int main(int argc, const char* argv[])
{
if (argc < 5){
printf("USAGE: %s <device> <filename> <width> <height> [<wait>]\n", argv[0]);
return 1;
}
const char *device = argv[1];
const char *filename = argv[2];
float width = atof(argv[3]);
float height = atof(argv[4]);
int wait = 0;
if (argc == 6){
wait = atoi(argv[5]);
}
int fd = koki_v4l_open_cam(device);
struct v4l2_format fmt = koki_v4l_create_YUYV_format(width, height);
koki_v4l_set_format(fd, fmt);
int num_buffers = 1;
koki_buffer_t *buffers;
buffers = koki_v4l_prepare_buffers(fd, &num_buffers);
koki_v4l_start_stream(fd);
if (wait){
fprintf(stderr, "Press [ENTER] to take photo...\n");
getchar();
}
uint8_t *yuyv = koki_v4l_get_frame_array(fd, buffers);
IplImage *frame = koki_v4l_YUYV_frame_to_grayscale_image(yuyv, width, height);
cvSaveImage(filename, frame, 0);
cvReleaseImage(&frame);
koki_v4l_stop_stream(fd);
return 0;
}
int main(int argc, const char **argv)
{
int fd;
int num_buffers = 1;
struct v4l2_format fmt;
const char *dev;
const char *filename;
koki_buffer_t *buffers;
uint8_t *frame;
IplImage *output;
if (argc != 3){
printf("Usage: %s VIDEO_DEVICE FILENAME\n", argv[0]);
return 1;
}
dev = argv[1];
filename = argv[2];
fd = koki_v4l_open_cam(dev);
if (fd == -1){
printf("Couldn't open camera '%s'\n", dev);
return 1;
}
fmt = koki_v4l_create_YUYV_format(WIDTH, HEIGHT);
if (koki_v4l_set_format(fd, fmt) < 0){
printf("Unable to set format:\n");
koki_v4l_print_format(fmt);
return 1;
}
buffers = koki_v4l_prepare_buffers(fd, &num_buffers);
if (num_buffers < 1){
printf("Not enough buffer(s)\n");
return 1;
}
if (koki_v4l_start_stream(fd) < 0){
printf("Unable to start stream\n");
return 1;
}
frame = koki_v4l_get_frame_array(fd, buffers);
assert(frame != NULL);
output = koki_v4l_YUYV_frame_to_RGB_image(frame, WIDTH, HEIGHT);
cvSaveImage(filename, output, 0);
cvReleaseImage(&output);
koki_v4l_stop_stream(fd);
koki_v4l_close_cam(fd);
return 0;
}
int main(void)
{
koki_camera_params_t params;
params.size.x = WIDTH;
params.size.y = HEIGHT;
params.principal_point.x = params.size.x / 2;
params.principal_point.y = params.size.y / 2;
params.focal_length.x = 571.0;
params.focal_length.y = 571.0;
int fd = koki_v4l_open_cam("/dev/video0");
struct v4l2_format fmt = koki_v4l_create_YUYV_format(WIDTH, HEIGHT);
koki_v4l_set_format(fd, fmt);
int num_buffers = 1;
koki_buffer_t *buffers;
buffers = koki_v4l_prepare_buffers(fd, &num_buffers);
koki_v4l_start_stream(fd);
while (1){
uint8_t *yuyv = koki_v4l_get_frame_array(fd, buffers);
IplImage *frame = koki_v4l_YUYV_frame_to_RGB_image(yuyv, WIDTH, HEIGHT);
IplImage *thresholded;
thresholded = koki_threshold_adaptive(frame, 5, 3,
KOKI_ADAPTIVE_MEAN);
cvShowImage("thresh", thresholded);
koki_labelled_image_t *l = koki_label_image(thresholded, 128);
for (int i=0; i<l->clips->len; i++){
if (!koki_label_useable(l, i))
continue;
GSList *contour = koki_contour_find(l, i);
koki_quad_t *quad = koki_quad_find_vertices(contour);
if (quad == NULL){
koki_contour_free(contour);
continue;
}
koki_contour_draw(frame, contour);
koki_quad_refine_vertices(quad);
koki_quad_draw(frame, quad);
koki_marker_t *marker;
marker = koki_marker_new(quad);
if (koki_marker_recover_code(marker, frame)){
koki_pose_estimate(marker, 0.11, ¶ms);
koki_bearing_estimate(marker);
printf("marker code: %d\n", marker->code);
}
koki_contour_free(contour);
koki_quad_free(quad);
koki_marker_free(marker);
}//for
cvShowImage("frame", frame);
cvWaitKey(1);
koki_labelled_image_free(l);
cvReleaseImage(&thresholded);
cvReleaseImage(&frame);
}
return 0;
cvDestroyWindow("frame");
cvDestroyWindow("thresh");
}
