//同期ズレが起きた際に、再スタートできるようにmainとは別にしてある。
bool MainLoop(uint64_t leftGUID, uint64_t rightGUID){
unsigned long capture_time[CAMERA_NUM_MAX];
Cam_Check left_cam,right_cam;
left_cam.GUID = leftGUID;
right_cam.GUID = rightGUID;
//KAW 最適化対策。これをいれないと、検出処理がバグる
left_cam.found =false;
right_cam.found =false;
dc1394_t * dc;
dc1394error_t err;
dc1394camera_list_t * list;
dc1394video_frame_t *frames[CAMERA_NUM_MAX];
//dc1394の関数を使う際には必須
dc = dc1394_new();
if(!dc){
cout << "dc1394_new error" << endl;
return -1;
}
err = dc1394_camera_enumerate(dc, &list);
DC1394_ERR_RTN(err, "Failed to enumerate cameras");
if(list->num >= 2){
cout << "# of cameras : " << list->num << endl;
cout << "-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=" << endl;
for(unsigned i = 0; i < list->num; i++){
if(list->ids[i].guid == left_cam.GUID){
cout << "Found Left Camera" << endl;
cameras[_LEFT] = dc1394_camera_new(dc, list->ids[i].guid);
left_cam.found = true;
}else if(list->ids[i].guid == right_cam.GUID){
cout << "Found Right Camera" << endl;
cameras[_RIGHT] = dc1394_camera_new(dc, list->ids[i].guid);
right_cam.found = true;
}
}
dc1394_camera_free_list(list);
if(right_cam.found && left_cam.found){
cout << "Found Stereo Camera!!(`･ω･´)" << endl;
cout << "-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=" << endl;
}
else{
cout << "Stereo Camera Not Found...(´･ω･`)" << endl;
cout << "-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=" << endl;
return 1;
}
}else{
cout << "Need More Cameras...(´･ω･`)" << endl;
cout << "-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=" << endl;
dc1394_camera_free_list(list);
return 1;
}
for(unsigned i = 0; i < CAMERA_NUM_MAX; i++){
if(!cameras[i]){
cout << "camera" << i << ": not found" << endl;
return 1;
}
}
//Captureのためのセットアップ
for(int i = 0; i < CAMERA_NUM_MAX; i++){
//Operation Mode
err = dc1394_video_set_operation_mode(cameras[i], DC1394_OPERATION_MODE_1394B);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set Operation Mode");
//cout << "Operation Mode = 1394B" << endl;
//ISO Speed : ISO感度（フィルムの感度）
err = dc1394_video_set_iso_speed(cameras[i], DC1394_ISO_SPEED_800);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set ISO Speed");
//cout << "ISO Speed = 800" << endl;
//Video Mode : サイズとカラー
err = dc1394_video_set_mode(cameras[i], (dc1394video_mode_t) color_mode);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set Video Mode");
//cout << "Image Size = VGA (640 x 480)" << endl;
//Frame Rate : フレームレート
err = dc1394_video_set_framerate(cameras[i], (dc1394framerate_t) frame_rate);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set Frame Rate");
//Setup : フレームレートとモードが有効なら通るはず
err = dc1394_capture_setup(cameras[i], NUM_DMA_BUFFERS,DC1394_CAPTURE_FLAGS_DEFAULT);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Setup Cameras");
//Transmission : 信号の送信(ON/OFF)
err = dc1394_video_set_transmission(cameras[i], DC1394_ON);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Start Transmission");
// -- Feature Mode Setting -- //
//Gain : カメラ感度
// err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_MANUAL);
err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_GAIN, DC1394_FEATURE_MODE_AUTO);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set Feature : Gain");
//Shutter : シャッタースピード
err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_MANUAL);
// err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_SHUTTER, DC1394_FEATURE_MODE_AUTO);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set Feature : Shutter");
//White Balance : ホワイトバランス
// err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_MANUAL);
err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_WHITE_BALANCE, DC1394_FEATURE_MODE_AUTO);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set Feature : White Balance");
// Saturation : 彩度
// err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_SATURATION, DC1394_FEATURE_MODE_MANUAL);
err = dc1394_feature_set_mode(cameras[i], DC1394_FEATURE_SATURATION, DC1394_FEATURE_MODE_AUTO);
DC1394_ERR_CLN_RTN(err, clean_up(), "Cannot Set Feature : Saturation");
}
// cout << "Set Up Done" << endl;
// cout << "Transmission Starts!!" << endl;
// cout << "Gain, Shutter, White Balance and Saturation Are Set Manually" << endl;
// cout << "-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=" << endl;
// cout << "Calibrationg White Balance..." << endl;
bool isSync = false;
int sync_succeed=0, sync_fail=0;
//Main Loop
while(!gShutOff){
//左右のキャプチャ時間(ミリ単位UNIX時間タイムスタンプ)を格納。
double timestamps[2];
double dif_timestamp;
unsigned char show_frame[640*480*3];
for(int i = 0; i < CAMERA_NUM_MAX; i++){
if(dc1394_capture_dequeue(cameras[i],DC1394_CAPTURE_POLICY_WAIT, &frames[i]) != DC1394_SUCCESS){
dc1394_log_error("Failed To Capture From CAM");
}
capture_time[i] = (unsigned long) frames[i]->timestamp;
timestamps[i] = (double)floor(frames[i]->timestamp / 1000.0);
}
//cout << "timestamps[0] : " << timestamps[_LEFT] << endl;
//cout << "timestamps[1] : " << timestamps[_RIGHT] << endl;
dif_timestamp = timestamps[_RIGHT] - timestamps[_LEFT];
//cout << "dif_timestamp : " << dif_timestamp << endl;
if(!isSync){
if(dif_timestamp != 0){
sync_fail++;
cout << "Error : Seem to have a problem in Syncronization" << endl;
if(sync_fail > 60){
cout << "Restart!!" << endl;
clean_up();
return false;
}else if(sync_fail > 0){
cout << "This Capture will restart in " << (60 - sync_fail)/15 << " seconds..." << endl;
}
}else{
sync_succeed++;
if(sync_succeed > 45){
isSync = true;
cout << "Syncronization Succeeded!!" << endl;
}
}
}
camera_control(frames[_LEFT]->image);
// if(!isWhiteCalibrated){
// isWhiteCalibrated = white_balance_calibration(frames[_LEFT]->image);
// }
for(int i = 0; i< CAMERA_NUM_MAX;i++){
convert_RGB_to_BGR(frames[i]->image,show_frame);
memcpy(stereo_images.data.image[i],show_frame,sizeof(char)*WIDTH*HEIGHT*3);
if(isShowImage){
if(i == _LEFT){
Mat showImage(Size(WIDTH,HEIGHT),CV_8UC3,show_frame);
rectangle(showImage, Point(320-40,240-40),Point(320 + 40,240 + 40), Scalar(255,0,0), 1, 8, 0);
imshow("Left Camera Image", showImage);
}
}
}
stereo_images.write();
if(isShowImage && waitKey(1) == 27){
gShutOff = true;
}
if(isShowFrameRate){
static unsigned long time_a = 0,time_b = -1;
time_a = capture_time[0];
//unsignedのtime_bを-1で初期化しているので、最初だけ表示がされない仕組み。
if(time_a > time_b){
//UNIX時間でマイクロ秒を表示しているので、1000000で割る。
cout << "Frame Rate : " << (1000000.0 / (double)(time_a - time_b)) << endl;
}
time_b = time_a;
}
for(int i = 0; i < CAMERA_NUM_MAX; i++){
if(frames[i]){
//バッファに領域をエンキューして返さないとと止まる。
dc1394_capture_enqueue(cameras[i],frames[i]);
}
}
}
clean_up();
return true;
}
int main (int argc, char *argv[])
{
//-SSM-//
initSSM();
OBJECT.create(5.0,1.0);
SCAN_DATA.open(SSM_READ);
AREA.create(5.0, 1.0);
//-クラスと構造体-//
Step_buf raw_data_U; //生データ
Step_buf raw_data_D; //生データ
Step_buf ped_data; //加工後のデータ
LS3D background_U; //環境データ
LS3D background_D; //環境データ
//-時間の制御用-//
double time_MovingObjects_are_detected = get_time(); // 動体が検出された時の時刻
double time_MovingObjects_gets_out = get_time(); // 動体がいなくなったときの時刻
double time_get_background = 0.0;
//-初期化-//
initialize(raw_data_U, raw_data_D, background_U, background_D);
time_get_background = get_time();
// raw_data.out_csv(); // デバッグ用
//-ループ開始-//
while(1)
{
if (SCAN_DATA.readNew())
{
double loop_start_time = get_time();
if (SCAN_DATA.data.det == 'U')
{
//-読み込みデータのセット-//
raw_data_U.set_data(SCAN_DATA.data.det, SCAN_DATA.data.dist, SCAN_DATA.data.x, SCAN_DATA.data.y, SCAN_DATA.data.z);
//-差分データの計算-//
cal_background_diff (raw_data_U, ped_data, background_U);
//-エリアフィルタの適用-//
apply_area_filter(ped_data);
//-差分データをSSM構造体にセット-//
OBJECT.data.det = ped_data.det[CUR_INDEX];
for (int i=0; i<STEP_NUM; i++)
{
OBJECT.data.dist[i] = ped_data.dist[i][CUR_INDEX];
OBJECT.data.x[i] = ped_data.x[i][CUR_INDEX];
OBJECT.data.y[i] = ped_data.y[i][CUR_INDEX];
OBJECT.data.z[i] = ped_data.z[i][CUR_INDEX];
}
}
if (SCAN_DATA.data.det == 'D')
{
//-読み込みデータのセット-//
raw_data_D.set_data(SCAN_DATA.data.det, SCAN_DATA.data.dist, SCAN_DATA.data.x, SCAN_DATA.data.y, SCAN_DATA.data.z);
//-差分データの計算-//
cal_background_diff (raw_data_D, ped_data, background_D);
//-エリアフィルタの適用-//
apply_area_filter(ped_data);
//-差分データをSSM構造体にセット-//
OBJECT.data.det = ped_data.det[CUR_INDEX];
for (int i=0; i<STEP_NUM; i++)
{
OBJECT.data.dist[i] = ped_data.dist[i][CUR_INDEX];
OBJECT.data.x[i] = ped_data.x[i][CUR_INDEX];
OBJECT.data.y[i] = ped_data.y[i][CUR_INDEX];
OBJECT.data.z[i] = ped_data.z[i][CUR_INDEX];
}
}
//-静止物体が存在するかの判定-//
// AREA.data.hasObjects = judge_Objects_exist(ped_data);
//-動体が存在するかの判定-//
AREA.data.hasMovingObjects = judge_MovingObjects_exist(ped_data);
if ( AREA.data.hasMovingObjects == true)
{
// 動物体を検出したときの時刻を取得
time_MovingObjects_are_detected = get_time();
}else{
// 動物体が存在しないときの時刻を取得
time_MovingObjects_gets_out = get_time();
// 最後に物体を検出してからの時間を算出
double timelength_noMovingObjects = time_MovingObjects_gets_out - time_MovingObjects_are_detected;
cout << "timelength_noMovingObjects = " << timelength_noMovingObjects << endl;
// 動物体が長い間存在していなかったら、環境データを更新する。
if (timelength_noMovingObjects > 3
&& (get_time() - time_get_background) > 180)
{
get_background (raw_data_U, background_U);
get_background (raw_data_D, background_D);
time_get_background = get_time();
time_MovingObjects_are_detected = get_time();
time_MovingObjects_gets_out = get_time();
}
}
//-SSMの書き込み-//
OBJECT.write();
AREA.write();
double loop_end_time = get_time();
sleep_const_freq(loop_start_time, loop_end_time, FREQ);
}else{
usleep(10000); // CPU使用率100%対策
}
}
//-SSMクローズ-//
OBJECT.release();
SCAN_DATA.close();
AREA.release();
endSSM();
return 0;
}
int main (int argc, char *argv[])
{
//-SSM-//
initSSM();
OBJECT.create(5.0,1.0);
SCAN_DATA.open(SSM_READ);
get_background(&background_U, &background_D);
// ofstream ofs;
// ofs.open("background");
// for (int i = 0; i < beam_num; i++)
// {
// ofs << background_U.dist[i] << endl;
// }
// for (int i = 0; i < beam_num; i++)
// {
// ofs << background_D.dist[i] << endl;
// }
// ofs.close();
cout << "get background" << endl;
while(1) //データ取得ループ
{
if(SCAN_DATA.readNew()) //readNew
{
time_1 = get_time();
if(SCAN_DATA.data.det == 'U')
{
OBJECT.data.det = 'U';
for(int i=0; i<beam_num; i++)
{
dist_diff[i] = fabs(SCAN_DATA.data.dist[i] - background_U.dist[i]);
if(dist_diff[i] <= diff_min)
{
OBJECT.data.dist[i] = 0.0;
OBJECT.data.x[i] = 0.0;
OBJECT.data.y[i] = 0.0;
OBJECT.data.z[i] = 0.0;
}else{//(dist_diff[i] > diff_min /*&& dist_diff[i] < diff_max*/){
OBJECT.data.dist[i] = SCAN_DATA.data.dist[i];
OBJECT.data.x[i] = SCAN_DATA.data.x[i];
OBJECT.data.y[i] = SCAN_DATA.data.y[i];
OBJECT.data.z[i] = SCAN_DATA.data.z[i];
}
}
}
if(SCAN_DATA.data.det == 'D')
{
OBJECT.data.det = 'D';
for(int i=0; i<beam_num; i++)
{
dist_diff[i] = fabs(SCAN_DATA.data.dist[i] - background_D.dist[i]);
if(dist_diff[i] <= diff_min )
{
OBJECT.data.dist[i] = 0.0;
OBJECT.data.x[i] = 0.0;
OBJECT.data.y[i] = 0.0;
OBJECT.data.z[i] = 0.0;
}else{//(dist_diff[i] > diff_min /*&& dist_diff[i] < diff_max*/){
OBJECT.data.dist[i] = SCAN_DATA.data.dist[i];
OBJECT.data.x[i] = SCAN_DATA.data.x[i];
OBJECT.data.y[i] = SCAN_DATA.data.y[i];
OBJECT.data.z[i] = SCAN_DATA.data.z[i];
}
}
}
OBJECT.write();
time_2 = get_time();
usleep(freq*1000000 - (time_2 - time_1)*1000000);
time_3 = get_time();
cout << "time = " << time_3 - time_1 << endl;
}else{ //readNew
usleep(1000); //CPU使用率100％対策
}
} //データ取得ループ
//-SSMクローズ-//
OBJECT.release();
SCAN_DATA.close();
endSSM();
return 0;
}
