//--------------------------------------------------------------------
bool ofUCUtils::getFrameUC(unsigned char ** _pixels) {
if ( !SUCCESS( unicap_queue_buffer( handle, &buffer ) )) {
printf("Unicap : Failed to queue a buffer\n");
return false;
}
/*
Wait until the image buffer is ready
*/
if ( !SUCCESS( unicap_wait_buffer( handle, &returned_buffer ) )) {
printf("Unicap : Failed to wait for buffer\n");
return false;
}
if(src_pix_fmt!=PIX_FMT_RGB24){
avpicture_fill(src,returned_buffer->data,src_pix_fmt,format.size.width,format.size.height);
img_convert(dst,PIX_FMT_RGB24,src,src_pix_fmt,format.size.width,format.size.height);
avpicture_layout(dst,PIX_FMT_RGB24,format.size.width,format.size.height,*_pixels,format.size.width*format.size.height*3);
}else{
*_pixels = returned_buffer->data;
}
return true;
}
int main (int argc, char *argv [])
{
unicap_handle_t handle;
unicap_device_t device;
unicap_format_t src_format;
unicap_format_t dest_format;
unicap_data_buffer_t src_buffer;
unicap_data_buffer_t dest_buffer;
unicap_data_buffer_t *returned_buffer;
if (argc != 4) {
fprintf (stderr, "Usage: sender <hostname> <camera name> "
"<interface>\n");
exit (1);
}
// Initialise 0MQ infrastructure
// 1. Set error handler function (to ignore disconnected receivers)
zmq::set_error_handler (error_handler);
// 2. Initialise basic infrastructure for 2 threads
zmq::dispatcher_t dispatcher (2);
// 3. Initialise local locator (to connect to global locator)
zmq::locator_t locator (argv [1]);
// 4. Start one working thread (to send data to receivers)
zmq::poll_thread_t *pt = zmq::poll_thread_t::create (&dispatcher);
// 5. Register one API thread (the application thread - the one that
// is being executed at the moment)
zmq::api_thread_t *api = zmq::api_thread_t::create (&dispatcher, &locator);
// 6. Define an entry point for the messages. The name of the entry point
// is user-defined ("camera name"). Specify that working thread "pt"
// will be used to listen to new connections being created as well as
// to send frames to existing connections.
int e_id = api->create_exchange (argv [2], zmq::scope_global, argv [3],
pt, 1, &pt);
// Open first available video capture device
if (!SUCCESS (unicap_enumerate_devices (NULL, &device, 0))) {
fprintf (stderr, "Could not enumerate devices\n");
exit (1);
}
if (!SUCCESS (unicap_open (&handle, &device))) {
fprintf (stderr, "Failed to open device: %s\n", device.identifier);
exit (1);
}
printf( "Opened video capture device: %s\n", device.identifier );
// Find a suitable video format that we can convert to RGB24
bool conversion_found = false;
int index = 0;
while (SUCCESS (unicap_enumerate_formats (handle, NULL, &src_format,
index))) {
printf ("Trying video format: %s\n", src_format.identifier);
if (ucil_conversion_supported (FOURCC ('R', 'G', 'B', '3'),
src_format.fourcc)) {
conversion_found = true;
break;
}
index++;
}
if (!conversion_found) {
fprintf (stderr, "Could not find a suitable video format\n");
exit (1);
}
src_format.buffer_type = UNICAP_BUFFER_TYPE_USER;
if (!SUCCESS (unicap_set_format (handle, &src_format))) {
fprintf (stderr, "Failed to set video format\n");
exit (1);
}
printf ("Using video format: %s [%dx%d]\n",
src_format.identifier,
src_format.size.width,
src_format.size.height);
// Clone destination format with equal dimensions, but RGB24 colorspace
unicap_copy_format (&dest_format, &src_format);
strcpy (dest_format.identifier, "RGB 24bpp");
dest_format.fourcc = FOURCC ('R', 'G', 'B', '3');
dest_format.bpp = 24;
dest_format.buffer_size = dest_format.size.width *
dest_format.size.height * 3;
// Initialise image buffers
memset (&src_buffer, 0, sizeof (unicap_data_buffer_t));
src_buffer.data = (unsigned char *)malloc (src_format.buffer_size);
src_buffer.buffer_size = src_format.buffer_size;
memset (&dest_buffer, 0, sizeof (unicap_data_buffer_t));
dest_buffer.data = (unsigned char *)malloc (dest_format.buffer_size);
dest_buffer.buffer_size = dest_format.buffer_size;
dest_buffer.format = dest_format;
// Start video capture
if (!SUCCESS (unicap_start_capture (handle))) {
fprintf (stderr, "Failed to start capture on device: %s\n",
device.identifier);
exit (1);
}
// Loop, sending video to defined exchange
while (1) {
// Queue buffer for video capture
if (!SUCCESS (unicap_queue_buffer (handle, &src_buffer))) {
fprintf (stderr, "Failed to queue a buffer on device: %s\n",
device.identifier);
exit (1);
}
// Wait until buffer is ready
if (!SUCCESS (unicap_wait_buffer (handle, &returned_buffer))) {
fprintf (stderr, "Failed to wait for buffer on device: %s\n",
device.identifier);
exit (1);
}
// Convert colorspace
if (!SUCCESS (ucil_convert_buffer (&dest_buffer, &src_buffer))) {
// TODO: This fails sometimes for unknown reasons,
// just skip the frame for now
fprintf (stderr, "Failed to convert video buffer\n");
}
// Create ZMQ message
zmq::message_t msg (dest_format.buffer_size + (2 * sizeof (uint32_t)));
unsigned char *data = (unsigned char *)msg.data();
// Image width in pixels
zmq::put_uint32 (data, (uint32_t)dest_format.size.width);
data += sizeof (uint32_t);
// Image height in pixels
zmq::put_uint32 (data, (uint32_t)dest_format.size.height);
data += sizeof (uint32_t);
// RGB24 image data
memcpy (data, dest_buffer.data, dest_format.buffer_size);
// Send message
api->send (e_id, msg);
}
return 0;
}
int UnicapCamera::GetColorImage(cv::Mat* img, char* FileName )
{
unsigned char *image_buffer = NULL;
unicap_data_buffer_t buffer;
unicap_data_buffer_t *returned_buffer;
int error = 0;
// Initialize IPL image
CV_Assert(img != 0);
img->create(m_Format->size.height, m_Format->size.width, CV_8UC3);
// Initialize the image buffer
memset( &buffer, 0x0, sizeof( unicap_data_buffer_t ) );
if (!m_Format)
{
printf("UnicapCamera::Acquire: No format set!\n");
error = ERROR_NO_FORMAT_SET;
}
if ((error == 0) && (!m_Handle))
{
printf("UnicapCamera::Acquire: No Camera handle available.\n");
error = ERROR_NOT_OPENED;
}
// Allocate memory for the image buffer
if (error == 0)
{
if( !( image_buffer = (unsigned char *)malloc( m_Format->buffer_size ) ) )
{
printf("UnicapCamera::Acquire: Failed to allocate %d bytes\n" );
error = ERROR_NO_MEMORY;
}
buffer.data = image_buffer;
buffer.buffer_size = m_Format->buffer_size;
}
// Start the capture process on the device
// Queue the buffer
// The buffer now gets filled with image data by the capture device
if (error == 0)
{
if( !SUCCESS( unicap_queue_buffer( *m_Handle, &buffer ) ) )
{
printf("UnicapCamera::Acquire: Failed to queue a buffer on device: %s\n", m_Device->identifier );
error = UNSPECIFIED_ERROR;
}
}
// Wait until the image buffer is ready
if (error == 0)
{
if( !SUCCESS( unicap_wait_buffer( *m_Handle, &returned_buffer ) ) )
{
printf("UnicapCamera::Acquire: Failed to wait for buffer on device: %s\n", m_Device->identifier );
error = UNSPECIFIED_ERROR;
}
}
// Stop the device
if (error == 0)
{
if( !returned_buffer->buffer_size )
{
printf("UnicapCamera::Acquire: Returned a buffer size of 0!\n" );
error = UNSPECIFIED_ERROR;
}
}
if (error == 0)
{
ConvertImage(img, returned_buffer);
}
if ((error==0) && (FileName)) cvSaveImage(FileName, Img);
if (image_buffer)
{
free( image_buffer );
}
return error;
}
int main( int argc, char **argv )
{
unicap_handle_t handle;
unicap_device_t device;
unicap_format_t format_spec;
unicap_format_t format;
unicap_data_buffer_t buffer;
unicap_data_buffer_t *returned_buffer;
int i;
SDL_Surface *screen;
SDL_Overlay *overlay;
int quit=0;
/*
Enumerate available video capture devices
*/
printf( "select video device\n" );
for( i = 0; SUCCESS( unicap_enumerate_devices( NULL, &device, i ) ); i++ )
{
printf( "%i: %s\n", i, device.identifier );
}
if( --i > 0 )
{
printf( "Select video capture device: " );
scanf( "%d", &i );
}
if( !SUCCESS( unicap_enumerate_devices( NULL, &device, i ) ) )
{
fprintf( stderr, "Failed to get info for device '%s'\n", device.identifier );
exit( 1 );
}
/*
Acquire a handle to selected device
*/
if( !SUCCESS( unicap_open( &handle, &device ) ) )
{
fprintf( stderr, "Failed to open device: %s\n", device.identifier );
exit( 1 );
}
printf( "Opened video capture device: %s\n", device.identifier );
unicap_void_format( &format_spec );
/*
Get the list of video formats
*/
for( i = 0; SUCCESS( unicap_enumerate_formats( handle,
NULL,
&format, i ) );
i++ )
{
printf( "%d: %s\n",
i,
format.identifier );
}
if( --i > 0 )
{
printf( "Select video format: " );
scanf( "%d", &i );
}
if( !SUCCESS( unicap_enumerate_formats( handle, &format_spec, &format, i ) ) )
{
fprintf( stderr, "Failed to get video format %d\n", i );
exit( 1 );
}
/*
If a video format has more than one size, ask for which size to use
*/
if( format.size_count )
{
for( i = 0; i < format.size_count; i++ )
{
printf( "%d: %dx%d\n", i, format.sizes[i].width, format.sizes[i].height );
}
do
{
printf( "Select video format size: " );
scanf( "%d", &i );
}while( ( i < 0 ) && ( i > format.size_count ) );
format.size.width = format.sizes[i].width;
format.size.height = format.sizes[i].height;
}
/*
Set this video format
*/
if( !SUCCESS( unicap_set_format( handle, &format ) ) )
{
fprintf( stderr, "Failed to set video format\n" );
exit( 1 );
}
/*
Initialize the image buffer
*/
memset( &buffer, 0x0, sizeof( unicap_data_buffer_t ) );
/**
Init SDL & SDL_Overlay
**/
if ( SDL_Init(SDL_INIT_VIDEO) < 0 )
{
fprintf(stderr, "Failed to initialize SDL: %s\n", SDL_GetError());
exit(1);
}
atexit(SDL_Quit);
screen = SDL_SetVideoMode( format.size.width, format.size.height, 32, SDL_HWSURFACE);
if ( screen == NULL ) {
fprintf(stderr, "Unable to set video mode: %s\n", SDL_GetError());
exit(1);
}
overlay = SDL_CreateYUVOverlay( format.size.width,
format.size.height,
format.fourcc,
screen );
if( overlay == NULL )
{
fprintf( stderr, "Unable to create overlay: %s\n", SDL_GetError() );
exit( 1 );
}
/*
Pass the pointer to the overlay to the unicap data buffer.
*/
buffer.data = overlay->pixels[0];
buffer.buffer_size = format.size.width * format.size.height * format.bpp / 8;
/*
Start the capture process on the device
*/
if( !SUCCESS( unicap_start_capture( handle ) ) )
{
fprintf( stderr, "Failed to start capture on device: %s\n", device.identifier );
exit( 1 );
}
while( !quit )
{
SDL_Rect rect;
SDL_Event event;
rect.x = rect.y = 0;
rect.w = format.size.width;
rect.h = format.size.height;
/*
Queue the buffer
The buffer now gets filled with image data by the capture device
*/
if( !SUCCESS( unicap_queue_buffer( handle, &buffer ) ) )
{
fprintf( stderr, "Failed to queue a buffer on device: %s\n", device.identifier );
exit( 1 );
}
/*
Wait until the image buffer is ready
*/
if( !SUCCESS( unicap_wait_buffer( handle, &returned_buffer ) ) )
{
fprintf( stderr, "Failed to wait for buffer on device: %s\n", device.identifier );
}
/*
Display the video data
*/
SDL_UnlockYUVOverlay( overlay );
SDL_DisplayYUVOverlay( overlay, &rect );
SDL_LockYUVOverlay(overlay);
while( SDL_PollEvent( &event ) )
{
if( event.type == SDL_QUIT )
{
printf( "Quit\n" );
quit=1;
}
}
}
/*
Stop the device
*/
if( !SUCCESS( unicap_stop_capture( handle ) ) )
{
fprintf( stderr, "Failed to stop capture on device: %s\n", device.identifier );
}
/*
Close the device
This invalidates the handle
*/
if( !SUCCESS( unicap_close( handle ) ) )
{
fprintf( stderr, "Failed to close the device: %s\n", device.identifier );
}
SDL_Quit();
return 0;
}
int main( int argc, char **argv )
{
unicap_handle_t handle;
unicap_device_t device;
unicap_format_t format_spec;
unicap_format_t format;
unicap_data_buffer_t buffer;
unicap_data_buffer_t *returned_buffer;
int width, height;
int i;
SDL_Surface *screen;
SDL_Overlay *overlay;
int quit=0;
int imgcnt = 0;
printf( "select video device\n" );
for( i = 0; SUCCESS( unicap_enumerate_devices( NULL, &device, i ) ); i++ )
{
printf( "%i: %s\n", i, device.identifier );
}
if( --i > 0 )
{
printf( "Select video capture device: " );
scanf( "%d", &i );
}
if( !SUCCESS( unicap_enumerate_devices( NULL, &device, i ) ) )
{
fprintf( stderr, "Failed to get info for device '%s'\n", device.identifier );
exit( 1 );
}
/*
Acquire a handle to this device
*/
if( !SUCCESS( unicap_open( &handle, &device ) ) )
{
fprintf( stderr, "Failed to open device: %s\n", device.identifier );
exit( 1 );
}
printf( "Opened video capture device: %s\n", device.identifier );
/*
Create a format specification to limit the list of formats returned by
unicap_enumerate_formats to the ones with the color format 'UYVY'
*/
unicap_void_format( &format_spec );
format_spec.fourcc = FOURCC('U','Y','V','Y');
/*
Get the list of video formats of the colorformat UYVY
*/
for( i = 0; SUCCESS( unicap_enumerate_formats( handle, &format_spec, &format, i ) ); i++ )
{
printf( "%d: %s [%dx%d]\n",
i,
format.identifier,
format.size.width,
format.size.height );
}
if( --i > 0 )
{
printf( "Select video format: " );
scanf( "%d", &i );
}
if( !SUCCESS( unicap_enumerate_formats( handle, &format_spec, &format, i ) ) )
{
fprintf( stderr, "Failed to get video format\n" );
exit( 1 );
}
/*
If a video format has more than one size, ask for which size to use
*/
if( format.size_count )
{
for( i = 0; i < format.size_count; i++ )
{
printf( "%d: %dx%d\n", i, format.sizes[i].width, format.sizes[i].height );
}
do
{
printf( "Select video format size: " );
scanf( "%d", &i );
}while( ( i < 0 ) && ( i > format.size_count ) );
format.size.width = format.sizes[i].width;
format.size.height = format.sizes[i].height;
}
/*
Set this video format
*/
if( !SUCCESS( unicap_set_format( handle, &format ) ) )
{
fprintf( stderr, "Failed to set video format\n" );
exit( 1 );
}
/*
Initialize the image buffer
*/
memset( &buffer, 0x0, sizeof( unicap_data_buffer_t ) );
/**
Init SDL & SDL_Overlay
**/
if ( SDL_Init(SDL_INIT_VIDEO) < 0 )
{
fprintf(stderr, "Failed to initialize SDL: %s\n", SDL_GetError());
exit(1);
}
atexit(SDL_Quit);
/*
Make sure the video window does not get too big.
*/
width = MIN( format.size.width, 800 );
height = MIN( format.size.height, 600 );
screen = SDL_SetVideoMode( width, height, 32, SDL_HWSURFACE);
if ( screen == NULL ) {
fprintf(stderr, "Unable to set video mode: %s\n", SDL_GetError());
exit(1);
}
overlay = SDL_CreateYUVOverlay( format.size.width,
format.size.height, SDL_UYVY_OVERLAY, screen );
if( overlay == NULL )
{
fprintf( stderr, "Unable to create overlay: %s\n", SDL_GetError() );
exit( 1 );
}
/*
Pass the pointer to the overlay to the unicap data buffer.
*/
buffer.data = overlay->pixels[0];
buffer.buffer_size = format.size.width * format.size.height * format.bpp / 8;
/*
Start the capture process on the device
*/
if( !SUCCESS( unicap_start_capture( handle ) ) )
{
fprintf( stderr, "Failed to start capture on device: %s\n", device.identifier );
exit( 1 );
}
while( !quit )
{
SDL_Rect rect;
SDL_Event event;
rect.x = 0;
rect.y = 0;
rect.w = width;
rect.h = height;
/*
Queue the buffer
The buffer now gets filled with image data by the capture device
*/
if( !SUCCESS( unicap_queue_buffer( handle, &buffer ) ) )
{
fprintf( stderr, "Failed to queue a buffer on device: %s\n", device.identifier );
exit( 1 );
}
/*
Wait until the image buffer is ready
*/
if( !SUCCESS( unicap_wait_buffer( handle, &returned_buffer ) ) )
{
fprintf( stderr, "Failed to wait for buffer on device: %s\n", device.identifier );
}
/*
Display the video data
*/
SDL_UnlockYUVOverlay( overlay );
SDL_DisplayYUVOverlay( overlay, &rect );
while( SDL_PollEvent( &event ) )
{
switch( event.type )
{
case SDL_QUIT:
quit = 1;
break;
case SDL_MOUSEBUTTONDOWN:
{
unsigned char *pixels;
struct jpeg_compress_struct cinfo;
struct jpeg_error_mgr jerr;
FILE *outfile;
JSAMPROW row_pointer[1];
int row_stride;
char filename[128];
struct timeval t1, t2;
unsigned long long usecs;
sprintf( filename, "%04d.jpg", imgcnt++ );
cinfo.err = jpeg_std_error(&jerr);
/* Now we can initialize the JPEG compression object. */
jpeg_create_compress(&cinfo);
if ((outfile = fopen( filename, "wb" ) ) == NULL )
{
fprintf(stderr, "can't open %s\n", "file");
exit(1);
}
jpeg_stdio_dest(&cinfo, outfile);
cinfo.image_width = format.size.width; /* image width and height, in pixels */
cinfo.image_height = format.size.height;
cinfo.input_components = 3; /* # of color components per pixel */
cinfo.in_color_space = JCS_RGB; /* colorspace of input image */
jpeg_set_defaults(&cinfo);
pixels = malloc( format.size.width * format.size.height * 3 );
uyvy2rgb24( pixels, returned_buffer->data,
format.size.width * format.size.height * 3,
format.size.width * format.size.height * 2 );
gettimeofday( &t1, NULL );
jpeg_start_compress(&cinfo, TRUE);
while( cinfo.next_scanline < cinfo.image_height )
{
row_pointer[0] = &pixels[cinfo.next_scanline * format.size.width * 3 ];
(void) jpeg_write_scanlines(&cinfo, row_pointer, 1);
}
jpeg_finish_compress(&cinfo);
gettimeofday( &t2, NULL );
usecs = t2.tv_sec * 1000000LL + t2.tv_usec;
usecs -= ( t1.tv_sec * 1000000LL + t1.tv_usec );
printf( "Compression took: %lld usec\n", usecs );
/* After finish_compress, we can close the output file. */
fclose(outfile);
jpeg_destroy_compress(&cinfo);
free( pixels );
}
break;
default:
break;
}
}
SDL_LockYUVOverlay(overlay);
}
/*
Stop the device
*/
if( !SUCCESS( unicap_stop_capture( handle ) ) )
{
fprintf( stderr, "Failed to stop capture on device: %s\n", device.identifier );
}
/*
Close the device
This invalidates the handle
*/
if( !SUCCESS( unicap_close( handle ) ) )
{
fprintf( stderr, "Failed to close the device: %s\n", device.identifier );
}
SDL_Quit();
return 0;
}
