int main(void)
{
printf("ORF pid %d\n", (int) getpid());
SRCAM cam;
// int ret = SR_OpenDlg(&cam, 2, 0); // 2: call open dialog, 0: no parent window
// int ret = SR_OpenETH(&cam, "192.168.1.33");
int ret = SR_OpenETH(&cam, "169.254.1.33");
if(ret<=0) return -1; // ret holds the number of cameras found
cv::Size imsize(SR_GetCols(cam), SR_GetRows(cam)); // SR image size
int sizebytes = 2 * imsize.area() * sizeof(unsigned short); // number of bytes sent from the SR
// namedWindow("mainWin",WINDOW_AUTOSIZE );
cvNamedWindow("mainWin", CV_WINDOW_AUTOSIZE);
int sizestep = sizeof(float)*3; // size step from one xyz component to the next
int c=-1; // user input variable
// enable software trigger mode so that the LEDs will only turn
// on when SR_Acquire() is called
SR_SetMode(cam,AM_SW_TRIGGER);
std::time_t start_time = std::time(0);
while(c==-1) // infinite loop, breaks if key pressed
{
ret = SR_Acquire(cam);
cv::Mat xyz(imsize, CV_32FC3, cv::Scalar::all(0));
if(ret!=sizebytes) break;
// the coordinates are stored as three channels in the format
// (x1, y1, z1, x2, y2, z2, ... ) squentially row by row
SR_CoordTrfFlt( cam,
&((float*)xyz.ptr())[0], // pointer to first x
&((float*)xyz.ptr())[1], // pointer to first y
&((float*)xyz.ptr())[2], // pointer to first z
sizestep, sizestep, sizestep); // increments to next element
cv::Mat z, z_display; // z channel and output image
extractImageCOI(&CvMat(xyz), z, 2); // extract the z channel (change the 2 for another channel)
z.convertTo(z_display, CV_8UC1, 256.0 / 5.0, 0); // convert to 8 bit (0..255) values, here for 5 meter camera
cv::imshow("mainWin", z_display); // display image
std::time_t t = std::time() - start_time;
printf("ORF data taken at %d seconds\n", t);
//std::cout << "ORF data taken at" << t << "seconds\n";
std::stringstream filename;
filename << "./ORF_photos/" << t << ".bmp"
cv::imwrite(filename.str(),z_display);
c = cvWaitKey(1000); // wait 1 sec before continuing loop. if user presses a button, the loop will exit
}
SR_Close(cam);
return 0;
}
void mesa_grab_frame(mesa_t *frame) {
assert(frame->distance != NULL);
assert(frame->amplitude != NULL);
assert(frame->confidence != NULL);
// get images
int r = SR_Acquire(_srcam);
if (r < 0) {
fprintf(stderr, "Error getting data from the camera: %d\n", r);
mesa_close_device();
exit(1);
}
frame->distance = (unsigned char*) SR_GetImage(_srcam, 0);
frame->amplitude = (unsigned char*) SR_GetImage(_srcam, 1);
frame->confidence = (unsigned char*) SR_GetImage(_srcam, 2);
SR_CoordTrfFlt(_srcam, frame->x, frame->y, frame->z, sizeof(float),
sizeof(float), sizeof(float));
}
