int
main(int argc, char *argv[])
{
ps3eye_context ctx(640, 480, 30);
if (!ctx.hasDevices()) {
printf("No PS3 Eye camera connected\n");
return EXIT_FAILURE;
}
if (SDL_Init(SDL_INIT_VIDEO) < 0) {
printf("Failed to initialize SDL: %s\n", SDL_GetError());
return EXIT_FAILURE;
}
SDL_Window *window = SDL_CreateWindow(
"PS3 Eye - SDL 2", SDL_WINDOWPOS_UNDEFINED,
SDL_WINDOWPOS_UNDEFINED, 640, 480, 0);
if (window == NULL) {
printf("Failed to create window: %s\n", SDL_GetError());
return EXIT_FAILURE;
}
SDL_Renderer *renderer = SDL_CreateRenderer(window, -1,
SDL_RENDERER_PRESENTVSYNC);
if (renderer == NULL) {
printf("Failed to create renderer: %s\n", SDL_GetError());
SDL_DestroyWindow(window);
return EXIT_FAILURE;
}
SDL_RenderSetLogicalSize(renderer, ctx.frame_width, ctx.frame_height);
print_renderer_info(renderer);
SDL_Texture *video_tex = SDL_CreateTexture(
renderer, SDL_PIXELFORMAT_YUY2, SDL_TEXTUREACCESS_STREAMING,
ctx.frame_width, ctx.frame_height);
if (video_tex == NULL) {
printf("Failed to create video texture: %s\n", SDL_GetError());
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
return EXIT_FAILURE;
}
ctx.eye = ps3eye_open(0, ctx.frame_width, ctx.frame_height, ctx.frame_rate);
if (ctx.eye == NULL)
{
printf("Failed to initialize camera: %s\n");
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
return EXIT_FAILURE;
}
ps3eye_set_flip(ctx.eye, true, false);
printf("Camera mode: %dx%d@%d\n", ctx.frame_width, ctx.frame_height, ctx.frame_rate);
SDL_Event e;
void *video_tex_pixels;
int pitch;
while (ctx.running) {
while (SDL_PollEvent(&e)) {
if (e.type == SDL_QUIT) {
ctx.running = false;
}
}
// TODO: Proper thread signalling to wait for next available buffer
SDL_Delay(10);
int row_bytes = 0;
uint8_t *frame_data = ps3eye_grab_frame(ctx.eye, &row_bytes);
int frame_data_size = row_bytes * ctx.frame_height;
if (frame_data != NULL)
{
SDL_LockTexture(video_tex, NULL, &video_tex_pixels, &pitch);
memcpy(video_tex_pixels, frame_data, frame_data_size);
SDL_UnlockTexture(video_tex);
}
SDL_RenderCopy(renderer, video_tex, NULL, NULL);
SDL_RenderPresent(renderer);
}
ps3eye_close(ctx.eye);
SDL_DestroyTexture(video_tex);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
return EXIT_SUCCESS;
}
IplImage *
camera_control_query_frame(CameraControl* cc,
PSMove_timestamp *ts_grab, PSMove_timestamp *ts_retrieve)
{
IplImage* result;
#if defined(CAMERA_CONTROL_USE_CL_DRIVER)
// assign buffer-pointer to address of buffer
cvGetRawData(cc->frame4ch, &cc->pCapBuffer, 0, 0);
CLEyeCameraGetFrame(cc->camera, cc->pCapBuffer, 2000);
// convert 4ch image to 3ch image
const int from_to[] = { 0, 0, 1, 1, 2, 2 };
const CvArr** src = (const CvArr**) &cc->frame4ch;
CvArr** dst = (CvArr**) &cc->frame3ch;
cvMixChannels(src, 1, dst, 1, from_to, 3);
result = cc->frame3ch;
#elif defined(CAMERA_CONTROL_USE_PS3EYE_DRIVER)
int stride = 0;
unsigned char *pixels = ps3eye_grab_frame(cc->eye, &stride);
// Convert pixels from camera to BGR
unsigned char *cvpixels;
cvGetRawData(cc->framebgr, &cvpixels, 0, 0);
yuv422_to_bgr(pixels, stride, cvpixels, cc->width, cc->height);
result = cc->framebgr;
#else
cvGrabFrame(cc->capture);
if (ts_grab != NULL) {
*ts_grab = _psmove_timestamp();
}
result = cvRetrieveFrame(cc->capture, 0);
if (ts_retrieve != NULL) {
*ts_retrieve = _psmove_timestamp();
}
#endif
if (cc->deinterlace == PSMove_True) {
/**
* Dirty hack follows:
* - Clone image
* - Hack internal variables to make an image of all odd lines
**/
IplImage *tmp = cvCloneImage(result);
tmp->imageData += tmp->widthStep; // odd lines
tmp->widthStep *= 2;
tmp->height /= 2;
/**
* Use nearest-neighbor to be faster. In my tests, this does not
* cause a speed disadvantage, and tracking quality is still good.
*
* This will scale the half-height image "tmp" to the original frame
* size by doubling lines (so we can still do normal circle tracking).
**/
cvResize(tmp, result, CV_INTER_NN);
/**
* Need to revert changes in tmp from above, otherwise the call
* to cvReleaseImage would cause a crash.
**/
tmp->height = result->height;
tmp->widthStep = result->widthStep;
tmp->imageData -= tmp->widthStep; // odd lines
cvReleaseImage(&tmp);
}
// undistort image
if (cc->mapx && cc->mapy) {
cvRemap(result, cc->frame3chUndistort,
cc->mapx, cc->mapy,
CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS,
cvScalarAll(0));
result = cc->frame3chUndistort;
}
#if defined(CAMERA_CONTROL_DEBUG_CAPTURED_IMAGE)
cvShowImage("camera input", result);
cvWaitKey(1);
#endif
return result;
}
