CameraControl *
camera_control_new_with_settings(int cameraID, int width, int height, int framerate, int cam_type)
{
CameraControl* cc = (CameraControl*) calloc(1, sizeof(CameraControl));
cc->cameraID = cameraID;
if (framerate <= 0) {
framerate = PSMOVE_TRACKER_DEFAULT_FPS;
}
if (cam_type == PSMove_Camera_PS3EYE_BLUEDOT)
{
cc->focl_x = (float)PS3EYE_FOCAL_LENGTH_BLUE;
cc->focl_y = (float)PS3EYE_FOCAL_LENGTH_BLUE;
}
else if (cam_type == PSMove_Camera_PS3EYE_REDDOT)
{
cc->focl_x = (float)PS3EYE_FOCAL_LENGTH_RED;
cc->focl_y = (float)PS3EYE_FOCAL_LENGTH_RED;
}
else if (cam_type == PSMove_Camera_Unknown)
{
cc->focl_x = (float)PS3EYE_FOCAL_LENGTH_BLUE;
cc->focl_y = (float)PS3EYE_FOCAL_LENGTH_BLUE;
}
// Needed for cbb tracker. Will be overwritten by camera calibration files if they exist.
#if defined(CAMERA_CONTROL_USE_CL_DRIVER)
// Windows 32-bit. Either CL_SDK or Registry_requiring
int cams = CLEyeGetCameraCount();
if (cams <= cameraID) {
free(cc);
return NULL;
}
GUID cguid = CLEyeGetCameraUUID(cameraID);
cc->camera = CLEyeCreateCamera(cguid,
CLEYE_COLOR_PROCESSED, CLEYE_VGA, framerate);
CLEyeCameraGetFrameDimensions(cc->camera, &width, &height);
// Depending on color mode chosen, create the appropriate OpenCV image
cc->frame4ch = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 4);
cc->frame3ch = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
CLEyeCameraStart(cc->camera);
#elif defined(CAMERA_CONTROL_USE_PS3EYE_DRIVER)
// Mac or Windows
// Initialize PS3EYEDriver
ps3eye_init();
int cams = ps3eye_count_connected();
psmove_DEBUG("Found %i ps3eye(s) with CAMERA_CONTROL_USE_PS3EYE_DRIVER.\n", cams);
if (cams <= cameraID) {
free(cc);
return NULL;
}
if (width <= 0 || height <= 0) {
get_metrics(&width, &height);
}
psmove_DEBUG("Attempting to open ps3eye with cameraId, width, height, framerate: %d, %d, %d, %d.\n", cameraID, width, height, framerate);
cc->eye = ps3eye_open(cameraID, width, height, framerate);
if (cc->eye == NULL) {
psmove_WARNING("Failed to open camera ID %d", cameraID);
free(cc);
return NULL;
}
cc->framebgr = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 3);
#else
// Assume webcam accessible from OpenCV.
char *video = psmove_util_get_env_string(PSMOVE_TRACKER_FILENAME_ENV);
if (video) {
psmove_DEBUG("Using '%s' as video input.\n", video);
cc->capture = cvCaptureFromFile(video);
free(video);
} else {
cc->capture = cvCaptureFromCAM(cc->cameraID);
if (width <= 0 || height <= 0) {
get_metrics(&width, &height);
}
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_WIDTH, width);
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_HEIGHT, height);
}
#endif
cc->width = width;
cc->height = height;
cc->deinterlace = PSMove_False;
return cc;
}
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;
}
CameraControl *
camera_control_new(int cameraID)
{
CameraControl* cc = (CameraControl*) calloc(1, sizeof(CameraControl));
cc->cameraID = cameraID;
#if defined(CAMERA_CONTROL_USE_CL_DRIVER)
int w, h;
int cams = CLEyeGetCameraCount();
if (cams <= cameraID) {
free(cc);
return NULL;
}
GUID cguid = CLEyeGetCameraUUID(cameraID);
cc->camera = CLEyeCreateCamera(cguid,
CLEYE_COLOR_PROCESSED, CLEYE_VGA, 60);
CLEyeCameraGetFrameDimensions(cc->camera, &w, &h);
// Depending on color mode chosen, create the appropriate OpenCV image
cc->frame4ch = cvCreateImage(cvSize(w, h), IPL_DEPTH_8U, 4);
cc->frame3ch = cvCreateImage(cvSize(w, h), IPL_DEPTH_8U, 3);
CLEyeCameraStart(cc->camera);
#elif defined(CAMERA_CONTROL_USE_PS3EYE_DRIVER)
ps3eye_init();
int cams = ps3eye_count_connected();
if (cams <= cameraID) {
free(cc);
return NULL;
}
get_metrics(&(cc->width), &(cc->height));
cc->eye = ps3eye_open(cameraID, cc->width, cc->height, 60);
cc->framebgr = cvCreateImage(cvSize(cc->width, cc->height), IPL_DEPTH_8U, 3);
#else
char *video = psmove_util_get_env_string(PSMOVE_TRACKER_FILENAME_ENV);
if (video) {
psmove_DEBUG("Using '%s' as video input.\n", video);
cc->capture = cvCaptureFromFile(video);
free(video);
} else {
cc->capture = cvCaptureFromCAM(cc->cameraID);
int width, height;
get_metrics(&width, &height);
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_WIDTH, width);
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_HEIGHT, height);
}
#endif
cc->deinterlace = PSMove_False;
return cc;
}
