int main(int argc, char** argv){
int numPics = 100;
fc2VideoMode mode1 = FC2_VIDEOMODE_640x480Y8;
char *mode1_str = "FC2_VIDEOMODE_640x480Y8";
//fc2FrameRate rate1 = FC2_FRAMERATE_30;
//char *rate1_str = "FC2_FRAMERATE_30";
fc2VideoMode mode2 = FC2_VIDEOMODE_1280x960Y8;
char *mode2_str = "FC2_VIDEOMODE_1280x960Y8";
fc2FrameRate rate = FC2_FRAMERATE_15;
char *rate_str = "FC2_FRAMERATE_15";
fc2VideoMode mode;
char *mode_str;
//fc2FrameRate rate;
//char *rate_str;
//int prog_mode;
int camOffset = 0;
PrintBuildInfo();
/* if (argc != 2) */
/* { */
/* printf("Error: Must chose mode\n"); */
/* printf("Usage: %s {1, 2, 3, 4, 5, 6} \n",argv[0]); */
/* printf("Modes: 1 = first camera at 1280x960Y8\n" */
/* " 2 = second camera at 1280x960Y8\n" */
/* " 3 = both cameras at 1280x960Y8\n" */
/* " 4 = first camera at 640x480Y8\n" */
/* " 5 = second camera at 640x480Y8\n" */
/* " 6 = both cameras at 640x480Y8\n"); */
/* return -1; */
/* } */
/* prog_mode = atoi(argv[1]); */
/* if ((prog_mode > 6) || (prog_mode < 1)) */
/* { */
/* printf("Must chose valid mode, 1 through 6\n"); */
/* } */
if (CheckSaving(OUTPUT_DIR) != 0)
{
printf("Cannot save to %s, please check permissions\n",OUTPUT_DIR);
return -1;
}
//have correct number of arguments and can save
fc2Context tempContext;
check_point_grey(fc2CreateContext(&tempContext));
unsigned int numCams;
check_point_grey(fc2GetNumOfCameras(tempContext, &numCams));
check_point_grey(fc2DestroyContext(tempContext));
if (numCams == 0)
{ //no cameras
printf("No cameras found, exiting.\n");
return -1;
}
//if we get here, we know we have at least 1 camera connected
/* if (prog_mode < 4) */
/* { */
/* mode = FC2_VIDEOMODE_1280x960Y8; */
/* mode_str = "FC2_VIDEOMODE_1280x960Y8"; */
/* rate = FC2_FRAMERATE_15; */
/* rate_str = "FC2_FRAMERATE_15"; */
/* } */
// printf("Using resolution %s and frame rate %s\n",mode_str,rate_str);
/* if ((prog_mode == 1) || (prog_mode == 4)) */
/* { // run only the first camera */
/* numCams = 1; */
/* } */
/* if ((prog_mode == 2) || (prog_mode == 5)) */
/* { // run only the second camera */
/* camOffset = 1; */
/* } */
printf("Taking %i pictures per camera with %i camera(s).\n",numPics, (numCams - camOffset));
struct point_grey *pg_ptr[numCams - camOffset];
for (int i = 0; i < (numCams - camOffset); i++) //initialization loop
{
if (i == 0)
{
mode = mode2;
mode_str = mode2_str;
//rate = rate2;
//rate_str = rate2_str;
}
else
{
mode = mode1;
mode_str = mode1_str;
//rate = rate1;
//rate_str = rate1_str;
}
pg_ptr[i] =
(struct point_grey *)point_grey_malloc(sizeof(struct point_grey));
check_point_grey(fc2CreateContext(&pg_ptr[i]->context));
check_point_grey(fc2GetCameraFromIndex(pg_ptr[i]->context,
(i + camOffset),
&pg_ptr[i]->guid));
check_point_grey(fc2Connect(pg_ptr[i]->context,
&pg_ptr[i]->guid));
check_point_grey(fc2SetDefaultColorProcessing(FC2_NEAREST_NEIGHBOR_FAST));
check_point_grey(fc2SetVideoModeAndFrameRate(pg_ptr[i]->context,
mode,
rate));
AssignName(pg_ptr[i]->context, pg_ptr[i]->name);
check_point_grey(fc2CreateImage(&pg_ptr[i]->raw_image));
check_point_grey(fc2CreateImage(&pg_ptr[i]->converted_image));
PrintCameraInfo(pg_ptr[i]->context);
printf("Using resolution %s and frame rate %s\n",mode_str,rate_str);
//**CALLING THIS HERE WILL WORK WITH 2 CAMERAS AT 640X480 BUT NOT AT
//1280X960**
check_point_grey(fc2StartCapture(pg_ptr[i]->context))
printf("completed initialization loop iteration %d, %s\n",i,pg_ptr[i]->name);
} // initialization loop
Imlib_Image temp_image;
double start = current_time();
for (int j = 0; j < numPics; j++) //loop through numPics
{
for (int i = 0; i < (numCams - camOffset); i++) //picture taking loop
{
check_point_grey(fc2RetrieveBuffer(pg_ptr[i]->context,
&pg_ptr[i]->raw_image));
check_point_grey(fc2ConvertImageTo(FC2_PIXEL_FORMAT_BGRU,
&pg_ptr[i]->raw_image,
&pg_ptr[i]->converted_image));
temp_image = imlib_create_image_using_copied_data(pg_ptr[i]->converted_image.cols,
pg_ptr[i]->converted_image.rows,
(unsigned int *)
pg_ptr[i]->converted_image.pData);
printf("%simage_%d\n",pg_ptr[i]->name,j);
if (j == (numPics - 1))
{//save the final image from each camera
SaveImlibImage(temp_image, pg_ptr[i]->name, mode_str);
}
else
{
imlib_context_set_image(temp_image);
//this is where we would do something else with the image
imlib_free_image_and_decache();
}
} //picture taking loop
} //numPics loop
double stop = current_time();
//check elapsed time
double elapsed = stop - start;
double images_per_sec = (double)numPics / elapsed;
printf("%d images per camera taken in %f seconds (%f images/sec/cam)\n",
numPics, elapsed, images_per_sec);
for (int i = 0; i < (numCams - camOffset); i++) //cleanup loop
{
//**CALLING THIS HERE WILL WORK WITH 2 CAMERAS AT 640X480 BUT NOT AT
//1280X960**
check_point_grey(fc2StopCapture(pg_ptr[i]->context));
check_point_grey(fc2DestroyContext(pg_ptr[i]->context));
check_point_grey(fc2DestroyImage(&pg_ptr[i]->raw_image));
check_point_grey(fc2DestroyImage(&pg_ptr[i]->converted_image));
free(pg_ptr[i]);
printf("completed cleanup loop iteration %d\n",i);
} //cleanup loop
printf("Program complete!\n");
return 0;
}
// functions called from Scheme (must have extern "C" to prevent mangling)
extern "C" int rover_server_setup(void)
{
//setup for displaying images (grab threads)
framecount = 1;
FrontCam = (struct CamGrab_t*) malloc(sizeof(struct CamGrab_t));
PanoCam = (struct CamGrab_t*) malloc(sizeof(struct CamGrab_t));
pthread_mutex_init(&FrontCam->MostRecentLock, NULL);
pthread_mutex_init(&PanoCam->MostRecentLock, NULL);
FrontCam->MostRecent = -1;
PanoCam->MostRecent = -1;
FrontCam->LastDisplayed = -1;
PanoCam->LastDisplayed = -1;
FrontCam->PortNumber = (char*) malloc(sizeof(char) * 10);
strcpy(FrontCam->PortNumber, k_FrontCamPort);
FrontCam->CdrPortNumber = (char*) malloc(sizeof(char) * 10);
strcpy(FrontCam->CdrPortNumber, k_CdrFrontCamPort);
PanoCam->PortNumber = (char*) malloc(sizeof(char) * 10);
strcpy(PanoCam->PortNumber, k_PanoCamPort);
PanoCam->CdrPortNumber = (char*) malloc(sizeof(char) * 10);
strcpy(PanoCam->CdrPortNumber, k_CdrPanoCamPort);
for (int i = 0; i < k_ImgBufSize; i++)
{
pthread_mutex_init(&FrontCam->ImgArrayLock[i], NULL);
pthread_mutex_init(&PanoCam->ImgArrayLock[i], NULL);
FrontCam->ImgArray[i] = (Imlib_Image *) malloc(sizeof(Imlib_Image));
PanoCam->ImgArray[i] = (Imlib_Image *) malloc(sizeof(Imlib_Image));
FrontCam->Set[i] = FALSE;
PanoCam->Set[i] = FALSE;
}
grab_threads_should_die = FALSE;
char windowname[] = "driver-viewer";
display_pane = FindWindow(windowname);
//setup for logging data (log thread)
log_thread_should_die = FALSE;
if (CheckSaving(k_LogDir) != 0)
{
printf("rover_server_setup() failed due to inability to log data\n");
return -1;
}
//create log DIRECTORY with GMT as name
char tempName[k_LogBufSize];
time_t now;
now = time(NULL);
if (now != -1)
strftime(tempName, k_LogBufSize, "%F-%T", gmtime(&now));
else
{
printf("error getting time\n");
return -1;
}
char logDirName[k_LogBufSize];
logDirName[0] = '\0';
sprintf(logDirName, "%s%s", k_LogDir, tempName);
struct stat sb;
if (!(stat(logDirName, &sb) == 0 && S_ISDIR(sb.st_mode)))
{
if (mkdir(logDirName, S_IRWXU | S_IRGRP | S_IROTH | S_IXGRP | S_IXOTH) != 0)
{
printf("Error creating directory %s\n",logDirName);
return -1;
}
}
//create log file
char logFileName[k_LogBufSize];
logFileName[0] = '\0';
sprintf(logFileName, "%s%s/log.txt", k_LogDir, tempName);
log_file = fopen(logFileName, "w+");
if (log_file == NULL)
{
printf("Failed to create file %s. Please check permissions.\n", logFileName);
return -1;
}
//create log file for IMU data
logFileName[0] = '\0';
sprintf(logFileName, "%s%s/imu-log.txt", k_LogDir, tempName);
imu_log_file = fopen(logFileName, "w+");
if (imu_log_file == NULL)
{
printf("Failed to create file %s. Please check permissions.\n", logFileName);
return -1;
}
//create timestamp logs for front and pano cams
logFileName[0] = '\0';
sprintf(logFileName, "%s%s/camera_front.txt", k_LogDir, tempName);
FrontCam->file_ptr = fopen(logFileName, "w+");
if (FrontCam->file_ptr == NULL)
{
printf("Failed to create file %s. Please check permissions.\n", logFileName);
return -1;
}
logFileName[0] = '\0';
sprintf(logFileName, "%s%s/camera_pano.txt", k_LogDir, tempName);
PanoCam->file_ptr = fopen(logFileName, "w+");
if (PanoCam->file_ptr == NULL)
{
printf("Failed to create file %s. Please check permissions.\n", logFileName);
return -1;
}
//create file names for video files
FrontCam->video_file_name = (char*) malloc(sizeof(char) * 100);
sprintf(FrontCam->video_file_name, "%s%s/video_front.avi", k_LogDir, tempName);
PanoCam->video_file_name = (char*) malloc(sizeof(char) * 100);
sprintf(PanoCam->video_file_name, "%s%s/video_pano.avi", k_LogDir, tempName);
//create cv::VideoWriter output_video objects
cv::Size vid_size = cv::Size(640,480); //**HARDCODED** for 640x480 video
int codec = CV_FOURCC('M','J','P','G');
FrontCam->output_video = new cv::VideoWriter(FrontCam->video_file_name, codec,
10.5, vid_size, true);
PanoCam->output_video = new cv::VideoWriter(PanoCam->video_file_name, codec,
10.5, vid_size, true);
//set first lines for log file and timestamp log files
memset(tempName, 0, sizeof(tempName));
strftime(tempName, k_LogBufSize, "Log file created at %F-%T GMT", gmtime(&now));
fprintf(log_file, "%s\n", tempName);
fprintf(imu_log_file, "%s\n", tempName);
fprintf(FrontCam->file_ptr, "%s\n", tempName);
fprintf(PanoCam->file_ptr, "%s\n", tempName);
//open socket for log data from vader-rover
log_sockfd = StartServer(k_LogPort);
printf("server: waiting for data logging connection on port %s...\n",
k_LogPort);
//open socket for imu log data
log_imu_sockfd = StartServer(k_imuLogPort);
printf("server: waiting for IMU logging connection on port %s...\n",
k_imuLogPort);
//success if we get here
printf("rover_server_setup() succeeded\n");
return 0;
}
