* reset buses in the specified order */ for (i = 0; i < opts->num_id; ++i) { if (is_found[i] != 0) { dc1394camera_t *camera = NULL; printf ("resetting bus %d...", opts->bus_id[i]); camera = dc1394_camera_new_unit (dc1394_cxt, target[i].guid, target[i].unit); if (camera != NULL) { err = dc1394_reset_bus (camera); dc1394_camera_free (camera); camera = NULL; } else { err = DC1394_FAILURE; } if (err == DC1394_SUCCESS) { printf ("OK\n"); } else { printf ("NG\n"); } } else { printf ("warning: bus %d is not found.\n", opts->bus_id[i]); } } }
int main(int argc, char *argv[]) { // get input arguments string configFile = ""; string video_file_left = "", video_file_right = "", video_directory = ""; int starting_frame_number = 0; bool enable_gamma = false; float random_results = -1.0; int last_frame_number = -1; int last_playback_frame_number = -2; ConciseArgs parser(argc, argv); parser.add(configFile, "c", "config", "Configuration file containing camera GUIDs, etc.", true); parser.add(show_display, "d", "show-dispaly", "Enable for visual debugging display. Will reduce framerate significantly."); parser.add(show_display_wait, "w", "show-display-wait", "Optional argument to decrease framerate for lower network traffic when forwarding the display."); parser.add(show_unrectified, "u", "show-unrectified", "When displaying images, do not apply rectification."); parser.add(disable_stereo, "s", "disable-stereo", "Disable online stereo processing."); parser.add(force_brightness, "b", "force-brightness", "Force a brightness setting."); parser.add(force_exposure, "e", "force-exposure", "Force an exposure setting."); parser.add(quiet_mode, "q", "quiet", "Reduce text output."); parser.add(video_file_left, "l", "video-file-left", "Do not use cameras, instead use this video file (also requires a right video file)."); parser.add(video_file_right, "t", "video-file-right", "Right video file, only for use with the -l option."); parser.add(video_directory, "i", "video-directory", "Directory to search for videos in (for playback)."); parser.add(starting_frame_number, "f", "starting-frame", "Frame to start at when playing back videos."); parser.add(display_hud, "v", "hud", "Overlay HUD on display images."); parser.add(record_hud, "x", "record-hud", "Record the HUD display."); parser.add(file_frame_skip, "p", "skip", "Number of frames skipped in recording (for playback)."); parser.add(enable_gamma, "g", "enable-gamma", "Turn gamma on for both cameras."); parser.add(random_results, "R", "random-results", "Number of random points to produce per frame. Can be a float in which case we'll take a random sample to decide if to produce the last one. Disables real stereo processing. Only for debugging / analysis!"); parser.add(publish_all_images, "P", "publish-all-images", "Publish all images to LCM"); parser.parse(); // parse the config file if (ParseConfigFile(configFile, &stereoConfig) != true) { fprintf(stderr, "Failed to parse configuration file, quitting.\n"); return -1; } if (video_file_left.length() > 0 && video_file_right.length() <= 0) { fprintf(stderr, "Error: for playback you must specify both " "a right and left video file. (Only got a left one.)\n"); return -1; } if (video_file_left.length() <= 0 && video_file_right.length() > 0) { fprintf(stderr, "Error: for playback you must specify both " "a right and left video file. (Only got a right one.)\n"); return -1; } recording_manager.Init(stereoConfig); // attempt to load video files / directories if (video_file_left.length() > 0) { if (recording_manager.LoadVideoFiles(video_file_left, video_file_right) != true) { // don't have videos, bail out. return -1; } } if (video_directory.length() > 0) { if (recording_manager.SetPlaybackVideoDirectory(video_directory) != true) { // bail return -1; } } recording_manager.SetQuietMode(quiet_mode); recording_manager.SetPlaybackFrameNumber(starting_frame_number); uint64 guid = stereoConfig.guidLeft; uint64 guid2 = stereoConfig.guidRight; // start up LCM lcm_t * lcm; lcm = lcm_create (stereoConfig.lcmUrl.c_str()); unsigned long elapsed; Hud hud; // --- setup control-c handling --- struct sigaction sigIntHandler; sigIntHandler.sa_handler = control_c_handler; sigemptyset(&sigIntHandler.sa_mask); sigIntHandler.sa_flags = 0; sigaction(SIGINT, &sigIntHandler, NULL); // --- end ctrl-c handling code --- dc1394error_t err; dc1394error_t err2; // tell opencv to use only one core so that we can manage our // own threading without a fight setNumThreads(1); if (recording_manager.UsingLiveCameras()) { d = dc1394_new (); if (!d) cerr << "Could not create dc1394 context" << endl; d2 = dc1394_new (); if (!d2) cerr << "Could not create dc1394 context for camera 2" << endl; camera = dc1394_camera_new (d, guid); if (!camera) { cerr << "Could not create dc1394 camera... quitting." << endl; exit(1); } camera2 = dc1394_camera_new (d2, guid2); if (!camera2) cerr << "Could not create dc1394 camera for camera 2" << endl; // reset the bus dc1394_reset_bus(camera); dc1394_reset_bus(camera2); // setup err = setup_gray_capture(camera, DC1394_VIDEO_MODE_FORMAT7_1); DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not setup camera"); err2 = setup_gray_capture(camera2, DC1394_VIDEO_MODE_FORMAT7_1); DC1394_ERR_CLN_RTN(err2, cleanup_and_exit(camera2), "Could not setup camera number 2"); // enable camera err = dc1394_video_set_transmission(camera, DC1394_ON); DC1394_ERR_CLN_RTN(err, cleanup_and_exit(camera), "Could not start camera iso transmission"); err2 = dc1394_video_set_transmission(camera2, DC1394_ON); DC1394_ERR_CLN_RTN(err2, cleanup_and_exit(camera2), "Could not start camera iso transmission for camera number 2"); InitBrightnessSettings(camera, camera2, enable_gamma); } if (show_display) { namedWindow("Input", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO); namedWindow("Input2", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO); namedWindow("Stereo", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO); namedWindow("Left Block", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO); namedWindow("Right Block", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO); namedWindow("Debug 1", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO); namedWindow("Debug 2", CV_WINDOW_AUTOSIZE | CV_WINDOW_KEEPRATIO); setMouseCallback("Input", onMouse); // for drawing disparity lines setMouseCallback("Stereo", onMouseStereo, &hud); // for drawing disparity lines moveWindow("Input", stereoConfig.displayOffsetX + 100, stereoConfig.displayOffsetY + 100); moveWindow("Stereo", stereoConfig.displayOffsetX + 100, stereoConfig.displayOffsetY + 370); moveWindow("Input2", stereoConfig.displayOffsetX + 478, stereoConfig.displayOffsetY + 100); moveWindow("Left Block", stereoConfig.displayOffsetX + 900, stereoConfig.displayOffsetY + 100); moveWindow("Right Block", stereoConfig.displayOffsetX + 1400, stereoConfig.displayOffsetY + 100); moveWindow("Debug 1", stereoConfig.displayOffsetX + 900, stereoConfig.displayOffsetY + 670); moveWindow("Debug 2", stereoConfig.displayOffsetX + 1400, stereoConfig.displayOffsetY + 670); } // show display if (show_display || publish_all_images) { // if a channel exists, subscribe to it if (stereoConfig.stereo_replay_channel.length() > 0) { stereo_replay_sub = lcmt_stereo_subscribe(lcm, stereoConfig.stereo_replay_channel.c_str(), &stereo_replay_handler, &hud); } if (stereoConfig.pose_channel.length() > 0) { mav_pose_t_sub = mav_pose_t_subscribe(lcm, stereoConfig.pose_channel.c_str(), &mav_pose_t_handler, &hud); } if (stereoConfig.gps_channel.length() > 0) { mav_gps_data_t_sub = mav_gps_data_t_subscribe(lcm, stereoConfig.gps_channel.c_str(), &mav_gps_data_t_handler, &hud); } if (stereoConfig.baro_airspeed_channel.length() > 0) { baro_airspeed_sub = lcmt_baro_airspeed_subscribe(lcm, stereoConfig.baro_airspeed_channel.c_str(), &baro_airspeed_handler, &hud); } if (stereoConfig.servo_out_channel.length() > 0) { servo_out_sub = lcmt_deltawing_u_subscribe(lcm, stereoConfig.servo_out_channel.c_str(), &servo_out_handler, &hud); } if (stereoConfig.battery_status_channel.length() > 0) { battery_status_sub = lcmt_battery_status_subscribe(lcm, stereoConfig.battery_status_channel.c_str(), &battery_status_handler, &hud); } if (stereoConfig.cpu_info_channel1.length() > 0) { cpu_info_sub1 = lcmt_cpu_info_subscribe(lcm, stereoConfig.cpu_info_channel1.c_str(), &cpu_info_handler, &recording_manager); cpu_info_sub2 = lcmt_cpu_info_subscribe(lcm, stereoConfig.cpu_info_channel2.c_str(), &cpu_info_handler, &recording_manager); cpu_info_sub3 = lcmt_cpu_info_subscribe(lcm, stereoConfig.cpu_info_channel3.c_str(), &cpu_info_handler, &recording_manager); } if (stereoConfig.log_size_channel1.length() > 0) { log_size_sub1 = lcmt_log_size_subscribe(lcm, stereoConfig.log_size_channel1.c_str(), &log_size_handler, &hud); log_size_sub2 = lcmt_log_size_subscribe(lcm, stereoConfig.log_size_channel2.c_str(), &log_size_handler, &hud); log_size_sub3 = lcmt_log_size_subscribe(lcm, stereoConfig.log_size_channel3.c_str(), &log_size_handler, &hud); } } // end show_display || publish_all_images // load calibration OpenCvStereoCalibration stereoCalibration; if (LoadCalibration(stereoConfig.calibrationDir, &stereoCalibration) != true) { cerr << "Error: failed to read calibration files. Quitting." << endl; return -1; } int inf_disparity_tester, disparity_tester; disparity_tester = GetDisparityForDistance(10, stereoCalibration, &inf_disparity_tester); std::cout << "computed disparity is = " << disparity_tester << ", inf disparity = " << inf_disparity_tester << std::endl; // subscribe to the stereo control channel stereo_control_sub = lcmt_stereo_control_subscribe(lcm, stereoConfig.stereoControlChannel.c_str(), &lcm_stereo_control_handler, NULL); Mat imgDisp; Mat imgDisp2; // initilize default parameters //PushbroomStereoState state; // HACK state.disparity = stereoConfig.disparity; state.zero_dist_disparity = stereoConfig.infiniteDisparity; state.sobelLimit = stereoConfig.interestOperatorLimit; state.horizontalInvarianceMultiplier = stereoConfig.horizontalInvarianceMultiplier; state.blockSize = stereoConfig.blockSize; state.random_results = random_results; state.check_horizontal_invariance = true; if (state.blockSize > 10 || state.blockSize < 1) { fprintf(stderr, "Warning: block size is very large " "or small (%d). Expect trouble.\n", state.blockSize); } state.sadThreshold = stereoConfig.sadThreshold; state.mapxL = stereoCalibration.mx1fp; state.mapxR = stereoCalibration.mx2fp; state.Q = stereoCalibration.qMat; state.show_display = show_display; state.lastValidPixelRow = stereoConfig.lastValidPixelRow; Mat matL, matR; bool quit = false; if (recording_manager.UsingLiveCameras()) { matL = GetFrameFormat7(camera); matR = GetFrameFormat7(camera2); if (recording_manager.InitRecording(matL, matR) != true) { // failed to init recording, things are going bad. bail. return -1; } // before we start, turn the cameras on and set the brightness and exposure MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure); // grab a few frames and send them over LCM for the user // to verify that everything is working if (!show_display && !publish_all_images) { printf("Sending init images over LCM... "); fflush(stdout); for (int i = 0; i < 5; i++) { matL = GetFrameFormat7(camera); SendImageOverLcm(lcm, "stereo_image_left", matL, 50); matR = GetFrameFormat7(camera2); SendImageOverLcm(lcm, "stereo_image_right", matR, 50); // don't send these too fast, otherwise we'll flood the ethernet link // and not actually be helpful // wait one second printf("."); fflush(stdout); sleep(1); } printf(" done.\n"); } } // recording_manager.UsingLiveCameras() // spool up worker threads PushbroomStereo pushbroom_stereo; // start the framerate clock struct timeval start, now; gettimeofday( &start, NULL ); while (quit == false) { // get the frames from the camera if (recording_manager.UsingLiveCameras()) { // we would like to match brightness every frame // but that would really hurt our framerate // match brightness every 10 frames instead if (numFrames % MATCH_BRIGHTNESS_EVERY_N_FRAMES == 0) { MatchBrightnessSettings(camera, camera2); } // capture images from the cameras matL = GetFrameFormat7(camera); matR = GetFrameFormat7(camera2); // record video recording_manager.AddFrames(matL, matR); } else { // using a video file -- get the next frame recording_manager.GetFrames(matL, matR); } cv::vector<Point3f> pointVector3d; cv::vector<uchar> pointColors; cv::vector<Point3i> pointVector2d; // for display cv::vector<Point3i> pointVector2d_inf; // for display // do the main stereo processing if (disable_stereo != true) { gettimeofday( &now, NULL ); double before = now.tv_usec + now.tv_sec * 1000 * 1000; pushbroom_stereo.ProcessImages(matL, matR, &pointVector3d, &pointColors, &pointVector2d, state); gettimeofday( &now, NULL ); double after = now.tv_usec + now.tv_sec * 1000 * 1000; timer_sum += after-before; timer_count ++; } // build an LCM message for the stereo data lcmt_stereo msg; if (recording_manager.UsingLiveCameras() || stereo_lcm_msg == NULL) { msg.timestamp = getTimestampNow(); } else { // if we are replaying videos, preserve the timestamp of the original video msg.timestamp = stereo_lcm_msg->timestamp; } msg.number_of_points = (int)pointVector3d.size(); float x[msg.number_of_points]; float y[msg.number_of_points]; float z[msg.number_of_points]; uchar grey[msg.number_of_points]; for (unsigned int i=0;i<pointVector3d.size();i++) { x[i] = pointVector3d[i].x / stereoConfig.calibrationUnitConversion; y[i] = pointVector3d[i].y / stereoConfig.calibrationUnitConversion; z[i] = pointVector3d[i].z / stereoConfig.calibrationUnitConversion; grey[i] = pointColors[i]; } msg.x = x; msg.y = y; msg.z = z; msg.grey = grey; msg.frame_number = recording_manager.GetFrameNumber(); if (recording_manager.UsingLiveCameras()) { msg.frame_number = msg.frame_number - 1; // minus one since recording manager has // already recorded this frame (above in // AddFrames) but we haven't made a message // for it yet } msg.video_number = recording_manager.GetRecVideoNumber(); // publish the LCM message if (last_frame_number != msg.frame_number) { lcmt_stereo_publish(lcm, "stereo", &msg); last_frame_number = msg.frame_number; } if (publish_all_images) { if (recording_manager.GetFrameNumber() != last_playback_frame_number) { SendImageOverLcm(lcm, "stereo_image_left", matL, 80); SendImageOverLcm(lcm, "stereo_image_right", matR, 80); last_playback_frame_number = recording_manager.GetFrameNumber(); } //process LCM until there are no more messages // this allows us to drop frames if we are behind while (NonBlockingLcm(lcm)) {} } Mat matDisp, remapL, remapR; if (show_display) { // we remap again here because we're just in display Mat remapLtemp(matL.rows, matL.cols, matL.depth()); Mat remapRtemp(matR.rows, matR.cols, matR.depth()); remapL = remapLtemp; remapR = remapRtemp; remap(matL, remapL, stereoCalibration.mx1fp, Mat(), INTER_NEAREST); remap(matR, remapR, stereoCalibration.mx2fp, Mat(), INTER_NEAREST); remapL.copyTo(matDisp); //process LCM until there are no more messages // this allows us to drop frames if we are behind while (NonBlockingLcm(lcm)) {} } // end show_display if (show_display) { for (unsigned int i=0;i<pointVector2d.size();i++) { int x2 = pointVector2d[i].x; int y2 = pointVector2d[i].y; //int sad = pointVector2d[i].z; rectangle(matDisp, Point(x2,y2), Point(x2+state.blockSize, y2+state.blockSize), 0, CV_FILLED); rectangle(matDisp, Point(x2+1,y2+1), Point(x2+state.blockSize-1, y2-1+state.blockSize), 255); } // draw pixel blocks if (lineLeftImgPosition >= 0 && lineLeftImgPositionY > 1) { DisplayPixelBlocks(remapL, remapR, lineLeftImgPosition - state.blockSize/2, lineLeftImgPositionY - state.blockSize/2, state, &pushbroom_stereo); } // draw a line for the user to show disparity DrawLines(remapL, remapR, matDisp, lineLeftImgPosition, lineLeftImgPositionY, state.disparity, state.zero_dist_disparity); if (visualize_stereo_hits == true && stereo_lcm_msg != NULL) { // transform the points from 3D space back onto the image's 2D space vector<Point3f> lcm_points; Get3DPointsFromStereoMsg(stereo_lcm_msg, &lcm_points); // draw the points on the unrectified image (to see these // you must pass the -u flag) Draw3DPointsOnImage(matL, &lcm_points, stereoCalibration.M1, stereoCalibration.D1, stereoCalibration.R1, 128); } if (show_unrectified == false) { imshow("Input", remapL); imshow("Input2", remapR); } else { imshow("Input", matL); imshow("Input2", matR); } if (display_hud) { Mat with_hud; recording_manager.SetHudNumbers(&hud); hud.DrawHud(matDisp, with_hud); if (record_hud) { // put this frame into the HUD recording recording_manager.RecFrameHud(with_hud); } imshow("Stereo", with_hud); } else { imshow("Stereo", matDisp); } char key = waitKey(show_display_wait); if (key != 255 && key != -1) { cout << endl << key << endl; } switch (key) { case 'T': state.disparity --; break; case 'R': state.disparity ++; break; case 'w': state.sobelLimit += 10; break; case 's': state.sobelLimit -= 10; break; case 'd': state.horizontalInvarianceMultiplier -= 0.1; break; case 'D': state.horizontalInvarianceMultiplier += 0.1; break; case 'g': state.blockSize ++; break; case 'b': state.blockSize --; if (state.blockSize < 1) { state.blockSize = 1; } break; case 'Y': state.sadThreshold += 50; break; case 'y': state.sadThreshold ++; break; case 'h': state.sadThreshold --; break; case 'H': state.sadThreshold -= 50; break; case 'm': if (recording_manager.UsingLiveCameras()) { MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure); } break; case '1': force_brightness --; if (recording_manager.UsingLiveCameras()) { MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure); } break; case '2': force_brightness ++; if (recording_manager.UsingLiveCameras()) { MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure); } break; case '3': force_exposure --; if (recording_manager.UsingLiveCameras()) { MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure); } break; case '4': force_exposure ++; if (recording_manager.UsingLiveCameras()) { MatchBrightnessSettings(camera, camera2, true, force_brightness, force_exposure); } break; case '5': // to show SAD boxes state.sobelLimit = 0; state.sadThreshold = 255; break; case 'I': state.check_horizontal_invariance = !state.check_horizontal_invariance; break; case '.': recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() + 1); break; case ',': recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() - 1); break; case '>': recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() + 50); break; case '<': recording_manager.SetPlaybackFrameNumber(recording_manager.GetFrameNumber() - 50); break; //case 'k': // state.zero_dist_disparity ++; // break; case 'l': state.zero_dist_disparity --; break; case 'o': inf_sad_add --; break; case 'p': inf_sad_add ++; break; case '[': y_offset --; if (y_offset < 0) { y_offset = 0; } break; case ']': y_offset ++; break; case 'v': display_hud = !display_hud; break; case 'c': hud.SetClutterLevel(hud.GetClutterLevel() + 1); break; case 'C': hud.SetClutterLevel(hud.GetClutterLevel() - 1); break; case '}': hud.SetPitchRangeOfLens(hud.GetPitchRangeOfLens() + 1); break; case '{': hud.SetPitchRangeOfLens(hud.GetPitchRangeOfLens() - 1); break; case 'S': // take a screen cap of the left and right images // useful for putting into a stereo tuner printf("\nWriting left.ppm..."); imwrite("left.ppm", remapL); printf("\nWriting right.ppm..."); imwrite("right.ppm", remapR); printf("\ndone."); break; case 'V': // record the HUD record_hud = true; recording_manager.RestartRecHud(); break; /* case 'j': state.debugJ --; break; case 'J': state.debugJ ++; break; case 'i': state.debugI --; break; case 'I': state.debugI ++; break; case 'k': state.debugDisparity --; break; case 'K': state.debugDisparity ++; break; */ case 'q': quit = true; break; } if (key != 255 && key != -1) { cout << "sadThreshold = " << state.sadThreshold << endl; cout << "sobelLimit = " << state.sobelLimit << endl; cout << "horizontalInvarianceMultiplier = " << state.horizontalInvarianceMultiplier << endl; cout << "brightness: " << force_brightness << endl; cout << "exposure: " << force_exposure << endl; cout << "disparity = " << state.disparity << endl; cout << "inf_disparity = " << state.zero_dist_disparity << endl; cout << "inf_sad_add = " << inf_sad_add << endl; cout << "blockSize = " << state.blockSize << endl; cout << "frame_number = " << recording_manager.GetFrameNumber() << endl; cout << "y offset = " << y_offset << endl; cout << "PitchRangeOfLens = " << hud.GetPitchRangeOfLens() << endl; } } // end show_display numFrames ++; // check for new LCM messages NonBlockingLcm(lcm); if (quiet_mode == false || numFrames % 100 == 0) { // compute framerate gettimeofday( &now, NULL ); elapsed = (now.tv_usec / 1000 + now.tv_sec * 1000) - (start.tv_usec / 1000 + start.tv_sec * 1000); printf("\r%d frames (%lu ms) - %4.1f fps | %4.1f ms/frame, stereo: %f", numFrames, elapsed, (float)numFrames/elapsed * 1000, elapsed/(float)numFrames, timer_sum/(double)timer_count); fflush(stdout); } } // end main while loop printf("\n\n"); destroyWindow("Input"); destroyWindow("Input2"); destroyWindow("Stereo"); // close camera if (recording_manager.UsingLiveCameras()) { StopCapture(d, camera); StopCapture(d2, camera2); } return 0; }
/***************************************************************************** * Open: *****************************************************************************/ static int Open( vlc_object_t *p_this ) { demux_t *p_demux = (demux_t*)p_this; demux_sys_t *p_sys; es_format_t fmt; dc1394error_t res; int i_width; int i_height; if( strncmp(p_demux->psz_access, "dc1394", 6) != 0 ) return VLC_EGENERIC; /* Set up p_demux */ p_demux->pf_demux = Demux; p_demux->pf_control = Control; p_demux->info.i_update = 0; p_demux->info.i_title = 0; p_demux->info.i_seekpoint = 0; p_demux->p_sys = p_sys = calloc( 1, sizeof( demux_sys_t ) ); if( !p_sys ) return VLC_ENOMEM; memset( &fmt, 0, sizeof( es_format_t ) ); /* DEFAULTS */ p_sys->video_mode = DC1394_VIDEO_MODE_640x480_YUV422; p_sys->width = 640; p_sys->height = 480; p_sys->frame_rate = DC1394_FRAMERATE_15; p_sys->brightness = 200; p_sys->focus = 0; p_sys->fd_audio = -1; p_sys->p_dccontext = NULL; p_sys->camera = NULL; p_sys->selected_camera = -1; p_sys->dma_buffers = 1; p_sys->reset_bus = 0; /* PROCESS INPUT OPTIONS */ if( process_options(p_demux) != VLC_SUCCESS ) { msg_Err( p_demux, "Bad MRL, please check the option line " "(MRL was: %s)", p_demux->psz_path ); free( p_sys ); return VLC_EGENERIC; } p_sys->p_dccontext = dc1394_new(); if( !p_sys->p_dccontext ) { msg_Err( p_demux, "Failed to initialise libdc1394"); free( p_sys ); return VLC_EGENERIC; } if( FindCamera( p_sys, p_demux ) != VLC_SUCCESS ) { dc1394_free( p_sys->p_dccontext ); free( p_sys ); return VLC_EGENERIC; } if( !p_sys->camera ) { msg_Err( p_demux, "No camera found !!" ); dc1394_free( p_sys->p_dccontext ); free( p_sys ); return VLC_EGENERIC; } if( p_sys->reset_bus ) { if( dc1394_reset_bus( p_sys->camera ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to reset IEEE 1394 bus"); Close( p_this ); return VLC_EGENERIC; } else msg_Dbg( p_demux, "Successfully reset IEEE 1394 bus"); } if( dc1394_camera_reset( p_sys->camera ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to reset camera"); Close( p_this ); return VLC_EGENERIC; } if( dc1394_camera_print_info( p_sys->camera, stderr ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to print camera info"); Close( p_this ); return VLC_EGENERIC; } if( dc1394_feature_get_all( p_sys->camera, &p_sys->features ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to get feature set"); Close( p_this ); return VLC_EGENERIC; } // TODO: only print features if verbosity increased dc1394_feature_print_all(&p_sys->features, stderr); #if 0 //"Note that you need to execute this function only if you use exotic video1394 device names. /dev/video1394, /dev/video1394/* and /dev/video1394-* are automatically recognized." http://damien.douxchamps.net/ieee1394/libdc1394/v2.x/api/capture/ if( p_sys->video_device ) { if( dc1394_capture_set_device_filename( p_sys->camera, p_sys->video_device ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to set video device"); Close( p_this ); return VLC_EGENERIC; } } #endif if( p_sys->focus ) { if( dc1394_feature_set_value( p_sys->camera, DC1394_FEATURE_FOCUS, p_sys->focus ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to set initial focus to %u", p_sys->focus ); } else msg_Dbg( p_demux, "Initial focus set to %u", p_sys->focus ); } if( dc1394_feature_set_value( p_sys->camera, DC1394_FEATURE_FOCUS, p_sys->brightness ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to set initial brightness to %u", p_sys->brightness ); } else msg_Dbg( p_demux, "Initial brightness set to %u", p_sys->brightness ); if( dc1394_video_set_framerate( p_sys->camera, p_sys->frame_rate ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to set framerate"); Close( p_this ); return VLC_EGENERIC; } if( dc1394_video_set_mode( p_sys->camera, p_sys->video_mode ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to set video mode"); Close( p_this ); return VLC_EGENERIC; } if( dc1394_video_set_iso_speed( p_sys->camera, DC1394_ISO_SPEED_400 ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to set iso speed"); Close( p_this ); return VLC_EGENERIC; } /* and setup capture */ res = dc1394_capture_setup( p_sys->camera, p_sys->dma_buffers, DC1394_CAPTURE_FLAGS_DEFAULT); if( res != DC1394_SUCCESS ) { if( res == DC1394_NO_BANDWIDTH ) { msg_Err( p_demux ,"No bandwidth: try adding the " "\"resetbus\" option" ); } else { msg_Err( p_demux ,"Unable to setup capture" ); } Close( p_this ); return VLC_EGENERIC; } /* TODO - UYV444 chroma converter is missing, when it will be available * fourcc will become variable (and not just a fixed value for UYVY) */ i_width = p_sys->width; i_height = p_sys->height; if( picture_Setup( &p_sys->pic, VLC_CODEC_UYVY, i_width, i_height, 1, 1 ) ) { msg_Err( p_demux ,"unknown chroma" ); Close( p_this ); return VLC_EGENERIC; } es_format_Init( &fmt, VIDEO_ES, VLC_CODEC_UYVY ); fmt.video.i_width = i_width; fmt.video.i_height = i_height; msg_Dbg( p_demux, "Added new video es %4.4s %dx%d", (char*)&fmt.i_codec, fmt.video.i_width, fmt.video.i_height ); p_sys->p_es_video = es_out_Add( p_demux->out, &fmt ); if( p_sys->audio_device ) { if( OpenAudioDev( p_demux ) == VLC_SUCCESS ) { es_format_t fmt; es_format_Init( &fmt, AUDIO_ES, VLC_CODEC_S16L ); /* FIXME: hmm, ?? */ fmt.audio.i_channels = p_sys->channels ? p_sys->channels : 1; fmt.audio.i_rate = p_sys->i_sample_rate; fmt.audio.i_bitspersample = 16; fmt.audio.i_blockalign = fmt.audio.i_channels * fmt.audio.i_bitspersample / 8; fmt.i_bitrate = fmt.audio.i_channels * fmt.audio.i_rate * fmt.audio.i_bitspersample; msg_Dbg( p_demux, "New audio es %d channels %dHz", fmt.audio.i_channels, fmt.audio.i_rate ); p_sys->p_es_audio = es_out_Add( p_demux->out, &fmt ); } } /* have the camera start sending us data */ if( dc1394_video_set_transmission( p_sys->camera, DC1394_ON ) != DC1394_SUCCESS ) { msg_Err( p_demux, "Unable to start camera iso transmission" ); dc1394_capture_stop( p_sys->camera ); Close( p_this ); return VLC_EGENERIC; } msg_Dbg( p_demux, "Set iso transmission" ); // TODO: reread camera return VLC_SUCCESS; }