int main(int argc, char *argv[])
{
Fg_Struct *fg;
int w,h;
double e;
for(e = MIN_EXP; e <= MAX_EXP; e *= 10) {
for(w = MIN_WIDTH; w <= MAX_WIDTH; w += 4) {
for(h = MIN_HEIGHT; h <= MAX_HEIGHT; h++) {
if(open_cam(&fg, ASYNC_SOFTWARE_TRIGGER, NUM_IMGS, w, h) == FG_OK) {
method2(fg, NUM_IMGS, w, h, e, e);
close_cam(fg);
}
}
}
}
/*
if(open_cam(&fg, GRABBER_CONTROLLED, NUM_IMGS, w, h) == FG_OK) {
method1(fg, NUM_IMGS, w, h, EXPOSURE, EXPOSURE);
close_cam(fg);
}
*/
/*
if(open_cam(&fg, GRABBER_CONTROLLED, NUM_IMGS, WIDTH, HEIGHT) == FG_OK) {
method3(fg, NUM_IMGS, WIDTH, HEIGHT, EXPOSURE, FRAME_TIME);
close_cam(fg);
}
*/
return FG_OK;
}
Capture::~Capture()
{
delete ui;
delete timer;
close_cam();
::close(cam_fd);
//cvReleaseCapture( &capture ); //??
}
int get_images(Fg_Struct *fg, int num_imgs)
{
int rc;
if(Fg_Acquire(fg, PORT_A, GRAB_INFINITE) < 0) {
printf("acq: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
return FG_OK;
}
int main(int argc, char **argv) {
ros::init(argc, argv, "raspicam_raw_node");
//ros::NodeHandle pn("~");
ros::NodeHandle n;
camera_info_manager::CameraInfoManager c_info_man(n, "camera", "package://raspicam/calibrations/camera.yaml");
get_status(&state_srv);
//TODO: replace this with raspicamcontrol_parse_cmdline()?
// pn.param<bool>("hflip", hflip, 0);
// ROS_INFO("hflip: %d\n", hflip);
// pn.param<bool>("vflip", vflip, 0);
// ROS_INFO("vflip: %d\n", vflip);
// state_srv.camera_parameters.hflip = hflip;
// state_srv.camera_parameters.vflip = vflip;
ROS_INFO("hflip: %d\n", hflip);
ROS_INFO("vflip: %d\n", vflip);
ROS_INFO("start: %d\n", auto_start);
if (!c_info_man.loadCameraInfo("package://raspicam/calibrations/camera.yaml")) {
ROS_INFO("Calibration file missing. Camera not calibrated");
} else {
c_info = c_info_man.getCameraInfo();
ROS_INFO("Camera successfully calibrated");
}
image_pub = n.advertise<sensor_msgs::Image>("image", 1);
camera_info_pub = n.advertise<sensor_msgs::CameraInfo>("camera_info", 1);
ros::ServiceServer start_cam = n.advertiseService("start_capture", serv_start_cap);
ros::ServiceServer stop_cam = n.advertiseService("stop_capture", serv_stop_cap);
if (auto_start) {
start_capture(&state_srv);
}
ros::spin();
close_cam(&state_srv);
return 0;
}
int open_cam(Fg_Struct **gr, int mode, int num_images, int w, int h)
{
Fg_Struct *fg = NULL;
FastConfigSequence mFcs;
int rc;
fg = Fg_Init(APPLET, PORT_A);
if(fg == NULL) {
printf("init: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
if(Fg_setParameter(fg, FG_TRIGGERMODE, &mode, PORT_A) < 0) {
printf("mode: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
rc = FG_CL_DUALTAP_8_BIT;
if(Fg_setParameter(fg, FG_CAMERA_LINK_CAMTYP, &rc, PORT_A) < 0) {
printf("dual tap: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
if(Fg_setExsync(fg, FG_ON, PORT_A) < 0) {
printf("sync on: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
// I don't think the next two do anything
rc = FG_ON;
if(Fg_setParameter(fg, FG_EXSYNCINVERT, &rc, PORT_A) < 0) {
printf("sync invert: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
rc = FG_ON;
if(Fg_setParameter(fg, FG_EXSYNCPOLARITY, &rc, PORT_A) < 0) {
printf("sync polarity: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
if(Fg_AllocMem(fg, w*h*num_images, num_images, PORT_A) == NULL) {
printf("mem: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
// FastConfig parameters
if(FastConfigInit(PORT_A) != FG_OK) {
printf("fc init: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
// only one ROI
mFcs.mLengthOfSequence = SEQ_LEN;
mFcs.mRoiPagePointer = new int[SEQ_LEN];
mFcs.mRoiPagePointer[0] = 0;
if(Fg_setParameter(fg, FG_FASTCONFIG_SEQUENCE, &mFcs, PORT_A) != FG_OK) {
printf("fc seq: %s\n", Fg_getLastErrorDescription(fg));
rc = Fg_getLastErrorNumber(fg);
close_cam(fg);
return rc;
}
*gr = fg;
return FG_OK;
}
bool serv_stop_cap(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) {
close_cam(&state_srv);
return true;
}
