int main(int argc, char *argv[])
{
fprintf(stderr,"Generic Grabber Application based on Acquisition lib .. \n");
unsigned int possibleModules = acquisitionGetModulesCount();
fprintf(stderr,"Linked to %u modules.. \n",possibleModules);
ModuleIdentifier moduleID = OPENGL_ACQUISITION_MODULE;//OPENNI1_ACQUISITION_MODULE;//
if (possibleModules==0)
{
fprintf(stderr,"Acquisition Library is linked to zero modules , can't possibly do anything..\n");
return 1;
}
unsigned int width=640,height=480,framerate=30;
unsigned int frameNum=0,maxFramesToGrab=10;
int i=0;
for (i=0; i<argc; i++)
{
if (strcmp(argv[i],"-delay")==0) {
delay=atoi(argv[i+1]);
fprintf(stderr,"Delay set to %u seconds \n",delay);
} else
if (strcmp(argv[i],"-resolution")==0) {
width=atoi(argv[i+1]);
height=atoi(argv[i+2]);
fprintf(stderr,"Resolution set to %u x %u \n",width,height);
} else
if (strcmp(argv[i],"-calibration")==0) {
calibrationSet=1;
if (!ReadCalibration(argv[i+1],width,height,&calib) )
{
fprintf(stderr,"Could not read calibration file `%s`\n",argv[i+1]);
return 1;
}
} else
if (strcmp(argv[i],"-maxFrames")==0) {
maxFramesToGrab=atoi(argv[i+1]);
fprintf(stderr,"Setting frame grab to %u \n",maxFramesToGrab);
} else
if (strcmp(argv[i],"-module")==0) {
moduleID = getModuleIdFromModuleName(argv[i+1]);
fprintf(stderr,"Overriding Module Used , set to %s ( %u ) \n",getModuleStringName(moduleID),moduleID);
} else
if (
(strcmp(argv[i],"-to")==0) ||
(strcmp(argv[i],"-o")==0)
)
{
strcpy(outputfoldername,"frames/");
strcat(outputfoldername,argv[i+1]);
fprintf(stderr,"OutputPath , set to %s \n",outputfoldername);
}
else
if (
(strcmp(argv[i],"-from")==0) ||
(strcmp(argv[i],"-i")==0)
)
{ strcat(inputname,argv[i+1]); fprintf(stderr,"Input , set to %s \n",inputname); }
else
if (strcmp(argv[i],"-fps")==0) {
framerate=atoi(argv[i+1]);
fprintf(stderr,"Framerate , set to %u \n",framerate);
}
}
if (!acquisitionIsModuleLinked(moduleID))
{
fprintf(stderr,"The module you are trying to use is not linked in this build of the Acquisition library..\n");
return 1;
}
//We need to initialize our module before calling any related calls to the specific module..
if (!acquisitionStartModule(moduleID,16 /*maxDevices*/ , 0 ))
{
fprintf(stderr,"Could not start module %s ..\n",getModuleStringName(moduleID));
return 1;
}
//We want to initialize all possible devices in this example..
unsigned int devID=0,maxDevID=acquisitionGetModuleDevices(moduleID);
if (maxDevID==0)
{
fprintf(stderr,"No devices found for Module used \n");
return 1;
}
if ( calibrationSet )
{
fprintf(stderr,"Set Far/Near to %f/%f\n",calib.farPlane,calib.nearPlane);
acquisitionSetColorCalibration(moduleID,devID,&calib);
acquisitionSetDepthCalibration(moduleID,devID,&calib);
}
char * devName = inputname;
if (strlen(inputname)<1) { devName=0; }
//Initialize Every OpenNI Device
for (devID=0; devID<maxDevID; devID++)
{
/*The first argument (Dev ID) could also be ANY_OPENNI2_DEVICE for a single camera setup */
acquisitionOpenDevice(moduleID,devID,devName,width,height,framerate);
if ( strstr(inputname,"noRegistration")!=0 ) { } else
if ( strstr(inputname,"rgbToDepthRegistration")!=0 ) { acquisitionMapRGBToDepth(moduleID,devID); } else
{ acquisitionMapDepthToRGB(moduleID,devID); }
//We initialize the target for our frames ( can be network or files )
if (! acquisitionInitiateTargetForFrames(moduleID,devID,outputfoldername) )
{
return 1;
}
}
countdownDelay(delay);
fprintf(stderr,"Starting Grabbing!\n");
if ( maxFramesToGrab==0 ) { maxFramesToGrab= 1294967295; } //set maxFramesToGrab to "infinite" :P
for (frameNum=0; frameNum<maxFramesToGrab; frameNum++)
{
for (devID=0; devID<maxDevID; devID++)
{
acquisitionStartTimer(0);
acquisitionSnapFrames(moduleID,devID);
acquisitionPassFramesToTarget(moduleID,devID,frameNum);
acquisitionStopTimer(0);
if (frameNum%25==0) fprintf(stderr,"%0.2f fps\n",acquisitionGetTimerFPS(0));
/*
If someone would like to manually save things instead of using acquisitionPassFramesToTarget he could call the following calls ,left here for future reference
------------------------------------------------------------------------------------------------------------------------------
char outfilename[1024]={0};
sprintf(outfilename,"%s/colorFrame_%u_%05u",outputfoldername,devID,frameNum);
acquisitionSaveColorFrame(moduleID,devID,outfilename);
sprintf(outfilename,"%s/depthFrame_%u_%05u",outputfoldername,devID,frameNum);
acquisitionSaveDepthFrame(moduleID,devID,outfilename);
sprintf(outfilename,"%s/pointCloud_%u_%05u.pcd",outputfoldername,devID,frameNum);
acquisitionSavePCDPointCoud(moduleID,devID,outfilename);
sprintf(outfilename,"%s/depthFrame1C_%u_%05u.pnm",outputfoldername,devID,frameNum);
acquisitionSaveDepthFrame1C(moduleID,devID,outfilename);
sprintf(outfilename,"%s/coloreddepthFrame_%u_%05u.pnm",outputfoldername,devID,frameNum);
acquisitionSaveColoredDepthFrame(moduleID,devID,outfilename);
*/
}
}
fprintf(stderr,"Done grabbing %u frames! \n",maxFramesToGrab);
for (devID=0; devID<maxDevID; devID++)
{
//Stop our target ( can be network or files )
acquisitionStopTargetForFrames(moduleID,devID);
/*The first argument (Dev ID) could also be ANY_OPENNI2_DEVICE for a single camera setup */
acquisitionCloseDevice(moduleID,devID);
}
acquisitionStopModule(moduleID);
return 0;
}
/**
@brief this is the main function
@ return nothing
*/
int main(int argc, char *argv[])
{
fprintf(stderr,"Generic Grabber Application based on Acquisition lib .. \n");
unsigned int possibleModules = acquisitionGetModulesCount();
fprintf(stderr,"Linked to %u modules.. \n",possibleModules);
acquisitionRegisterTerminationSignal(&closeEverything);
if (possibleModules==0)
{
fprintf(stderr,"Acquisition Library is linked to zero modules , can't possibly do anything..\n");
return 1;
}
unsigned int width=640,height=480,framerate=30;
unsigned int frameNum=0,maxFramesToGrab=10;
unsigned int i=0;
for (i=0; i<argc; i++)
{
if (strcmp(argv[i],"-raw")==0) { compressOutput=0; } else
if (strcmp(argv[i],"-nolocation")==0) {
acquisitionSetLocation(moduleID,0);
} else
if (strcmp(argv[i],"-processor")==0) {
fprintf(stderr,"Adding Processor to Pipeline %s , postfix %s\n",argv[i+1],argv[i+2]);
acquisitionAddProcessor(moduleID,devID,argv[i+1],argv[i+2],argc,argv);
} else
if (strcmp(argv[i],"-skip")==0) {
skippedFrames=atoi(argv[i+1]);
fprintf(stderr,"Skipped Frames set to %u\n",skippedFrames);
} else
if (strcmp(argv[i],"-delay")==0) {
delay=atoi(argv[i+1]);
fprintf(stderr,"Delay set to %u seconds \n",delay);
} else
if (strcmp(argv[i],"-resolution")==0) {
width=atoi(argv[i+1]);
height=atoi(argv[i+2]);
fprintf(stderr,"Resolution set to %u x %u \n",width,height);
} else
if (strcmp(argv[i],"-calibration")==0) {
calibrationSet=1;
if (!ReadCalibration(argv[i+1],width,height,&calib) )
{
fprintf(stderr,"Could not read calibration file `%s`\n",argv[i+1]);
return 1;
}
} else
if (strcmp(argv[i],"-maxFrames")==0) {
maxFramesToGrab=atoi(argv[i+1]);
fprintf(stderr,"Setting frame grab to %u \n",maxFramesToGrab);
} else
if (strcmp(argv[i],"-module")==0) {
moduleID = getModuleIdFromModuleName(argv[i+1]);
fprintf(stderr,"Overriding Module Used , set to %s ( %u ) \n",getModuleNameFromModuleID(moduleID),moduleID);
} else
if (strcmp(argv[i],"-dev")==0) {
devID = atoi(argv[i+1]);
fprintf(stderr,"Overriding device Used , set to %s ( %u ) \n",argv[i+1],devID);
} else
if (
(strcmp(argv[i],"-to")==0) ||
(strcmp(argv[i],"-o")==0)
)
{
strcpy(outputfoldername,"frames/");
strcat(outputfoldername,argv[i+1]);
fprintf(stderr,"OutputPath , set to %s \n",outputfoldername);
}
else
if (
(strcmp(argv[i],"-from")==0) ||
(strcmp(argv[i],"-i")==0)
)
{ strcat(inputname,argv[i+1]); fprintf(stderr,"Input , set to %s \n",inputname); }
else
if (strcmp(argv[i],"-fps")==0) {
framerate=atoi(argv[i+1]);
fprintf(stderr,"Framerate , set to %u \n",framerate);
}
}
if (!acquisitionIsModuleAvailiable(moduleID))
{
fprintf(stderr,"The module you are trying to use is not linked in this build of the Acquisition library..\n");
return 1;
}
//We need to initialize our module before calling any related calls to the specific module..
if (!acquisitionStartModule(moduleID,16 /*maxDevices*/ , 0 ))
{
fprintf(stderr,"Could not start module %s ..\n",getModuleNameFromModuleID(moduleID));
return 1;
}
//We want to check if deviceID we requested is a logical value , or we dont have that many devices!
unsigned int maxDevID=acquisitionGetModuleDevices(moduleID);
if ( (maxDevID==0) && (!acquisitionMayBeVirtualDevice(moduleID,devID,inputname)) ) { fprintf(stderr,"No devices availiable , and we didn't request a virtual device\n"); return 1; }
if ( maxDevID < devID ) { fprintf(stderr,"Device Requested ( %u ) is out of range ( only %u available devices ) \n",devID,maxDevID); return 1; }
//If we are past here we are good to go..!
if ( calibrationSet )
{
fprintf(stderr,"Set Far/Near to %f/%f\n",calib.farPlane,calib.nearPlane);
acquisitionSetColorCalibration(moduleID,devID,&calib);
acquisitionSetDepthCalibration(moduleID,devID,&calib);
}
char * devName = inputname;
if (strlen(inputname)<1) { devName=0; }
//Initialize Every OpenNI Device
/*The first argument (Dev ID) could also be ANY_OPENNI2_DEVICE for a single camera setup */
if (!acquisitionOpenDevice(moduleID,devID,devName,width,height,framerate))
{
fprintf(stderr,"Could not open device %u ( %s ) of module %s ..\n",devID,devName,getModuleNameFromModuleID(moduleID));
return 1;
}
if ( strstr(inputname,"noRegistration")!=0 ) { } else
if ( strstr(inputname,"rgbToDepthRegistration")!=0 ) { acquisitionMapRGBToDepth(moduleID,devID); } else
{ acquisitionMapDepthToRGB(moduleID,devID); }
//We initialize the target for our frames ( can be network or files )
if (! acquisitionInitiateTargetForFrames(moduleID,devID,outputfoldername) )
{
return 1;
}
countdownDelay(delay);
fprintf(stderr,"Starting Grabbing!\n");
if (skippedFrames>0)
{
fprintf(stderr,"Skipping first %u frame(s) .. ",skippedFrames);
unsigned int i=0;
for (i=0; i<skippedFrames; i++)
{
acquisitionSnapFrames(moduleID,devID);
}
fprintf(stderr,"done .. \n");
}
while ( (maxFramesToGrab==0)||(frameNum<maxFramesToGrab) )
{
acquisitionStartTimer(0);
acquisitionSnapFrames(moduleID,devID);
acquisitionPassFramesToTarget(moduleID,devID,frameNum,compressOutput);
acquisitionStopTimer(0);
if (frameNum%25==0) fprintf(stderr,"%0.2f fps\n",acquisitionGetTimerFPS(0));
++frameNum;
/*
If someone would like to manually save things instead of using acquisitionPassFramesToTarget he could call the following calls ,left here for future reference
------------------------------------------------------------------------------------------------------------------------------
char outfilename[1024]={0};
sprintf(outfilename,"%s/colorFrame_%u_%05u",outputfoldername,devID,frameNum);
acquisitionSaveColorFrame(moduleID,devID,outfilename);
sprintf(outfilename,"%s/depthFrame_%u_%05u",outputfoldername,devID,frameNum);
acquisitionSaveDepthFrame(moduleID,devID,outfilename);
sprintf(outfilename,"%s/pointCloud_%u_%05u.pcd",outputfoldername,devID,frameNum);
acquisitionSavePCDPointCoud(moduleID,devID,outfilename);
sprintf(outfilename,"%s/depthFrame1C_%u_%05u.pnm",outputfoldername,devID,frameNum);
acquisitionSaveDepthFrame1C(moduleID,devID,outfilename);
sprintf(outfilename,"%s/coloreddepthFrame_%u_%05u.pnm",outputfoldername,devID,frameNum);
acquisitionSaveColoredDepthFrame(moduleID,devID,outfilename);
*/
}
fprintf(stderr,"Done grabbing %u frames! \n",maxFramesToGrab);
closeEverything();
return 0;
}
