コード例 #1
0
ファイル: ps3eye_sdl.cpp プロジェクト: tamarmstrong/psmoveapi
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;
}
コード例 #2
0
ファイル: camera_control.c プロジェクト: 0x53A/psmoveapi
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;
}