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;
}
CameraNode::CameraNode(ros::NodeHandle &node_priv, int argc, char** argv) :
_node_priv(node_priv),
_verbose(0),
_got_frame(false),
_host_timestamp(0),
_device_number(-1),
_interface_name("")
{
char mode_string[255];
int _ghost_timestamp = 0;
int _phost_timestamp = 0;
ros::param::get ("host_timestamp", _ghost_timestamp);
_node_priv.getParam("host_timestamp", _phost_timestamp);
_host_timestamp = 1 ? _ghost_timestamp || _phost_timestamp : 0;
if (_host_timestamp)
ROS_INFO("host timestamps ON");
else
ROS_INFO("host timestamps OFF");
_node_priv.getParam("verbose", _verbose);
/*
if the user supplies a devicqe_guid or number (or puts it in the parameter server
under the path of this node, use that. For example
$ rosrun camiface_ros camnode _device_guid:=Prosilica-02-2020C-06732
*/
int param_device_number = -1;
_node_priv.getParam("device_number", param_device_number);
std::string param_device_guid;
_node_priv.getParam("device_guid", param_device_guid);
int param_device_guid_int = -1;
_node_priv.getParam("device_guid", param_device_guid_int);
if (param_device_guid_int != -1 && param_device_guid.empty()) {
ROS_WARN("stupid ros weakly typed parameter server - converting guid to string");
std::stringstream out;
out << param_device_guid_int;
param_device_guid = out.str();
}
int param_device_mode = -1;
_node_priv.getParam("device_mode", param_device_mode);
_node_priv.getParam("interface_name", _interface_name);
cam_iface_startup_with_version_check();
_check_error();
ROS_DEBUG("using driver %s",cam_iface_get_driver_name());
int ncams = cam_iface_get_num_cameras();
_check_error();
if (ncams<1) {
ROS_WARN("no cameras found, will now exit");
cam_iface_shutdown();
_check_error();
exit(1);
}
if (_verbose)
ROS_INFO("%d camera(s) found",ncams);
std::vector<std::string> safe_names;
for (int i=0; i<ncams; i++) {
Camwire_id cam_info_struct;
cam_iface_get_camera_info(i, &cam_info_struct);
if (cam_iface_have_error()==CAM_IFACE_CAMERA_NOT_AVAILABLE_ERROR) {
ROS_WARN("camera %d: (not available - in use?)",i);
cam_iface_clear_error();
safe_names.push_back("?");
continue;
}
_check_error();
if (_verbose)
ROS_INFO("camera %d guid: %s",i,cam_info_struct.chip);
std::string sn = make_safe_name(cam_info_struct.chip);
safe_names.push_back( sn );
ROS_DEBUG("camera safe name: %s",sn.c_str());
if ((param_device_number != -1) && (param_device_number == i)) {
_device_number = i;
ROS_INFO("using user supplied device_number %d", param_device_number);
} else if (param_device_guid.length() && (cam_info_struct.chip == param_device_guid)) {
_device_number = i;
ROS_INFO("using user supplied device_guid %s", param_device_guid.c_str());
}
}
if (safe_names.empty()) {
ROS_WARN("No cameras available");
exit(1);
} else if (_device_number == -1 && ((param_device_number != -1) || param_device_guid.length())) {
ROS_WARN("Selected camera %s (%d) not found", param_device_guid.c_str(), param_device_number);
exit(1);
} else {
Camwire_id cam_info_struct;
if (_device_number == -1) {
ROS_INFO("No explicitly selected camera");
_device_number = 0; /* choose first camera if the user didn't specify */
}
cam_iface_get_camera_info(_device_number, &cam_info_struct);
_check_error();
ROS_INFO("choosing camera %d (%s guid:%s) on %s interface",
_device_number,
cam_info_struct.vendor, cam_info_struct.chip,
_interface_name.length() ? _interface_name.c_str() : "any");
}
int mode_number = 0;
if (param_device_mode != -1) {
ROS_INFO("user specified mode");
mode_number = param_device_mode;
} else {
int num_modes;
ROS_INFO("attempting to auto choose mode");
cam_iface_get_num_modes(_device_number, &num_modes);
_check_error();
if (_verbose)
ROS_INFO("%d mode(s) available:",num_modes);
for (int 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;
}
}
if (_verbose)
ROS_INFO(" %d: %s",i,mode_string);
}
}
cam_iface_get_mode_string(_device_number,mode_number,mode_string,255);
ROS_INFO("chose mode %d (%s)", mode_number, mode_string);
cam_iface_constructor_func_t new_CamContext = cam_iface_get_constructor_func(_device_number);
cc = new_CamContext(
_device_number,
5 /*num buffers*/,
mode_number,
_interface_name.length() ? _interface_name.c_str() : NULL);
_check_error();
int left, top;
CamContext_get_frame_roi(cc, &left, &top, &width, &height);
_check_error();
// camera nodes must support at least shutter and gain
int num_props;
CamContext_get_num_camera_properties(cc,&num_props);
_check_error();
ROS_DEBUG("%d camera properties:",num_props);
for (int i=0; i<num_props; i++) {
CameraPropertyInfo cam_props;
CamContext_get_camera_property_info(cc,i,&cam_props);
_check_error();
if (cam_props.is_present) {
if (cam_props.available) {
_property_numbers[std::string(cam_props.name)] = i;
if (_verbose)
ROS_DEBUG(" %s (#%d): ",cam_props.name, i);
}
}
}
ROS_INFO("starting camera info manager for: %s", safe_names.at(_device_number).c_str());
cam_info_manager = new camera_info_manager::CameraInfoManager(_node_priv, safe_names.at(_device_number));
image_transport::ImageTransport *transport = new image_transport::ImageTransport(_node_priv);
_pub_image = transport->advertiseCamera(_node_priv.resolveName("image_raw"), 1);
_pub_rate = _node_priv.advertise<std_msgs::Float32>("framerate", 5);
int num_trigger_modes;
CamContext_get_num_trigger_modes( cc, &num_trigger_modes );
_check_error();
if (_verbose)
ROS_INFO("%d trigger source(s):", num_trigger_modes);
for (int i=0; i<num_trigger_modes; i++) {
CamContext_get_trigger_mode_string( cc, i, mode_string, 255 );
_trigger_modes[std::string(mode_string)] = i;
if (_verbose)
ROS_INFO(" %s (#%d)", mode_string, i);
}
switch (cc->coding) {
case CAM_IFACE_MONO8_BAYER_BGGR:
step = width;
encoding = sensor_msgs::image_encodings::BAYER_BGGR8;
break;
case CAM_IFACE_MONO8_BAYER_RGGB:
step = width;
encoding = sensor_msgs::image_encodings::BAYER_RGGB8;
break;
case CAM_IFACE_MONO8_BAYER_GRBG:
step = width;
encoding = sensor_msgs::image_encodings::BAYER_GRBG8;
break;
case CAM_IFACE_MONO8_BAYER_GBRG:
step = width;
encoding = sensor_msgs::image_encodings::BAYER_GBRG8;
break;
case CAM_IFACE_MONO8:
step = width;
encoding = sensor_msgs::image_encodings::MONO8;
break;
case CAM_IFACE_RGB8:
step = width*3;
encoding = sensor_msgs::image_encodings::RGB8;
break;
case CAM_IFACE_YUV422:
step = width;
encoding = sensor_msgs::image_encodings::YUV422;
break;
case CAM_IFACE_UNKNOWN:
ROS_ERROR("unknown cam_iface pixel coding");
/* fall through */
default:
ROS_ERROR("unsupported cam_iface pixel coding: 0x%x", cc->coding);
cam_iface_get_mode_string(_device_number,mode_number,mode_string,255);
ROS_FATAL("camera mode not supported: %s", mode_string);
exit(1);
}
int framerate = -1;
_node_priv.getParam("framerate", framerate);
if (framerate > 0) {
ROS_INFO("setting framerate -> %d", framerate);
CamContext_set_framerate(cc, framerate);
}
CamContext_start_camera(cc);
_check_error();
}
int CameraNode::run()
{
ros::WallTime t_prev, t_now;
int dt_avg;
// reset timing information
dt_avg = 0;
t_prev = ros::WallTime::now();
while (ros::ok()) {
std::vector<uint8_t> data(step*height);
CamContext_grab_next_frame_blocking(cc,&data[0],-1.0f); // never timeout
int errnum = cam_iface_have_error();
if (errnum == CAM_IFACE_FRAME_TIMEOUT) {
cam_iface_clear_error();
continue; // wait again
}
if (errnum == CAM_IFACE_FRAME_DATA_MISSING_ERROR) {
cam_iface_clear_error();
} else if (errnum == CAM_IFACE_FRAME_INTERRUPTED_SYSCALL) {
cam_iface_clear_error();
} else if (errnum == CAM_IFACE_FRAME_DATA_CORRUPT_ERROR) {
cam_iface_clear_error();
} else {
_check_error();
if (!_got_frame) {
ROS_INFO("receiving images");
_got_frame = true;
}
if(dt_avg++ == 9) {
ros::WallTime t_now = ros::WallTime::now();
ros::WallDuration dur = t_now - t_prev;
t_prev = t_now;
std_msgs::Float32 rate;
rate.data = 10 / dur.toSec();
_pub_rate.publish(rate);
dt_avg = 0;
}
sensor_msgs::Image msg;
if (_host_timestamp) {
msg.header.stamp = ros::Time::now();
} else {
double timestamp;
CamContext_get_last_timestamp(cc,×tamp);
_check_error();
msg.header.stamp = ros::Time(timestamp);
}
unsigned long framenumber;
CamContext_get_last_framenumber(cc,&framenumber);
_check_error();
msg.header.seq = framenumber;
msg.header.frame_id = "0";
msg.height = height;
msg.width = width;
msg.encoding = encoding;
msg.step = step;
msg.data = data;
// get current CameraInfo data
cam_info = cam_info_manager->getCameraInfo();
cam_info.header.stamp = msg.header.stamp;
cam_info.header.seq = msg.header.seq;
cam_info.header.frame_id = msg.header.frame_id;
cam_info.height = height;
cam_info.width = width;
_pub_image.publish(msg, cam_info);
}
ros::spinOnce();
}
CamContext_stop_camera(cc);
cam_iface_shutdown();
return 0;
}
int main(int argc, char** argv) {
int device_number,num_buffers;
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 left, top;
int orig_left, orig_top, orig_width, orig_height, orig_stride;
cam_iface_constructor_func_t new_CamContext;
Camwire_id cam_info_struct;
CamContext *cc;
glutInit(&argc, argv);
cam_iface_startup_with_version_check();
_check_error();
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);
}
for (device_number = 0; device_number < ncams; device_number++) {
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_all[device_number] = new_CamContext(device_number,num_buffers,mode_number,NULL);
_check_error();
cc = cc_all[device_number];
CamContext_get_frame_roi(cc, &left, &top, &width, &height);
_check_error();
stride = width*cc->depth/8;
printf("raw image width: %d, stride: %d\n",width,stride);
if (device_number==0) {
orig_left = left;
orig_top = top;
orig_width = width;
orig_height = height;
orig_stride = stride;
} else {
if (!((orig_left == left) &&
(orig_top == top) &&
(orig_width == width) &&
(orig_height == height) &&
(orig_stride = stride))) {
fprintf(stderr,"not all cameras have same shape\n");
exit(1);
}
}
}
glutInitWindowPosition(-1,-1);
glutInitWindowSize(width, height);
glutInitDisplayMode( GLUT_RGBA | GLUT_DOUBLE );
glutCreateWindow("libcamiface liveview");
use_shaders=0;
#ifdef USE_GLEW
glewInit();
if (glewIsSupported("GL_VERSION_2_0 "
"GL_ARB_pixel_buffer_object")) {
printf("PBO enabled\n");
use_pbo=1;
if (GLEW_ARB_vertex_shader && GLEW_ARB_fragment_shader) {
printf("GLSL shaders present\n");
use_shaders=1;
}
} else {
printf("GLEW available, but no pixel buffer support -- not using PBO\n");
use_pbo=0;
}
#else
printf("GLEW not available -- not using PBO\n");
use_pbo=0;
#endif
initialize_gl_texture();
#ifdef USE_GLEW
if (use_pbo) {
glGenBuffers(1, &pbo);
glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, pbo);
glBufferData(GL_PIXEL_UNPACK_BUFFER_ARB,
PBO_stride*tex_height, 0, GL_STREAM_DRAW);
}
#endif /* ifdef USE_GLEW */
glEnable(GL_TEXTURE_2D);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
for (device_number=0; device_number < ncams; device_number++) {
cc = cc_all[device_number];
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
raw_pixels = (unsigned char *)malloc( buffer_size );
if (raw_pixels==NULL) {
fprintf(stderr,"couldn't allocate memory in %s, line %d\n",__FILE__,__LINE__);
exit(1);
}
#endif
for (device_number=0; device_number < ncams; device_number++) {
cc = cc_all[device_number];
CamContext_start_camera(cc);
_check_error();
}
printf("will now run forever. press Ctrl-C to interrupt\n");
for (device_number=0; device_number < ncams; device_number++) {
cc = cc_all[device_number];
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");
}
glutDisplayFunc(display_pixels); /* set the display callback */
glutIdleFunc(grab_frame); /* set the idle callback */
glutMainLoop();
printf("\n");
for (device_number=0; device_number < ncams; device_number++) {
cc = cc_all[device_number];
delete_CamContext(cc);
_check_error();
}
cam_iface_shutdown();
_check_error();
#ifdef USE_COPY
free(raw_pixels);
#endif
return 0;
}
