Hi everyone,
So this is my first post :S and as you will probably tell from my code, I'm pretty new to coding in c++. My main areas are web and online video streaming and encoding etc. however I have taken it upon myself to learn c++. This is part of an assignment for my final year at university. Essentially this code utilises the CLEye-multicam SDK from Code laboratorieshttp://codelaboratories.com which allows for multiple PS3 Eye camera instances to be created. The code is based off some SDK sample code which I have managed to hash together with my limited understanding. It is working however, I wish to hard code each camera instance based on its GUID. The project is going to be a permanent installation so I would like it if the cameras were initialised in a specific sequence.
I kinda want to do this: http://codelaboratories.com/forums/viewthread/114/
However I currently lack the understanding of the GUID type and c++ to create this. I am currently understanding the theorey more than the practical. The CL-EYE forum has been pretty quiet recently so I thought I would try here. I've used this site so many times, its about time I started giving back (if I can :$)
Also any feedback that anyone can give regarding the general coding would be great. I'm really enjoying learning C++ and would appreciate any feedback to help me develop my abilities. code is below...
#include "CLEyeMulticam.h"
#include "highgui.h"
#include "cv.h"
#include <iostream>
#include "stdafx.h"
using namespace std;
IplImage *_pCapImage[8];
HANDLE hEvents[5];
// Sample camera capture and processing class
class CLEyeStereoCameraCapture
{
CHAR _windowName[256];
int _idx; // Index of GUID to obtain
GUID _cameraGUID;
CLEyeCameraInstance _cam;
CLEyeCameraColorMode _mode;
CLEyeCameraResolution _resolution;
float _fps;
int _imageidx; // index of _pCapImage
HANDLE _hThread;
bool _running;
public:
CLEyeStereoCameraCapture(LPSTR windowName, int idx, CLEyeCameraResolution resolution, float fps, int imageidx) :
_idx(idx), _mode(CLEYE_MONO_RAW), _resolution(resolution), _fps(fps), _imageidx(imageidx), _running(false)
{
strcpy_s(_windowName, windowName);
_cameraGUID = CLEyeGetCameraUUID(_idx); // Get current camera guid - change to obtain it form array!!!
}
bool StartCapture()
{
_running = true;
cvNamedWindow(_windowName, CV_WINDOW_AUTOSIZE);
// Start CLEye image capture thread
_hThread = CreateThread(NULL, 0, &CLEyeStereoCameraCapture::CaptureThread, this, 0, 0);
if(_hThread == NULL)
{
//MessageBox(NULL,"Could not create capture thread","CLEyeStereoCameraCapture", MB_ICONEXCLAMATION);
return false;
}
printf("\nThread %d created",_imageidx); //DEBUG ONLY
return true;
}
/*-----------------------INCREMENT PARAMETER----------------------*/
void IncrementCameraParameter(int param)
{
if(!_cam) return;
printf("CLEyeGetCameraParameter %d\n", CLEyeGetCameraParameter(_cam, (CLEyeCameraParameter)param));
CLEyeSetCameraParameter(_cam, (CLEyeCameraParameter)param, CLEyeGetCameraParameter(_cam, (CLEyeCameraParameter)param)+1);
}
/*----------------------DECREMENT PARAMETER-----------------------*/
void DecrementCameraParameter(int param)
{
if(!_cam) return;
printf("CLEyeGetCameraParameter %d\n", CLEyeGetCameraParameter(_cam, (CLEyeCameraParameter)param));
CLEyeSetCameraParameter(_cam, (CLEyeCameraParameter)param, CLEyeGetCameraParameter(_cam, (CLEyeCameraParameter)param)-1);
}
void StopCapture()
{
if(!_running) return;
_running = false;
WaitForSingleObject(_hThread, 1000);
cvDestroyWindow(_windowName);
}
void Run()
{
printf("\ninside run %d",_imageidx); //DEBUG ONLY
int w, h;
// Create camera instance
_cam = CLEyeCreateCamera(_cameraGUID, _mode, _resolution, _fps);
if(_cam == NULL) return;
// Get camera frame dimensions
CLEyeCameraGetFrameDimensions(_cam, w, h);
// Create the OpenCV image
_pCapImage[_imageidx] = cvCreateImage(cvSize(w, h), IPL_DEPTH_8U, 1);
printf("\n_pcamImage[%d] created\n",_imageidx); //DEBUG ONLY
// Set some camera parameters
CLEyeSetCameraParameter(_cam, CLEYE_GAIN, 0);
CLEyeSetCameraParameter(_cam, CLEYE_EXPOSURE, 511);
// Start capturing
CLEyeCameraStart(_cam);
// image capturing loop
while(_running)
{
PBYTE pCapBuffer;
// Capture camera image
cvGetImageRawData(_pCapImage[_imageidx], &pCapBuffer);
CLEyeCameraGetFrame(_cam, pCapBuffer);
//
// Process the image here
cvShowImage(_windowName, _pCapImage[_imageidx]);
}
// Stop camera capture
CLEyeCameraStop(_cam);
// Destroy camera object
CLEyeDestroyCamera(_cam);
// Destroy the allocated OpenCV image
//cvReleaseImage(&_pCapImage);
cvReleaseImage(&_pCapImage[_imageidx]);
_cam = NULL;
}
static DWORD WINAPI CaptureThread(LPVOID instance)
{
// seed the RNG with current tick count and thread id
srand(GetTickCount() + GetCurrentThreadId());
// forward thread to Capture function
CLEyeStereoCameraCapture *pThis = (CLEyeStereoCameraCapture *)instance;
pThis->Run();
return 0;
}
};
int runstereo()
{
CLEyeStereoCameraCapture *cam[5]= { NULL };
// Query for number of connected cameras
int numCams = CLEyeGetCameraCount();
printf("%d cameras found\n", numCams);
// char windowName[64];
if(numCams < 4)
{
printf("ERROR: Need four PS3Eye cameras to run\n");
return -1;
}
// Create camera capture objects
cam[0] = new CLEyeStereoCameraCapture("Raw Camera 1", 0, CLEYE_QVGA, 30, 0);
cam[1] = new CLEyeStereoCameraCapture("Raw Camera 2", 1, CLEYE_QVGA, 30, 1);
cam[2] = new CLEyeStereoCameraCapture("Raw Camera 3", 2, CLEYE_QVGA, 30, 2);
cam[3] = new CLEyeStereoCameraCapture("Raw Camera 4", 3, CLEYE_QVGA, 30, 3);
cam[4] = new CLEyeStereoCameraCapture("Raw Camera 5", 4, CLEYE_QVGA, 30, 4);
printf("Starting capture\n");
cam[0]->StartCapture();
cam[1]->StartCapture();
cam[2]->StartCapture();
cam[3]->StartCapture();
cam[4]->StartCapture();
printf("Use the following keys to change camera parameters:\n"
"\t'1' - select camera 1\n"
"\t'2' - select camera 2\n"
"\t'3' - select camera 3\n"
"\t'4' - select camera 4\n"
"\t'4' - select camera 5\n"
//Add rows here for extra cameras.
"\t'g' - select gain parameter\n"
"\t'e' - select exposure parameter\n"
"\t'z' - select zoom parameter\n"
"\t'r' - select rotation parameter\n"
"\t'+' - increment selected parameter\n"
"\t'-' - decrement selected parameter\n");
// The <ESC> key will exit the program
CLEyeStereoCameraCapture *pCam = NULL;
int param = -1, key;
while((key = cvWaitKey(0)) != 0x1b)
{
switch(key)
{
case 'g': case 'G': printf("Parameter Gain\n"); param = CLEYE_GAIN; break;
case 'e': case 'E': printf("Parameter Exposure\n"); param = CLEYE_EXPOSURE; break;
case 'z': case 'Z': printf("Parameter Zoom\n"); param = CLEYE_ZOOM; break;
case 'r': case 'R': printf("Parameter Rotation\n"); param = CLEYE_ROTATION; break;
case '1': printf("Selected camera 1\n"); pCam = cam[0]; break;
case '2': printf("Selected camera 2\n"); pCam = cam[1]; break;
case '3': printf("Selected camera 3\n"); pCam = cam[2]; break;
case '4': printf("Selected camera 4\n"); pCam = cam[3]; break;
case '5': printf("Selected camera 5\n"); pCam = cam[4]; break;
case '+': if(pCam) pCam->IncrementCameraParameter(param); break;
case '-': if(pCam) pCam->DecrementCameraParameter(param); break;
}
}
// Stop capture
cam[0]->StopCapture();
cam[1]->StopCapture();
cam[2]->StopCapture();
cam[3]->StopCapture();
cam[4]->StopCapture();
delete cam[0];
delete cam[1];
delete cam[2];
delete cam[3];
delete cam[4];
return 0;
}