LRESULT CAv::OnPropertyChanged(WPARAM wParam, LPARAM lParam)
{
updateProperty(getCameraModel()->getAv());
return 0;
}
LRESULT CEvfAFMode::OnPropertyDescChanged(WPARAM wParam, LPARAM lParam)
{
updatePropertyDesc(&getCameraModel()->getEvfAFModeDesc());
return 0;
}
//=============================================================================
// querySteroeCamera()
//
// Given that the camera handle is a stereo camera, query the camera for
// stereo specific information about this camera and populate the
// PGRStereoCamera_t handle structure
//
dc1394error_t
queryStereoCamera( dc1394camera_t* camera,
PGRStereoCamera_t* stereoCamera )
{
// set the camera handle
stereoCamera->camera = camera;
// find out what base model camera we have
stereoCamera->model = getCameraModel( camera );
if ( stereoCamera->model == UNKNOWN_CAMERA )
return DC1394_FAILURE;
dc1394error_t err;
if ( stereoCamera->model != BUMBLEBEE )
{
err = getSensorInfo( camera,
&stereoCamera->bColor,
&stereoCamera->nRows,
&stereoCamera->nCols );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Could not query the Sensor Info Register!\n" );
return err;
}
}
else // model == BUMBLEBEE
{
// This is a Bumblebee "1". This camera does not support the
// sensor board info register so we need to determine if it is color
// and the resolution the hard way
//
// It will be nice when we don't need to support BB1 anymore as it is
// not completely DC-compliant
dc1394video_modes_t video_modes;
err = dc1394_video_get_supported_modes( camera, &video_modes );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Can't get video modes\n" );
return err;
}
// find the highest res mode that is greyscale (MONO16)
printf( "Searching for the highest resolution MONO16 mode available...\n" );
dc1394video_mode_t video_mode;
dc1394color_coding_t coding;
for ( int i = video_modes.num-1; i >= 0; i-- )
{
// don't consider FORMAT 7 modes (i.e. "scalable")
if ( !dc1394_is_video_mode_scalable( video_modes.modes[i] ) )
{
dc1394_get_color_coding_from_video_mode( camera, video_modes.modes[i], &coding );
if ( coding == DC1394_COLOR_CODING_MONO16 )
{
video_mode = video_modes.modes[i];
break;
}
}
}
if ( video_mode == DC1394_VIDEO_MODE_640x480_MONO16 )
{
stereoCamera->nRows = 480;
stereoCamera->nCols = 640;
}
else if ( video_mode == DC1394_VIDEO_MODE_1024x768_MONO16 )
{
stereoCamera->nRows = 768;
stereoCamera->nCols = 1024;
}
else
{
fprintf( stderr, "Cannot find valid MONO16 video mode!\n" );
return DC1394_FAILURE;
}
dc1394color_filter_t bayerPattern;
err = getBayerTile( stereoCamera->camera, &bayerPattern );
if ( err != DC1394_SUCCESS )
{
fprintf( stderr, "Failed to read the Bayer Tile Pattern register\n" );
return err;
}
// at this point all we need to know is "is it color or mono?"
if ( bayerPattern == 0 )
stereoCamera->bColor = false;
else
stereoCamera->bColor = true;
}
// a hack to figure out how many bytes per pixel are needed.
// if the camera is a BB3, then it is 3, otherwise 2
if ( stereoCamera->nRows == 960 )
{
//stereoCamera->nBytesPerPixel = 3;
// note: for performance reasons we have changed the default behavior
// of the XB3 for these examples to only use the 2 wide-baseline pair.
// This makes for faster image transmission.
// If you change the code to transmit all 3 images, this value will
// have to revert to 3.
stereoCamera->nBytesPerPixel = 2;
}
else
{
stereoCamera->nBytesPerPixel = 2;
}
return DC1394_SUCCESS;
}
LRESULT CMeteringMode::OnPropertyChanged(WPARAM wParam, LPARAM lParam)
{
updateProperty(getCameraModel()->getMeteringMode());
return 0;
}
int main()
{
int width;
char* bayer[] = {"RG","BG","GR","GB"};
char* controls[MAX_CONTROL] = {"Exposure", "Gain", "Gamma", "WB_R", "WB_B", "Brightness", "USB Traffic"};
int height;
int i;
char c;
bool bresult;
int time1,time2;
int count=0;
char buf[128]={0};
int CamNum=0;
///long exposure, exp_min, exp_max, exp_step, exp_flag, exp_default;
//long gain, gain_min, gain_max,gain_step, gain_flag, gain_default;
IplImage *pRgb;
int numDevices = getNumberOfConnectedCameras();
if(numDevices <= 0)
{
printf("no camera connected, press any key to exit\n");
getchar();
return -1;
}
else
printf("attached cameras:\n");
for(i = 0; i < numDevices; i++)
printf("%d %s\n",i, getCameraModel(i));
printf("\nselect one to privew\n");
scanf("%d", &CamNum);
bresult = openCamera(CamNum);
if(!bresult)
{
printf("OpenCamera error,are you root?,press any key to exit\n");
getchar();
return -1;
}
printf("%s information\n",getCameraModel(CamNum));
int iMaxWidth, iMaxHeight;
iMaxWidth = getMaxWidth();
iMaxHeight = getMaxHeight();
printf("resolution:%dX%d\n", iMaxWidth, iMaxHeight);
if(isColorCam())
printf("Color Camera: bayer pattern:%s\n",bayer[getColorBayer()]);
else
printf("Mono camera\n");
for( i = 0; i < MAX_CONTROL; i++)
{
if(isAvailable((Control_TYPE)i))
printf("%s support:Yes\n", controls[i]);
else
printf("%s support:No\n", controls[i]);
}
printf("\nPlease input the <width height bin image_type> with one space, ie. 640 480 2 0. use max resolution if input is 0. Press ESC when video window is focused to quit capture\n");
int bin = 1, Image_type;
scanf("%d %d %d %d", &width, &height, &bin, &Image_type);
if(width == 0 || height == 0)
{
width = iMaxWidth;
height = iMaxHeight;
}
initCamera(); //this must be called before camera operation. and it only need init once
printf("sensor temperature:%02f\n", getSensorTemp());
// IMG_TYPE image_type;
while(!setImageFormat(width, height, bin, (IMG_TYPE)Image_type))//IMG_RAW8
{
printf("Set format error, please check the width and height\n ASI120's data size(width*height) must be integer multiple of 1024\n");
printf("Please input the width and height again£¬ie. 640 480\n");
scanf("%d %d %d %d", &width, &height, &bin, &Image_type);
}
printf("\nset image format %d %d %d %d success, start privew, press ESC to stop \n", width, height, bin, Image_type);
if(Image_type == IMG_RAW16)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_16U, 1);
else if(Image_type == IMG_RGB24)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 3);
else
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 1);
setValue(CONTROL_EXPOSURE, 100*1000, false); //ms//auto
setValue(CONTROL_GAIN,getMin(CONTROL_GAIN), false);
setValue(CONTROL_BANDWIDTHOVERLOAD, getMin(CONTROL_BANDWIDTHOVERLOAD), false); //low transfer speed
setValue(CONTROL_WB_B, 90, false);
setValue(CONTROL_WB_R, 48, false);
setAutoPara(getMax(CONTROL_GAIN)/2,10,150); //max auto gain and exposure and target brightness
// EnableDarkSubtract("dark.bmp"); //dark subtract will be disabled when exposure set auto and exposure below 500ms
startCapture(); //start privew
bDisplay = 1;
#ifdef _LIN
pthread_t thread_display;
pthread_create(&thread_display, NULL, Display, (void*)pRgb);
#elif defined _WINDOWS
HANDLE thread_setgainexp;
thread_setgainexp = (HANDLE)_beginthread(Display, NULL, (void*)pRgb);
#endif
time1 = GetTickCount();
int iStrLen = 0, iTextX = 40, iTextY = 60;
void* retval;
// int time0, iWaitMs = -1;
// bool bGetImg;
while(bMain)
{
// time0 = GetTickCount();
getImageData((unsigned char*)pRgb->imageData, pRgb->imageSize, 200);
// bGetImg = getImageData((unsigned char*)pRgb->imageData, pRgb->imageSize, iWaitMs);
time2 = GetTickCount();
// printf("waitMs%d, deltaMs%d, %d\n", iWaitMs, time2 - time0, bGetImg);
count++;
if(time2-time1 > 1000 )
{
sprintf(buf, "fps:%d dropped frames:%lu ImageType:%d",count, getDroppedFrames(), (int)getImgType());
count = 0;
time1=GetTickCount();
printf(buf);
printf("\n");
}
if(Image_type != IMG_RGB24 && Image_type != IMG_RAW16)
{
iStrLen = strlen(buf);
CvRect rect = cvRect(iTextX, iTextY - 15, iStrLen* 11, 20);
cvSetImageROI(pRgb , rect);
cvSet(pRgb, CV_RGB(180, 180, 180));
cvResetImageROI(pRgb);
}
cvText(pRgb, buf, iTextX,iTextY );
if(bChangeFormat)
{
bChangeFormat = 0;
bDisplay = false;
pthread_join(thread_display, &retval);
cvReleaseImage(&pRgb);
stopCapture();
switch(change)
{
case change_imagetype:
Image_type++;
if(Image_type > 3)
Image_type = 0;
break;
case change_bin:
if(bin == 1)
{
bin = 2;
width/=2;
height/=2;
}
else
{
bin = 1;
width*=2;
height*=2;
}
break;
case change_size_smaller:
if(width > 320 && height > 240)
{
width/= 2;
height/= 2;
}
break;
case change_size_bigger:
if(width*2*bin <= iMaxWidth && height*2*bin <= iMaxHeight)
{
width*= 2;
height*= 2;
}
break;
}
setImageFormat(width, height, bin, (IMG_TYPE)Image_type);
if(Image_type == IMG_RAW16)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_16U, 1);
else if(Image_type == IMG_RGB24)
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 3);
else
pRgb=cvCreateImage(cvSize(getWidth(),getHeight()), IPL_DEPTH_8U, 1);
bDisplay = 1;
pthread_create(&thread_display, NULL, Display, (void*)pRgb);
startCapture(); //start privew
}
}
END:
if(bDisplay)
{
bDisplay = 0;
#ifdef _LIN
pthread_join(thread_display, &retval);
#elif defined _WINDOWS
Sleep(50);
#endif
}
stopCapture();
closeCamera();
cvReleaseImage(&pRgb);
printf("main function over\n");
return 1;
}
LRESULT CImageQuality::OnPropertyDescChanged(WPARAM wParam, LPARAM lParam)
{
updatePropertyDesc(&getCameraModel()->getImageQualityDesc());
return 0;
}
LRESULT CExposureComp::OnPropertyDescChanged(WPARAM wParam, LPARAM lParam)
{
updatePropertyDesc(&getCameraModel()->getExposureCompensationDesc());
return 0;
}
