int close_camera(fleaCamera* camera)
{
fc2Error error;
error = fc2StopCapture( camera->context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2StopCapture: %d\n", error );
}
error = fc2Disconnect( camera->context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2Disconnect: %d\n", error );
}
error = fc2DestroyContext( camera->context );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2DestroyContext: %d\n", error );
}
free(camera);
return 0;
}
int main(int argc, char *argv[]) {
const unsigned int cameraIndex = 0u;
const unsigned int numImagesPerFPSMeasurement = 240u;
const int windowWidth = 1440;
const int windowHeight = 900;
const char cascadeFilename[] = "haarcascade_frontalface_alt.xml";
const double detectionScaleFactor = 1.25;
const int detectionMinNeighbours = 4;
const int detectionFlags = CV_HAAR_SCALE_IMAGE;
const cv::Size detectionMinSize(120, 120);
const cv::Size detectionMaxSize;
const cv::Scalar detectionDrawColor(255.0, 0.0, 255.0);
char strBuffer[256u];
const size_t strBufferSize = 256u;
int matType;
cv::Mat equalizedGrayMat;
#ifdef _WIN32
snprintf(strBuffer, strBufferSize, "%s/../%s", argv[0], cascadeFilename);
cv::CascadeClassifier detector(strBuffer);
#else
cv::CascadeClassifier detector(cascadeFilename);
#endif
if (detector.empty()) {
snprintf(strBuffer, strBufferSize, "%s could not be loaded.",
cascadeFilename);
SDL_ShowSimpleMessageBox(
SDL_MESSAGEBOX_ERROR, "Failed to Load Cascade File", strBuffer, NULL);
return EXIT_FAILURE;
}
std::vector<cv::Rect> detectionRects;
fc2Error error;
fc2Image image;
error = fc2CreateImage(&image);
if (error != FC2_ERROR_OK) {
showFC2Error(error);
return EXIT_FAILURE;
}
fc2Context context;
error = fc2CreateContext(&context);
if (error != FC2_ERROR_OK) {
showFC2Error(error);
return EXIT_FAILURE;
}
fc2PGRGuid cameraGUID;
error = fc2GetCameraFromIndex(context, cameraIndex, &cameraGUID);
if (error != FC2_ERROR_OK) {
showFC2Error(error);
return EXIT_FAILURE;
}
error = fc2Connect(context, &cameraGUID);
if (error != FC2_ERROR_OK) {
showFC2Error(error);
return EXIT_FAILURE;
}
error = fc2StartCapture(context);
if (error != FC2_ERROR_OK) {
fc2Disconnect(context);
showFC2Error(error);
return EXIT_FAILURE;
}
if (SDL_Init(SDL_INIT_VIDEO) < 0) {
fc2StopCapture(context);
fc2Disconnect(context);
showSDLError();
return EXIT_FAILURE;
}
SDL_Window *window = SDL_CreateWindow(
"LookSpry", SDL_WINDOWPOS_UNDEFINED, SDL_WINDOWPOS_UNDEFINED,
windowWidth, windowHeight, 0u);
if (window == NULL) {
fc2StopCapture(context);
fc2Disconnect(context);
showSDLError();
return EXIT_FAILURE;
}
SDL_Renderer *renderer = SDL_CreateRenderer(window, -1, 0u);
if (renderer == NULL) {
fc2StopCapture(context);
fc2Disconnect(context);
SDL_DestroyWindow(window);
showSDLError();
return EXIT_FAILURE;
}
SDL_RendererInfo rendererInfo;
SDL_GetRendererInfo(renderer, &rendererInfo);
if (strcmp(rendererInfo.name, "direct3d") == 0) {
SDL_SetHint(SDL_HINT_RENDER_SCALE_QUALITY, "best");
} else if (strcmp(rendererInfo.name, "opengl") == 0) {
SDL_SetHint(SDL_HINT_RENDER_SCALE_QUALITY, "linear");
}
snprintf(strBuffer, strBufferSize, "LookSpry | %s", rendererInfo.name);
SDL_SetWindowTitle(window, strBuffer);
SDL_Texture *videoTex = NULL;
void *videoTexPixels;
int pitch;
clock_t startTicks = clock();
clock_t endTicks;
unsigned int numImagesCaptured = 0u;
bool running = true;
bool detecting = true;
bool mirroring = true;
SDL_Event event;
while (running) {
while (SDL_PollEvent(&event)) {
if (event.type == SDL_QUIT) {
running = false;
break;
} else if (event.type == SDL_KEYUP) {
switch(event.key.keysym.sym) {
// When 'd' is pressed, start or stop [d]etection.
case SDLK_d:
detecting = !detecting;
break;
// When 'm' is pressed, [m]irror or un-mirror the video.
case SDLK_m:
mirroring = !mirroring;
break;
default:
break;
}
}
}
error = fc2RetrieveBuffer(context, &image);
if (error != FC2_ERROR_OK) {
fc2Disconnect(context);
SDL_DestroyTexture(videoTex);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
showFC2Error(error);
return EXIT_FAILURE;
}
if (videoTex == NULL) {
equalizedGrayMat.create(image.rows, image.cols, CV_8UC1);
SDL_RenderSetLogicalSize(renderer, image.cols, image.rows);
Uint32 videoTexPixelFormat;
switch (image.format) {
// For monochrome capture modes, plan to render captured data to the Y
// plane of a planar YUV texture.
case FC2_PIXEL_FORMAT_RAW8:
case FC2_PIXEL_FORMAT_MONO8:
videoTexPixelFormat = SDL_PIXELFORMAT_YV12;
matType = CV_8UC1;
break;
// For color capture modes, plan to render captured data to the entire
// space of a texture in a matching color format.
case FC2_PIXEL_FORMAT_422YUV8:
videoTexPixelFormat = SDL_PIXELFORMAT_UYVY;
matType = CV_8UC2;
break;
case FC2_PIXEL_FORMAT_RGB:
videoTexPixelFormat = SDL_PIXELFORMAT_RGB24;
matType = CV_8UC3;
break;
case FC2_PIXEL_FORMAT_BGR:
videoTexPixelFormat = SDL_PIXELFORMAT_BGR24;
matType = CV_8UC3;
break;
default:
fc2StopCapture(context);
fc2Disconnect(context);
SDL_DestroyTexture(videoTex);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
SDL_ShowSimpleMessageBox(
SDL_MESSAGEBOX_ERROR, "Unsupported FlyCapture2 Pixel Format",
"LookSpry supports RAW8, MONO8, 422YUV8, RGB, and BGR.", NULL);
return EXIT_FAILURE;
}
videoTex = SDL_CreateTexture(
renderer, videoTexPixelFormat, SDL_TEXTUREACCESS_STREAMING,
image.cols, image.rows);
if (videoTex == NULL) {
fc2StopCapture(context);
fc2Disconnect(context);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
showSDLError();
return EXIT_FAILURE;
}
snprintf(
strBuffer, strBufferSize, "LookSpry | %s | %dx%d --> %dx%d",
rendererInfo.name, image.cols, image.rows, windowWidth,
windowHeight);
SDL_SetWindowTitle(window, strBuffer);
}
cv::Mat srcMat(image.rows, image.cols, matType, image.pData, image.stride);
if (detecting) {
switch (image.format) {
// For monochrome capture modes, just equalize.
case FC2_PIXEL_FORMAT_RAW8:
case FC2_PIXEL_FORMAT_MONO8:
cv::equalizeHist(srcMat, equalizedGrayMat);
break;
// For color capture modes, convert to gray and equalize.
case FC2_PIXEL_FORMAT_422YUV8:
cv::cvtColor(srcMat, equalizedGrayMat, cv::COLOR_YUV2GRAY_UYVY);
cv::equalizeHist(equalizedGrayMat, equalizedGrayMat);
break;
case FC2_PIXEL_FORMAT_RGB:
cv::cvtColor(srcMat, equalizedGrayMat, cv::COLOR_RGB2GRAY);
cv::equalizeHist(equalizedGrayMat, equalizedGrayMat);
break;
case FC2_PIXEL_FORMAT_BGR:
cv::cvtColor(srcMat, equalizedGrayMat, cv::COLOR_BGR2GRAY);
cv::equalizeHist(equalizedGrayMat, equalizedGrayMat);
break;
default:
break;
}
// Run the detector on the equalized image.
detector.detectMultiScale(
equalizedGrayMat, detectionRects, detectionScaleFactor,
detectionMinNeighbours, detectionFlags, detectionMinSize,
detectionMaxSize);
// Draw the resulting detection rectangles on the original image.
for (cv::Rect detectionRect : detectionRects) {
cv::rectangle(srcMat, detectionRect, detectionDrawColor);
}
}
SDL_LockTexture(videoTex, NULL, &videoTexPixels, &pitch);
switch (image.format) {
case FC2_PIXEL_FORMAT_RAW8:
case FC2_PIXEL_FORMAT_MONO8:
// Make the planar YUV video gray by setting all bytes in its U and V
// planes to 128 (the middle of the range).
memset(((unsigned char *)videoTexPixels + image.dataSize), 128,
image.dataSize / 2u);
break;
default:
break;
}
if (mirroring) {
// Flip the image data while copying it to the texture.
cv::Mat dstMat(image.rows, image.cols, matType, videoTexPixels,
image.stride);
cv::flip(srcMat, dstMat, 1);
} else {
// Copy the image data, as-is, to the texture.
// Note that the PointGrey image and srcMat have pointers to the same
// data, so the following code does reference the data that we modified
// earlier via srcMat.
memcpy(videoTexPixels, image.pData, image.dataSize);
}
SDL_UnlockTexture(videoTex);
SDL_RenderCopy(renderer, videoTex, NULL, NULL);
SDL_RenderPresent(renderer);
numImagesCaptured++;
if (numImagesCaptured >= numImagesPerFPSMeasurement) {
endTicks = clock();
snprintf(
strBuffer, strBufferSize, "LookSpry | %s | %dx%d --> %dx%d | %ld FPS",
rendererInfo.name, image.cols, image.rows, windowWidth,
windowHeight,
numImagesCaptured * CLOCKS_PER_SEC / (endTicks - startTicks));
SDL_SetWindowTitle(window, strBuffer);
startTicks = endTicks;
numImagesCaptured = 0u;
}
}
fc2StopCapture(context);
fc2Disconnect(context);
SDL_DestroyTexture(videoTex);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(window);
return EXIT_SUCCESS;
}
int RunSingleCamera( fc2Context context, fc2PGRGuid guid)
{
const int k_numImages = 1000;
fc2Error error;
fc2CameraInfo camInfo;
unsigned int numStreamChannels = 0;
fc2GigEImageSettingsInfo imageSettingsInfo;
fc2Image rawImage, convertedImage;
fc2GigEImageSettings imageSettings;
int imageCnt;
unsigned int i;
char filename[512];
printf( "Connecting to camera...\n" );
// Connect to a camera
error = fc2Connect( context, &guid );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2Connect: %s\n", fc2ErrorToDescription(error) );
return -1;
}
// Get the camera information
error = fc2GetCameraInfo( context, &camInfo);
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetCameraInfo: %s\n", fc2ErrorToDescription(error) );
return -1;
}
PrintCameraInfo(&camInfo);
error = fc2GetNumStreamChannels( context, &numStreamChannels );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetNumStreamChannels: %s\n", fc2ErrorToDescription(error) );
return -1;
}
for ( i = 0; i < numStreamChannels; i++)
{
fc2GigEStreamChannel streamChannel;
error = fc2GetGigEStreamChannelInfo( context, i, &streamChannel );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetGigEStreamChannelInfo: %s\n", fc2ErrorToDescription(error) );
return -1;
}
printf( "\nPrinting stream channel information for channel %u:\n", i );
PrintStreamChannelInfo( &streamChannel );
}
printf( "Querying GigE image setting information...\n" );
error = fc2GetGigEImageSettingsInfo( context, &imageSettingsInfo );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2GetGigEImageSettingsInfo: %s\n", fc2ErrorToDescription(error) );
return -1;
}
imageSettings.offsetX = 0;
imageSettings.offsetY = 0;
imageSettings.height = imageSettingsInfo.maxHeight;
imageSettings.width = imageSettingsInfo.maxWidth;
imageSettings.pixelFormat = FC2_PIXEL_FORMAT_MONO8;
printf( "Setting GigE image settings...\n" );
error = fc2SetGigEImageSettings( context, &imageSettings );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2SetGigEImageSettings: %s\n", fc2ErrorToDescription(error) );
return -1;
}
printf( "Starting image capture...\n" );
// Start capturing images
error = fc2StartCapture( context);
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2StartCapture: %s\n", fc2ErrorToDescription(error) );
return -1;
}
// Prepare images
error = fc2CreateImage( &rawImage );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2CreateImage: %s\n", fc2ErrorToDescription(error) );
return -1;
}
error = fc2CreateImage( &convertedImage );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2CreateImage: %s\n", fc2ErrorToDescription(error) );
return -1;
}
for ( imageCnt=0; imageCnt < k_numImages; imageCnt++ )
{
// Retrieve an image
error = fc2RetrieveBuffer( context, &rawImage );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2RetrieveBuffer: %s\n", fc2ErrorToDescription(error) );
return -1;
}
printf( "Grabbed image %d\n", imageCnt );
// Convert the raw image
error = fc2ConvertImageTo( FC2_PIXEL_FORMAT_MONO8,
&rawImage,
&convertedImage );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2ConvertImage: %s\n", fc2ErrorToDescription(error) );
return -1;
}
// Create a unique filename
sprintf( filename, "GigEGrabEx-%u-%d.pgm", camInfo.serialNumber, imageCnt );
/*
// Save the image. If a file format is not passed in, then the file
// extension is parsed to attempt to determine the file format.
error = fc2SaveImage( &convertedImage, filename, FC2_PGM );
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2SaveImage: %s\n", fc2ErrorToDescription(error) );
return -1;
}
*/
}
printf( "Stopping capture...\n" );
// Stop capturing images
error = fc2StopCapture( context);
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2StopCapture: %s\n", fc2ErrorToDescription(error) );
}
// Disconnect the camera
error = fc2Disconnect( context);
if ( error != FC2_ERROR_OK )
{
printf( "Error in fc2Disconnect: %s\n", fc2ErrorToDescription(error) );
}
error = fc2DestroyImage( &rawImage );
error = fc2DestroyImage( &convertedImage );
return 0;
}
