void LHSVision::UpdateVision() //by Michael
{
if(mXbox->GetRawButton(XBOX::XBOX_A_BUTTON) == true) //Toggle on A button press
{
while(mXbox->GetRawButton(XBOX::XBOX_A_BUTTON) == true) //Prevents multi-press
{}
if(send == 1)
{
StopCamera(1); //Stop Cam 1
StartCamera(2); //Start Cam 2
printf("\nActivating Camera 2 - Raw Image Display\n\n");
send = 2;
}
else
{
StopCamera(2); //Stop Cam 2
StartCamera(1); //Start Cam 1
printf("\nActivating Camera 1 - Raw Image Display\n\n");
send = 1;
}
}
if(send == 1)
{
IMAQdxGrab(session, frame, true, NULL);
SendToDashboard(frame); //Send Cam 1
Wait(.1);
}
else
{
IMAQdxGrab(session2, frame2, true, NULL);
SendToDashboard(frame2); //Send Cam 2
Wait(.1);
}
}
void QmitkToFRecorderWidget::OnStop()
{
StopCamera();
StopRecorder();
ResetGUIToInitial();
emit ToFCameraStopped();
}
int main(int argc, const char **argv)
{
printf("PI Cam api tester\n");
dest = new unsigned char[HEIGHT*WIDTH*4];
fps = 0;
startMilliSecondTimer();
StartCamera(WIDTH,HEIGHT,90,CameraCallback);
sleep(30);
StopCamera();
delete[] dest;
}
int main()
{
int ret = 0;
void * mV4l2_ctx = NULL;
int mCaptureFormat;
int width = 1280;
int height = 720;
int number = 0;
struct v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
mV4l2_ctx = CreateV4l2Context();
setV4L2DeviceName(mV4l2_ctx, "/dev/video1");
// open v4l2 camera device
ret = OpenCamera(mV4l2_ctx);
if (ret != 0)
{
LOGE("openCameraDevice failed\n");
return ret;
}
StartCamera(mV4l2_ctx, &width, &height);
while(number < 300) {
CameraGetOneframe(mV4l2_ctx,&buf);
CameraReturnOneframe(mV4l2_ctx,buf.index);
LOGD("test, number: %d",number);
number ++;
}
StopCamera(mV4l2_ctx);
CloseCamera(mV4l2_ctx);
DestroyV4l2Context(mV4l2_ctx);
mV4l2_ctx = NULL;
return 0;
}
static int stopcamera(AWCameraDevice *p)
{
AWCameraDevice* camera_dev = (AWCameraDevice *)(p);
AWCameraContext* CameraCtx = NULL;
int err = 0;
if(!camera_dev)
return -1;
CameraCtx = (AWCameraContext *)(camera_dev->context);
set_state(CameraCtx, 0);
// Wait for thread to exit;
pthread_join(CameraCtx->thread_id, (void*) &err);
StopCamera(CameraCtx->v4l2ctx);
CloseCamera(CameraCtx->v4l2ctx);
return 0;
}
Gfx_Camera::~Gfx_Camera() {
StopCamera();
}
int main(int argc, char* argv[]) {
// Initialize shared memory
if (ipc.init(false))
exit(1);
// Initialize nominal beaconContainer
parseWaypoints();
// Create camera semaphore/ mutex
sem_init(&semCam, 0, 0);
if (pthread_mutex_init(&mutexImageData, NULL) != 0) {
printf("\n Camera mutex init failed\n");
exit(1);
}
// Start camera thread
pthread_t tid;
int err = pthread_create(&tid, NULL, &camThread, NULL);
if (err != 0) {
printf("\nCan't create camera thread :[%s]", strerror(err));
exit(1);
}
lastPhotogramMicros = getMicroSec();
// Main loop
for(;;photogram++) {
TRACE(DEBUG, "\nPHOTOGRAM %d, milliseconds: %ld\n", photogram, getMillisSinceStart());
// Update time variables
photogramMicros = getMicroSec();
lastPhotogramSpentTime = getSpent(photogramMicros - lastPhotogramMicros);
microsSinceStart += lastPhotogramSpentTime;
lastPhotogramMicros = photogramMicros;
// Get drone roll, pitch and yaw
attitudeT attitude, delayedAttitude;
ipc.getAttitude(attitude);
attitudeSignal.push(attitude, lastPhotogramSpentTime);
delayedAttitude = attitudeSignal.getSignal();
droneRoll = delayedAttitude.roll * 0.01;
dronePitch = delayedAttitude.pitch * 0.01;
droneYaw = delayedAttitude.yaw * 0.01;
// Update estimated servo values
rollStatusServo.update(lastPhotogramSpentTime);
pitchStatusServo.update(lastPhotogramSpentTime);
if (rollStatusServo.inBigStep() || pitchStatusServo.inBigStep()) {
sem_wait(&semCam);
continue;
}
// Update estimated camera roll and pitch
roll = droneRoll + rollStatusServo.getEstimatedAngle();
pitch = dronePitch + pitchStatusServo.getEstimatedAngle();
// Switch beacon containers to preserve one history record
if (beaconContainer == &beaconContainerA) {
beaconContainer = &beaconContainerB;
oldBeaconContainer = &beaconContainerA;
}
else {
beaconContainer = &beaconContainerA;
oldBeaconContainer = &beaconContainerB;
}
beaconContainer->clean();
// Wait until new frame is received
sem_wait(&semCam);
// Where the magic happens
findBeacons();
groupBeacons();
findWaypoints();
computePosition();
}
StopCamera();
printf("Finished.\n");
return 0;
}
