int main(int argc, char** argv) {
CamContext **cc;
unsigned char **pixels;
int num_cameras;
int num_buffers;
double last_fps_print;
int n_frames;
int have_frame;
int buffer_size;
int num_modes, num_props;
char mode_string[255];
int i,mode_number,camno;
CameraPropertyInfo cam_props;
long prop_value;
int prop_auto;
int errnum;
int left, top, width, height;
int do_num_frames;
CameraPixelCoding coding;
cam_iface_constructor_func_t new_CamContext;
char save_fname[100];
cam_iface_startup_with_version_check();
_check_error();
if (argc>1) {
if (strcmp(argv[1],"forever")==0) {
do_num_frames = -1;
} else if (sscanf(argv[1],"%d",&do_num_frames)==0) {
show_usage(argv[0]);
}
} else {
do_num_frames = 50;
}
for (i=0;i<argc;i++) {
printf("%d: %s\n",i,argv[i]);
}
printf("using driver %s\n",cam_iface_get_driver_name());
num_cameras = cam_iface_get_num_cameras();
printf("%d cameras found\n",cam_iface_get_num_cameras());
cc = (CamContext**)malloc( num_cameras*sizeof(CamContext**));
if (cc==NULL) {
printf("error allocating memory, will now exit\n");
cam_iface_shutdown();
_check_error();
exit(1);
}
pixels = (unsigned char **)malloc( num_cameras*sizeof(unsigned char**));
if (pixels==NULL) {
printf("error allocating memory, will now exit\n");
cam_iface_shutdown();
_check_error();
exit(1);
}
for (camno=0; camno<num_cameras; camno++) {
printf("initializing camera number %d\n",camno);
cam_iface_get_num_modes(camno, &num_modes);
_check_error();
printf("%d mode(s) available:\n",num_modes);
mode_number = 0;
for (i=0; i<num_modes; i++) {
cam_iface_get_mode_string(camno,i,mode_string,255);
if (strstr(mode_string,"FORMAT7_0")!=NULL) {
if (strstr(mode_string,"MONO8")!=NULL) {
// pick this mode
mode_number = i;
}
}
printf(" %d: %s\n",i,mode_string);
}
num_buffers = 5;
new_CamContext = cam_iface_get_constructor_func(camno);
cc[camno] = new_CamContext(camno,num_buffers,mode_number,NULL);
_check_error();
CamContext_get_frame_roi(cc[camno], &left, &top, &width, &height);
_check_error();
CamContext_get_num_framebuffers(cc[camno],&num_buffers);
printf("allocated %d buffers\n",num_buffers);
CamContext_get_num_camera_properties(cc[camno],&num_props);
_check_error();
for (i=0; i<num_props; i++) {
CamContext_get_camera_property_info(cc[camno],i,&cam_props);
_check_error();
if (strcmp(cam_props.name,"white balance")==0) {
fprintf(stderr,"WARNING: ignoring white balance property\n");
continue;
}
if (cam_props.is_present) {
CamContext_get_camera_property(cc[camno],i,&prop_value,&prop_auto);
_check_error();
printf(" %s: %ld (%s)\n",cam_props.name,prop_value, prop_auto ? "AUTO" : "MANUAL");
} else {
printf(" %s: not present\n",cam_props.name);
}
if (cam_props.has_auto_mode) {
prop_auto = 1;
CamContext_set_camera_property(cc[camno],i,prop_value,prop_auto);
_check_error();
printf(" %s: set to AUTO\n",cam_props.name);
}
}
CamContext_get_buffer_size(cc[camno],&buffer_size);
_check_error();
if (buffer_size == 0) {
fprintf(stderr,"buffer size was 0 in %s, line %d\n",__FILE__,__LINE__);
exit(1);
}
pixels[camno] = (unsigned char *)malloc( buffer_size );
if (pixels[camno]==NULL) {
fprintf(stderr,"couldn't allocate memory in %s, line %d\n",__FILE__,__LINE__);
exit(1);
}
CamContext_start_camera(cc[camno]);
_check_error();
}
last_fps_print = my_floattime();
n_frames = 0;
if (do_num_frames < 0) {
printf("will now run forever. press Ctrl-C to interrupt\n");
} else {
printf("will now grab %d frames.\n",do_num_frames);
}
while (1) {
if (do_num_frames<0) break;
have_frame = 0;
for (camno=0; camno<num_cameras; camno++) {
CamContext_grab_next_frame_blocking(cc[camno],pixels[camno],0.001f); // timeout after 1 msec
errnum = cam_iface_have_error();
if (errnum == CAM_IFACE_FRAME_TIMEOUT) {
cam_iface_clear_error();
continue; // wait again on next camera
} else if (errnum == CAM_IFACE_FRAME_DATA_MISSING_ERROR) {
cam_iface_clear_error();
fprintf(stdout,"M");
fflush(stdout);
continue; // wait again on next camera
} else if (errnum == CAM_IFACE_FRAME_INTERRUPTED_SYSCALL) {
cam_iface_clear_error();
fprintf(stdout,"I");
fflush(stdout);
continue; // wait again on next camera
}
_check_error();
have_frame = 1;
fprintf(stdout,"%d",camno);
fflush(stdout);
}
if (!have_frame) {
continue;
}
do_num_frames--;
}
for (camno=0; camno<num_cameras; camno++) {
coding = cc[camno]->coding;
printf("\n");
delete_CamContext(cc[camno]);
_check_error();
if (coding==CAM_IFACE_MONO8) {
snprintf(save_fname, 100, "image_camera%d.pgm", camno);
save_pgm(save_fname, pixels[camno], width, height);
printf("saved last image as %s\n",save_fname);
} else {
printf("do not know how to save sample image for this format\n");
}
free(pixels[camno]);
}
free(pixels);
cam_iface_shutdown();
_check_error();
return 0;
}
int main(int argc, char** argv) {
CamContext *cc;
unsigned char *pixels;
int device_number,ncams,num_buffers;
double last_fps_print, now, t_diff;
double fps;
int n_frames;
int buffer_size;
int num_modes, num_props, num_trigger_modes;
char mode_string[255];
int i,mode_number;
CameraPropertyInfo cam_props;
long prop_value;
int prop_auto;
int errnum;
int left, top;
int width, height;
fmf_v3_header_part1 hstart;
fmf_v3_header_part2 hstop;
CameraPixelCoding coding;
char * format_str;
int bpp;
cam_iface_constructor_func_t new_CamContext;
Camwire_id cam_info_struct;
FILE* fd;
char * filename;
cam_iface_startup_with_version_check();
_check_error();
for (i=0;i<argc;i++) {
printf("%d: %s\n",i,argv[i]);
}
printf("using driver %s\n",cam_iface_get_driver_name());
ncams = cam_iface_get_num_cameras();
_check_error();
if (ncams<1) {
printf("no cameras found, will now exit\n");
cam_iface_shutdown();
_check_error();
exit(1);
}
_check_error();
printf("%d camera(s) found.\n",ncams);
for (i=0; i<ncams; i++) {
cam_iface_get_camera_info(i, &cam_info_struct);
printf(" camera %d:\n",i);
printf(" vendor: %s\n",cam_info_struct.vendor);
printf(" model: %s\n",cam_info_struct.model);
printf(" chip: %s\n",cam_info_struct.chip);
}
device_number = ncams-1;
printf("choosing camera %d\n",device_number);
cam_iface_get_num_modes(device_number, &num_modes);
_check_error();
printf("%d mode(s) available:\n",num_modes);
mode_number = 0;
for (i=0; i<num_modes; i++) {
cam_iface_get_mode_string(device_number,i,mode_string,255);
if (strstr(mode_string,"FORMAT7_0")!=NULL) {
if (strstr(mode_string,"MONO8")!=NULL) {
// pick this mode
mode_number = i;
}
}
printf(" %d: %s\n",i,mode_string);
}
printf("Choosing mode %d\n",mode_number);
num_buffers = 5;
new_CamContext = cam_iface_get_constructor_func(device_number);
cc = new_CamContext(device_number,num_buffers,mode_number);
_check_error();
CamContext_get_frame_roi(cc, &left, &top, &width, &height);
_check_error();
CamContext_get_num_framebuffers(cc,&num_buffers);
printf("allocated %d buffers\n",num_buffers);
CamContext_get_num_camera_properties(cc,&num_props);
_check_error();
for (i=0; i<num_props; i++) {
CamContext_get_camera_property_info(cc,i,&cam_props);
_check_error();
if (strcmp(cam_props.name,"white balance")==0) {
fprintf(stderr,"WARNING: ignoring white balance property\n");
continue;
}
if (cam_props.is_present) {
CamContext_get_camera_property(cc,i,&prop_value,&prop_auto);
_check_error();
printf(" %s: %ld\n",cam_props.name,prop_value);
} else {
printf(" %s: not present\n",cam_props.name);
}
}
CamContext_get_buffer_size(cc,&buffer_size);
_check_error();
if (buffer_size == 0) {
fprintf(stderr,"buffer size was 0 in %s, line %d\n",__FILE__,__LINE__);
exit(1);
}
#define USE_COPY
#ifdef USE_COPY
pixels = (unsigned char *)malloc( buffer_size );
if (pixels==NULL) {
fprintf(stderr,"couldn't allocate memory in %s, line %d\n",__FILE__,__LINE__);
exit(1);
}
#endif
CamContext_start_camera(cc);
_check_error();
last_fps_print = my_floattime();
n_frames = 0;
CamContext_get_num_trigger_modes( cc, &num_trigger_modes );
_check_error();
printf("trigger modes:\n");
for (i =0; i<num_trigger_modes; i++) {
CamContext_get_trigger_mode_string( cc, i, mode_string, 255 );
printf(" %d: %s\n",i,mode_string);
}
printf("\n");
coding = cc->coding;
bpp = 8;
switch (coding) {
case CAM_IFACE_MONO8_BAYER_BGGR:
format_str = "MONO8:BGGR";
break;
case CAM_IFACE_MONO8_BAYER_RGGB:
format_str = "MONO8:RGGB";
break;
case CAM_IFACE_MONO8_BAYER_GRBG:
format_str = "MONO8:GRBG";
break;
case CAM_IFACE_MONO8_BAYER_GBRG:
format_str = "MONO8:GBRG";
break;
case CAM_IFACE_MONO8:
format_str = "MONO8";
break;
case CAM_IFACE_YUV422:
format_str = "YUV422";
bpp = 16;
break;
default:
fprintf(stderr,"do not know how to save sample image for this format\n");
exit(1);
}
hstart.version = 3;
hstart.len_format = strlen(format_str);
hstop.rows = height;
hstop.cols = width;
hstop.bytes_per_chunk = sizeof(double) + height*width*bpp/8; /* timestamp, image */
hstop.n_frames = 0;
hstop.bpp = bpp;
filename = "movie.fmf";
fd = fopen(filename,"w");
/* write the FMF v3 header */
fwrite(&hstart,sizeof(fmf_v3_header_part1),1,fd);
fwrite(format_str,hstart.len_format,1,fd);
fwrite(&hstop,sizeof(fmf_v3_header_part2),1,fd);
/* grab frames forever */
printf("Press Ctrl-C to quit. Will now save .fmf movie.\n");
while (1) {
#ifdef USE_COPY
//CamContext_grab_next_frame_blocking(cc,pixels,0.2); // timeout after 200 msec
CamContext_grab_next_frame_blocking(cc,pixels,-1.0f); // never timeout
errnum = cam_iface_have_error();
if (errnum == CAM_IFACE_FRAME_TIMEOUT) {
cam_iface_clear_error();
fprintf(stdout,"T");
fflush(stdout);
continue; // wait again
}
if (errnum == CAM_IFACE_FRAME_DATA_MISSING_ERROR) {
cam_iface_clear_error();
fprintf(stdout,"M");
fflush(stdout);
} else if (errnum == CAM_IFACE_FRAME_INTERRUPTED_SYSCALL) {
cam_iface_clear_error();
fprintf(stdout,"I");
fflush(stdout);
} else if (errnum == CAM_IFACE_FRAME_DATA_CORRUPT_ERROR) {
cam_iface_clear_error();
fprintf(stdout,"C");
fflush(stdout);
} else {
_check_error();
fprintf(stdout,".");
fflush(stdout);
}
now = my_floattime();
n_frames += 1;
#else
CamContext_point_next_frame_blocking(cc,&pixels,-1.0f);
now = my_floattime();
n_frames += 1;
_check_error();
fprintf(stdout,".");
fflush(stdout);
CamContext_unpoint_frame(cc);
_check_error();
#endif
fwrite(&now,sizeof(double),1,fd);
fwrite(pixels,height*width*bpp/8,1,fd);
t_diff = now-last_fps_print;
if (t_diff > 5.0) {
fps = n_frames/t_diff;
fprintf(stdout,"%.1f fps\n",fps);
last_fps_print = now;
n_frames = 0;
}
}
printf("\n");
delete_CamContext(cc);
_check_error();
cam_iface_shutdown();
_check_error();
#ifdef USE_COPY
free(pixels);
#endif
return 0;
}
