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Änderungen Gruppe 30_10_2022 V2

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yasarba71520
2022-10-30 20:01:47 +01:00
parent 269f807b31
commit 2517e52e59
239 changed files with 54983 additions and 9 deletions
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Input/Externals/raspicam-master/utils/CMakeLists.txt
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INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/src)
LINK_LIBRARIES(${PROJECT_NAME} )
ADD_EXECUTABLE(raspicam_test raspicam_test.cpp )
INSTALL(TARGETS raspicam_test RUNTIME DESTINATION bin)
ADD_EXECUTABLE(raspicam_still_test raspicam_still_test.cpp )
INSTALL(TARGETS raspicam_still_test RUNTIME DESTINATION bin)
IF (OpenCV_FOUND)
ADD_EXECUTABLE(raspicam_cv_test raspicam_cv_test.cpp )
target_link_libraries(raspicam_cv_test ${PROJECT_NAME}_cv)
ADD_EXECUTABLE(raspicam_cv_still_test raspicam_cv_still_test.cpp )
target_link_libraries(raspicam_cv_still_test ${PROJECT_NAME}_cv)
INSTALL(TARGETS raspicam_cv_test raspicam_cv_still_test RUNTIME DESTINATION bin)
ENDIF()
Input/Externals/raspicam-master/utils/raspicam_cv_still_test.cpp
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/**********************************************************
Software developed by AVA ( Ava Group of the University of Cordoba, ava at uco dot es)
Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
This software is released under BSD license as expressed below
-------------------------------------------------------------------
Copyright (c) 2013, AVA ( Ava Group University of Cordoba, ava at uco dot es)
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by the Ava group of the University of Cordoba.
4. Neither the name of the University nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY AVA ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL AVA BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
****************************************************************/
#include <iostream>
#include <fstream>
#include <cstdlib>
#include "raspicam_still_cv.h"
using namespace std;
raspicam::RaspiCam_Still_Cv Camera;
//Returns the value of a param. If not present, returns the defvalue
float getParamVal ( string id,int argc,char **argv,float defvalue ) {
for ( int i=0; i<argc; i++ )
if ( id== argv[i] )
return atof ( argv[i+1] );
return defvalue;
}
//prints program command line usage
void usage() {
cout<<"-w val : sets image width (2592 default)"<<endl;
cout<<"-h val : sets image height (1944 default)"<<endl;
// cout<<"-iso val: set iso [100,800] (400 default)"<<endl;
}
int main ( int argc, char *argv[] ) {
usage();
int width = getParamVal ( "-w",argc,argv,2592 );//define width
int height =getParamVal ( "-h",argc,argv,1944 );//define height
cout << "Initializing ..."<<width<<"x"<<height<<endl;
Camera.set ( cv::CAP_PROP_FRAME_WIDTH, width );
Camera.set ( cv::CAP_PROP_FRAME_HEIGHT, height );
Camera.open();
cv::Mat image;
cout<<"capturing"<<endl;
if ( !Camera.grab ( ) ) {
cerr<<"Error in grab"<<endl;
return -1;
}
Camera.retrieve ( image );
cout<<"saving picture.jpg"<<endl;
cv::imwrite ( "picture.jpg",image );
return 0;
}
Input/Externals/raspicam-master/utils/raspicam_cv_test.cpp
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/**********************************************************
Software developed by AVA ( Ava Group of the University of Cordoba, ava at uco dot es)
Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
This software is released under BSD license as expressed below
-------------------------------------------------------------------
Copyright (c) 2013, AVA ( Ava Group University of Cordoba, ava at uco dot es)
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by the Ava group of the University of Cordoba.
4. Neither the name of the University nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY AVA ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL AVA BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
****************************************************************/
#include <iostream>
#include <ctime>
#include <cstdlib>
#include <fstream>
#include <sstream>
#include "raspicam_cv.h"
using namespace std;
bool doTestSpeedOnly=false;
//parse command line
//returns the index of a command line param in argv. If not found, return -1
int findParam ( string param,int argc,char **argv ) {
int idx=-1;
for ( int i=0; i<argc && idx==-1; i++ )
if ( string ( argv[i] ) ==param ) idx=i;
return idx;
}
//parse command line
//returns the value of a command line param. If not found, defvalue is returned
float getParamVal ( string param,int argc,char **argv,float defvalue=-1 ) {
int idx=-1;
for ( int i=0; i<argc && idx==-1; i++ )
if ( string ( argv[i] ) ==param ) idx=i;
if ( idx==-1 ) return defvalue;
else return atof ( argv[ idx+1] );
}
void processCommandLine ( int argc,char **argv,raspicam::RaspiCam_Cv &Camera ) {
Camera.set ( cv::CAP_PROP_FRAME_WIDTH, getParamVal ( "-w",argc,argv,1280 ) );
Camera.set ( cv::CAP_PROP_FRAME_HEIGHT, getParamVal ( "-h",argc,argv,960 ) );
Camera.set ( cv::CAP_PROP_BRIGHTNESS,getParamVal ( "-br",argc,argv,50 ) );
Camera.set ( cv::CAP_PROP_CONTRAST ,getParamVal ( "-co",argc,argv,50 ) );
Camera.set ( cv::CAP_PROP_SATURATION, getParamVal ( "-sa",argc,argv,50 ) );
Camera.set ( cv::CAP_PROP_GAIN, getParamVal ( "-g",argc,argv ,50 ) );
Camera.set ( cv::CAP_PROP_FPS, getParamVal ( "-fps",argc,argv, 0 ) );
if ( findParam ( "-gr",argc,argv ) !=-1 )
Camera.set ( cv::CAP_PROP_FORMAT, CV_8UC1 );
if ( findParam ( "-test_speed",argc,argv ) !=-1 )
doTestSpeedOnly=true;
if ( findParam ( "-ss",argc,argv ) !=-1 )
Camera.set ( cv::CAP_PROP_EXPOSURE, getParamVal ( "-ss",argc,argv ) );
// Camera.setSharpness ( getParamVal ( "-sh",argc,argv,0 ) );
// if ( findParam ( "-vs",argc,argv ) !=-1 )
// Camera.setVideoStabilization ( true );
// Camera.setExposureCompensation ( getParamVal ( "-ev",argc,argv ,0 ) );
}
void showUsage() {
cout<<"Usage: "<<endl;
cout<<"[-gr set gray color capture]\n";
cout<<"[-test_speed use for test speed and no images will be saved]\n";
cout<<"[-w width] [-h height] \n[-br brightness_val(0,100)]\n";
cout<<"[-co contrast_val (0 to 100)]\n[-sa saturation_val (0 to 100)]";
cout<<"[-g gain_val (0 to 100)]\n";
cout<<"[-ss shutter_speed (0 to 100) 0 auto]\n";
cout<<"[-fps frame_rate (0 to 120) 0 auto]\n";
cout<<"[-nframes val: number of frames captured (100 default). 0 == Infinite lopp]\n";
cout<<endl;
}
int main ( int argc,char **argv ) {
if ( argc==1 ) {
cerr<<"Usage (-help for help)"<<endl;
}
if ( findParam ( "-help",argc,argv ) !=-1 ) {
showUsage();
return -1;
}
raspicam::RaspiCam_Cv Camera;
processCommandLine ( argc,argv,Camera );
cout<<"Connecting to camera"<<endl;
if ( !Camera.open() ) {
cerr<<"Error opening camera"<<endl;
return -1;
}
cout<<"Connected to camera ="<<Camera.getId() <<endl;
cv::Mat image;
int nCount=getParamVal ( "-nframes",argc,argv, 100 );
cout<<"Capturing"<<endl;
double time_=cv::getTickCount();
for ( int i=0; i<nCount || nCount==0; i++ ) {
Camera.grab();
Camera.retrieve ( image );
if ( !doTestSpeedOnly ) {
if ( i%5==0 ) cout<<"\r capturing ..."<<i<<"/"<<nCount<<std::flush;
if ( i%30==0 && i!=0 )
cv::imwrite ("image"+std::to_string(i)+".jpg",image );
}
}
if ( !doTestSpeedOnly ) cout<<endl<<"Images saved in imagexx.jpg"<<endl;
double secondsElapsed= double ( cv::getTickCount()-time_ ) /double ( cv::getTickFrequency() ); //time in second
cout<< secondsElapsed<<" seconds for "<< nCount<<" frames : FPS = "<< ( float ) ( ( float ) ( nCount ) /secondsElapsed ) <<endl;
Camera.release();
}
Input/Externals/raspicam-master/utils/raspicam_still_test.cpp
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/**********************************************************
Software developed by AVA ( Ava Group of the University of Cordoba, ava at uco dot es)
Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
This software is released under BSD license as expressed below
-------------------------------------------------------------------
Copyright (c) 2013, AVA ( Ava Group University of Cordoba, ava at uco dot es)
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by the Ava group of the University of Cordoba.
4. Neither the name of the University nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY AVA ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL AVA BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
****************************************************************/#include <iostream>
#include <fstream>
#include <cstdlib>
#include "raspicam_still.h"
using namespace std;
raspicam::RaspiCam_Still Camera;
//Returns the value of a param. If not present, returns the defvalue
float getParamVal ( string id,int argc,char **argv,float defvalue ) {
for ( int i=0; i<argc; i++ )
if ( id== argv[i] )
return atof ( argv[i+1] );
return defvalue;
}
//prints program command line usage
void usage() {
cout<<"-w val : sets image width (2592 default)"<<endl;
cout<<"-h val : sets image height (1944 default)"<<endl;
cout<<"-iso val: set iso [100,800] (400 default)"<<endl;
}
int main ( int argc, char *argv[] ) {
usage();
int width = getParamVal ( "-w",argc,argv,2592 );
int height =getParamVal ( "-h",argc,argv,1944 );
int iso=getParamVal ( "-iso",argc,argv,400);
cout << "Initializing ..."<<width<<"x"<<height<<endl;
Camera.setWidth ( width );
Camera.setHeight ( height );
Camera.setISO(iso);
Camera.setEncoding ( raspicam::RASPICAM_ENCODING_BMP );
Camera.open();
cout<<"capture"<<endl;
unsigned int length = Camera.getImageBufferSize(); // Header + Image Data + Padding
unsigned char * data = new unsigned char[length];
if ( !Camera.grab_retrieve(data, length) ) {
cerr<<"Error in grab"<<endl;
return -1;
}
cout<<"saving picture.bmp"<<endl;
ofstream file ( "picture.bmp",ios::binary );
file.write ( ( char* ) data, length );
return 0;
}
Input/Externals/raspicam-master/utils/raspicam_test.cpp
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/**********************************************************
Software developed by AVA ( Ava Group of the University of Cordoba, ava at uco dot es)
Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
This software is released under BSD license as expressed below
-------------------------------------------------------------------
Copyright (c) 2013, AVA ( Ava Group University of Cordoba, ava at uco dot es)
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by the Ava group of the University of Cordoba.
4. Neither the name of the University nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY AVA ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL AVA BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
****************************************************************/
#include <iostream>
#include <ctime>
#include <cstdlib>
#include <fstream>
#include <sstream>
#include <sys/timeb.h>
#include "raspicam.h"
using namespace std;
bool doTestSpeedOnly=false;
bool useUserCallback=false;
size_t nFramesCaptured=100;
//parse command line
//returns the index of a command line param in argv. If not found, return -1
int findParam ( string param,int argc,char **argv ) {
int idx=-1;
for ( int i=0; i<argc && idx==-1; i++ )
if ( string ( argv[i] ) ==param ) idx=i;
return idx;
}
//parse command line
//returns the value of a command line param. If not found, defvalue is returned
float getParamVal ( string param,int argc,char **argv,float defvalue=-1 ) {
int idx=-1;
for ( int i=0; i<argc && idx==-1; i++ )
if ( string ( argv[i] ) ==param ) idx=i;
if ( idx==-1 ) return defvalue;
else return atof ( argv[ idx+1] );
}
raspicam::RASPICAM_EXPOSURE getExposureFromString ( string str ) {
if ( str=="OFF" ) return raspicam::RASPICAM_EXPOSURE_OFF;
if ( str=="AUTO" ) return raspicam::RASPICAM_EXPOSURE_AUTO;
if ( str=="NIGHT" ) return raspicam::RASPICAM_EXPOSURE_NIGHT;
if ( str=="NIGHTPREVIEW" ) return raspicam::RASPICAM_EXPOSURE_NIGHTPREVIEW;
if ( str=="BACKLIGHT" ) return raspicam::RASPICAM_EXPOSURE_BACKLIGHT;
if ( str=="SPOTLIGHT" ) return raspicam::RASPICAM_EXPOSURE_SPOTLIGHT;
if ( str=="SPORTS" ) return raspicam::RASPICAM_EXPOSURE_SPORTS;
if ( str=="SNOW" ) return raspicam::RASPICAM_EXPOSURE_SNOW;
if ( str=="BEACH" ) return raspicam::RASPICAM_EXPOSURE_BEACH;
if ( str=="VERYLONG" ) return raspicam::RASPICAM_EXPOSURE_VERYLONG;
if ( str=="FIXEDFPS" ) return raspicam::RASPICAM_EXPOSURE_FIXEDFPS;
if ( str=="ANTISHAKE" ) return raspicam::RASPICAM_EXPOSURE_ANTISHAKE;
if ( str=="FIREWORKS" ) return raspicam::RASPICAM_EXPOSURE_FIREWORKS;
return raspicam::RASPICAM_EXPOSURE_AUTO;
}
raspicam::RASPICAM_AWB getAwbFromString ( string str ) {
if ( str=="OFF" ) return raspicam::RASPICAM_AWB_OFF;
if ( str=="AUTO" ) return raspicam::RASPICAM_AWB_AUTO;
if ( str=="SUNLIGHT" ) return raspicam::RASPICAM_AWB_SUNLIGHT;
if ( str=="CLOUDY" ) return raspicam::RASPICAM_AWB_CLOUDY;
if ( str=="SHADE" ) return raspicam::RASPICAM_AWB_SHADE;
if ( str=="TUNGSTEN" ) return raspicam::RASPICAM_AWB_TUNGSTEN;
if ( str=="FLUORESCENT" ) return raspicam::RASPICAM_AWB_FLUORESCENT;
if ( str=="INCANDESCENT" ) return raspicam::RASPICAM_AWB_INCANDESCENT;
if ( str=="FLASH" ) return raspicam::RASPICAM_AWB_FLASH;
if ( str=="HORIZON" ) return raspicam::RASPICAM_AWB_HORIZON;
return raspicam::RASPICAM_AWB_AUTO;
}
void processCommandLine ( int argc,char **argv,raspicam::RaspiCam &Camera ) {
Camera.setWidth ( getParamVal ( "-w",argc,argv,1280 ) );
Camera.setHeight ( getParamVal ( "-h",argc,argv,960 ) );
Camera.setBrightness ( getParamVal ( "-br",argc,argv,50 ) );
Camera.setSharpness ( getParamVal ( "-sh",argc,argv,0 ) );
Camera.setContrast ( getParamVal ( "-co",argc,argv,0 ) );
Camera.setSaturation ( getParamVal ( "-sa",argc,argv,0 ) );
Camera.setShutterSpeed( getParamVal ( "-ss",argc,argv,0 ) );
Camera.setISO ( getParamVal ( "-iso",argc,argv ,400 ) );
if ( findParam ( "-vs",argc,argv ) !=-1 )
Camera.setVideoStabilization ( true );
Camera.setExposureCompensation ( getParamVal ( "-ec",argc,argv ,0 ) );
if ( findParam ( "-gr",argc,argv ) !=-1 )
Camera.setFormat(raspicam::RASPICAM_FORMAT_GRAY);
if ( findParam ( "-yuv",argc,argv ) !=-1 )
Camera.setFormat(raspicam::RASPICAM_FORMAT_YUV420);
if ( findParam ( "-test_speed",argc,argv ) !=-1 )
doTestSpeedOnly=true;
if ( findParam ( "-usr_cb",argc,argv ) !=-1 )
useUserCallback=true;
int idx;
if ( ( idx=findParam ( "-ex",argc,argv ) ) !=-1 )
Camera.setExposure ( getExposureFromString ( argv[idx+1] ) );
if ( ( idx=findParam ( "-awb",argc,argv ) ) !=-1 )
Camera.setAWB( getAwbFromString ( argv[idx+1] ) );
nFramesCaptured=getParamVal("-nframes",argc,argv,100);
Camera.setAWB_RB(getParamVal("-awb_b",argc,argv ,1), getParamVal("-awb_g",argc,argv ,1));
Camera.setFrameRate(getParamVal("-fps",argc,argv, 0));
}
void showUsage() {
cout<<"Usage: "<<endl;
cout<<"[-help shows this help]\n"<<endl;
cout<<"[-gr sets gray color mode]\n"<<endl;
cout<<"[-test_speed use for test speed and no images will be saved]\n";
cout<<"[-usr_cb use for test the user-defined callback mechanism]\n";
cout<<"[-yuv sets yuv420 color mode]\n"<<endl;
cout<<"[-w width] [-h height] \n[-br brightness_val(0,100)]\n[-sh sharpness_val (-100 to 100)]\n";
cout<<"[-co contrast_val (-100 to 100)]\n[-sa saturation_val (-100 to 100)]\n";
cout<<"[-iso ISO_val (100 to 800)]\n[-vs turns on video stabilisation]\n[-ec exposure_compensation_value(-10,10)]\n";
cout<<"[-ss shutter_speed (value in microsecs (max 330000)]\n[-ec exposure_compensation_value(-10,10)]\n";
cout<<"[-exp mode (OFF,AUTO,NIGHT,NIGHTPREVIEW,BACKLIGHT,SPOTLIGHT,SPORTS,SNOW,BEACH,VERYLONG,FIXEDFPS,ANTISHAKE,FIREWORKS)]"<<endl;
cout<<"[-awb (OFF,AUTO,SUNLIGHT,CLOUDY,TUNGSTEN,FLUORESCENT,INCANDESCENT,FLASH,HORIZON)]"<<endl;
cout<<"[-nframes val: number of frames captured (100 default). 0 == Infinite lopp]\n";
cout<<"[-awb_r val:(0,8):set the value for the red component of white balance]"<<endl;
cout<<"[-awb_g val:(0,8):set the value for the green component of white balance]"<<endl;
cout<<"[-fps frame_rate (0 to 120) 0 auto]\n";
cout<<endl;
}
//timer functions
#include <sys/time.h>
#include <unistd.h>
class Timer{
private:
struct timeval _start, _end;
public:
Timer(){}
void start(){
gettimeofday(&_start, NULL);
}
void end(){
gettimeofday(&_end, NULL);
}
double getSecs(){
return double(((_end.tv_sec - _start.tv_sec) * 1000 + (_end.tv_usec - _start.tv_usec)/1000.0) + 0.5)/1000.;
}
};
void saveImage ( string filepath,unsigned char *data,raspicam::RaspiCam &Camera ) {
std::ofstream outFile ( filepath.c_str(),std::ios::binary );
if ( Camera.getFormat()==raspicam::RASPICAM_FORMAT_BGR || Camera.getFormat()==raspicam::RASPICAM_FORMAT_RGB ) {
outFile<<"P6\n";
} else if ( Camera.getFormat()==raspicam::RASPICAM_FORMAT_GRAY ) {
outFile<<"P5\n";
} else if ( Camera.getFormat()==raspicam::RASPICAM_FORMAT_YUV420 ) { //made up format
// Openable as a .yuv format
outFile.write ( ( char* ) data,Camera.getImageBufferSize() );
return;
}
outFile<<Camera.getWidth() <<" "<<Camera.getHeight() <<" 255\n";
outFile.write ( ( char* ) data,Camera.getImageBufferSize() );
}
string getExtension ( raspicam::RaspiCam &Camera ) {
if ( Camera.getFormat()==raspicam::RASPICAM_FORMAT_YUV420 ) {
return ".yuv";
}
else {
return ".ppm";
}
}
struct CallBackData_t{
raspicam::RaspiCam* Camera;
unsigned char *data;
size_t i=0;
volatile bool isCapturing = false;
};
void vidInCallback(void* data){
// new image captured
if (0 == data) return;
struct CallBackData_t* camData = (struct CallBackData_t*)data;
if (!camData->isCapturing) return;
camData->Camera->retrieve ( camData->data );
if ( !doTestSpeedOnly ) {
if ( camData->i%5==0 ) cout<<"\r capturing ..."<<camData->i<<"/"<<nFramesCaptured<<std::flush;
if ( camData->i%30==0 && camData->i!=0 && nFramesCaptured>0 ) { //save image if not in inifite loop
std::stringstream fn;
fn<<"image";
if (camData->i<10) fn<<"0";
fn<<camData->i<<getExtension(*camData->Camera);
saveImage ( fn.str(),camData->data,*(camData->Camera) );
cerr<<"Saving "<<fn.str()<<endl;
}
}
if (++(camData->i) >= nFramesCaptured){
//stops when nFrames captured or at infinity lpif nFramesCaptured<0
camData->Camera->setUserCallback(0);
camData->isCapturing = false;
}
}
int main ( int argc,char **argv ) {
if ( argc==1 ) {
cerr<<"Usage (-help for help)"<<endl;
}
if ( findParam ( "-help",argc,argv ) !=-1) {
showUsage();
return -1;
}
raspicam::RaspiCam Camera;
processCommandLine ( argc,argv,Camera );
cout<<"Connecting to camera"<<endl;
if ( !Camera.open() ) {
cerr<<"Error opening camera"<<endl;
return -1;
}
cout<<"Connected to camera ="<<Camera.getId() <<" bufs="<<Camera.getImageBufferSize( )<<endl;
unsigned char *data=new unsigned char[ Camera.getImageBufferSize( )];
Timer timer;
// prepare callback data
struct CallBackData_t camData;
if (useUserCallback) {
camData.Camera = &Camera;
camData.data = data;
camData.i = 0;
// set the user callback
Camera.setUserCallback(&vidInCallback, &camData);
cout<<"user callback set"<<endl;
}
cout<<"Capturing...."<<endl;
size_t i=0;
timer.start();
if (useUserCallback) {
// start the test
camData.isCapturing = true;
while( camData.isCapturing) {usleep(10);};
} else {
// not using user callback
do{
Camera.grab();
Camera.retrieve ( data );
if ( !doTestSpeedOnly ) {
if ( i%5==0 ) cout<<"\r capturing ..."<<i<<"/"<<nFramesCaptured<<std::flush;
if ( i%30==0 && i!=0 && nFramesCaptured>0 ) { //save image if not in inifite loop
std::stringstream fn;
fn<<"image";
if (i<10) fn<<"0";
fn<<i<<getExtension(Camera);
saveImage ( fn.str(),data,Camera );
cerr<<"Saving "<<fn.str()<<endl;
}
}
}while(++i<nFramesCaptured || nFramesCaptured==0);//stops when nFrames captured or at infinity lpif nFramesCaptured<0
}
timer.end();
if ( !doTestSpeedOnly ) cout<<endl<<"Images saved in imagexx"<<getExtension(Camera)<<endl;
cerr<< timer.getSecs()<< " seconds for "<< nFramesCaptured<< " frames : FPS " << ( ( float ) ( nFramesCaptured ) / timer.getSecs() ) <<endl;
Camera.release();
}