void grab_frame(void) {
int errnum;
CamContext *cc;
static int next_device_number=0;
int data_ok = 0;
#ifdef USE_COPY
cc = cc_all[next_device_number];
CamContext_grab_next_frame_blocking(cc,raw_pixels,-1); // block forever
errnum = cam_iface_have_error();
if (errnum == CAM_IFACE_FRAME_TIMEOUT) {
cam_iface_clear_error();
return; // wait again
}
if (errnum == CAM_IFACE_FRAME_DATA_MISSING_ERROR) {
cam_iface_clear_error();
fprintf(stdout,"M");
fflush(stdout);
} else if (errnum == CAM_IFACE_FRAME_INTERRUPTED_SYSCALL) {
cam_iface_clear_error();
fprintf(stdout,"I");
fflush(stdout);
} else if (errnum == CAM_IFACE_FRAME_DATA_CORRUPT_ERROR) {
cam_iface_clear_error();
fprintf(stdout,"C");
fflush(stdout);
} else {
_check_error();
data_ok = 1;
}
next_device_number++;
next_device_number = next_device_number % ncams;
if (data_ok) {
upload_image_data_to_opengl(raw_pixels,cc->coding,next_device_number);
}
#else
CamContext_point_next_frame_blocking(cc,&raw_pixels,-1.0f);
_check_error();
upload_image_data_to_opengl(raw_pixels,cc->coding,next_device_number);
CamContext_unpoint_frame(cc);
_check_error();
#endif
glutPostRedisplay(); /* trigger display redraw */
}
int main(int argc, char** argv) {
CamContext *cc;
unsigned char *pixels;
int device_number,ncams,num_buffers;
double last_fps_print, now, t_diff;
double fps;
int n_frames;
int buffer_size;
int num_modes, num_props, num_trigger_modes;
char mode_string[255];
int i,mode_number;
CameraPropertyInfo cam_props;
long prop_value;
int prop_auto;
int errnum;
int left, top;
int width, height;
fmf_v3_header_part1 hstart;
fmf_v3_header_part2 hstop;
CameraPixelCoding coding;
char * format_str;
int bpp;
cam_iface_constructor_func_t new_CamContext;
Camwire_id cam_info_struct;
FILE* fd;
char * filename;
cam_iface_startup_with_version_check();
_check_error();
for (i=0;i<argc;i++) {
printf("%d: %s\n",i,argv[i]);
}
printf("using driver %s\n",cam_iface_get_driver_name());
ncams = cam_iface_get_num_cameras();
_check_error();
if (ncams<1) {
printf("no cameras found, will now exit\n");
cam_iface_shutdown();
_check_error();
exit(1);
}
_check_error();
printf("%d camera(s) found.\n",ncams);
for (i=0; i<ncams; i++) {
cam_iface_get_camera_info(i, &cam_info_struct);
printf(" camera %d:\n",i);
printf(" vendor: %s\n",cam_info_struct.vendor);
printf(" model: %s\n",cam_info_struct.model);
printf(" chip: %s\n",cam_info_struct.chip);
}
device_number = ncams-1;
printf("choosing camera %d\n",device_number);
cam_iface_get_num_modes(device_number, &num_modes);
_check_error();
printf("%d mode(s) available:\n",num_modes);
mode_number = 0;
for (i=0; i<num_modes; i++) {
cam_iface_get_mode_string(device_number,i,mode_string,255);
if (strstr(mode_string,"FORMAT7_0")!=NULL) {
if (strstr(mode_string,"MONO8")!=NULL) {
// pick this mode
mode_number = i;
}
}
printf(" %d: %s\n",i,mode_string);
}
printf("Choosing mode %d\n",mode_number);
num_buffers = 5;
new_CamContext = cam_iface_get_constructor_func(device_number);
cc = new_CamContext(device_number,num_buffers,mode_number);
_check_error();
CamContext_get_frame_roi(cc, &left, &top, &width, &height);
_check_error();
CamContext_get_num_framebuffers(cc,&num_buffers);
printf("allocated %d buffers\n",num_buffers);
CamContext_get_num_camera_properties(cc,&num_props);
_check_error();
for (i=0; i<num_props; i++) {
CamContext_get_camera_property_info(cc,i,&cam_props);
_check_error();
if (strcmp(cam_props.name,"white balance")==0) {
fprintf(stderr,"WARNING: ignoring white balance property\n");
continue;
}
if (cam_props.is_present) {
CamContext_get_camera_property(cc,i,&prop_value,&prop_auto);
_check_error();
printf(" %s: %ld\n",cam_props.name,prop_value);
} else {
printf(" %s: not present\n",cam_props.name);
}
}
CamContext_get_buffer_size(cc,&buffer_size);
_check_error();
if (buffer_size == 0) {
fprintf(stderr,"buffer size was 0 in %s, line %d\n",__FILE__,__LINE__);
exit(1);
}
#define USE_COPY
#ifdef USE_COPY
pixels = (unsigned char *)malloc( buffer_size );
if (pixels==NULL) {
fprintf(stderr,"couldn't allocate memory in %s, line %d\n",__FILE__,__LINE__);
exit(1);
}
#endif
CamContext_start_camera(cc);
_check_error();
last_fps_print = my_floattime();
n_frames = 0;
CamContext_get_num_trigger_modes( cc, &num_trigger_modes );
_check_error();
printf("trigger modes:\n");
for (i =0; i<num_trigger_modes; i++) {
CamContext_get_trigger_mode_string( cc, i, mode_string, 255 );
printf(" %d: %s\n",i,mode_string);
}
printf("\n");
coding = cc->coding;
bpp = 8;
switch (coding) {
case CAM_IFACE_MONO8_BAYER_BGGR:
format_str = "MONO8:BGGR";
break;
case CAM_IFACE_MONO8_BAYER_RGGB:
format_str = "MONO8:RGGB";
break;
case CAM_IFACE_MONO8_BAYER_GRBG:
format_str = "MONO8:GRBG";
break;
case CAM_IFACE_MONO8_BAYER_GBRG:
format_str = "MONO8:GBRG";
break;
case CAM_IFACE_MONO8:
format_str = "MONO8";
break;
case CAM_IFACE_YUV422:
format_str = "YUV422";
bpp = 16;
break;
default:
fprintf(stderr,"do not know how to save sample image for this format\n");
exit(1);
}
hstart.version = 3;
hstart.len_format = strlen(format_str);
hstop.rows = height;
hstop.cols = width;
hstop.bytes_per_chunk = sizeof(double) + height*width*bpp/8; /* timestamp, image */
hstop.n_frames = 0;
hstop.bpp = bpp;
filename = "movie.fmf";
fd = fopen(filename,"w");
/* write the FMF v3 header */
fwrite(&hstart,sizeof(fmf_v3_header_part1),1,fd);
fwrite(format_str,hstart.len_format,1,fd);
fwrite(&hstop,sizeof(fmf_v3_header_part2),1,fd);
/* grab frames forever */
printf("Press Ctrl-C to quit. Will now save .fmf movie.\n");
while (1) {
#ifdef USE_COPY
//CamContext_grab_next_frame_blocking(cc,pixels,0.2); // timeout after 200 msec
CamContext_grab_next_frame_blocking(cc,pixels,-1.0f); // never timeout
errnum = cam_iface_have_error();
if (errnum == CAM_IFACE_FRAME_TIMEOUT) {
cam_iface_clear_error();
fprintf(stdout,"T");
fflush(stdout);
continue; // wait again
}
if (errnum == CAM_IFACE_FRAME_DATA_MISSING_ERROR) {
cam_iface_clear_error();
fprintf(stdout,"M");
fflush(stdout);
} else if (errnum == CAM_IFACE_FRAME_INTERRUPTED_SYSCALL) {
cam_iface_clear_error();
fprintf(stdout,"I");
fflush(stdout);
} else if (errnum == CAM_IFACE_FRAME_DATA_CORRUPT_ERROR) {
cam_iface_clear_error();
fprintf(stdout,"C");
fflush(stdout);
} else {
_check_error();
fprintf(stdout,".");
fflush(stdout);
}
now = my_floattime();
n_frames += 1;
#else
CamContext_point_next_frame_blocking(cc,&pixels,-1.0f);
now = my_floattime();
n_frames += 1;
_check_error();
fprintf(stdout,".");
fflush(stdout);
CamContext_unpoint_frame(cc);
_check_error();
#endif
fwrite(&now,sizeof(double),1,fd);
fwrite(pixels,height*width*bpp/8,1,fd);
t_diff = now-last_fps_print;
if (t_diff > 5.0) {
fps = n_frames/t_diff;
fprintf(stdout,"%.1f fps\n",fps);
last_fps_print = now;
n_frames = 0;
}
}
printf("\n");
delete_CamContext(cc);
_check_error();
cam_iface_shutdown();
_check_error();
#ifdef USE_COPY
free(pixels);
#endif
return 0;
}
