Skip to content

linux_x86 cpp : support multi usb camera #86

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
justgaoyuan wants to merge 1 commit into
base: master
Choose a base branch
from
Open

linux_x86 cpp : support multi usb camera #86

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
88 changes: 50 additions & 38 deletions Linux_x86/Cpp/Streaming_demo/ArduCam_Demo.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@
using namespace std;
using namespace cv;

ArduCamHandle cameraHandles[32];
std::vector<std::thread> threads;
ArduCamCfg cameraCfg;
volatile bool _running = true;
bool save_raw = false;
Expand Down Expand Up @@ -272,7 +274,7 @@ void writeSensorRegs(ArduCamHandle &cameraHandle,cv::FileNode rp){
* @param cameraCfg :camera config struct
* @return TURE or FALSE
* */
bool camera_initFromFile(std::string filename, ArduCamHandle &cameraHandle, ArduCamCfg &cameraCfg) {
bool camera_initFromFile(std::string filename, ArduCamHandle &cameraHandle, ArduCamCfg &cameraCfg, const int cam_index) {
cv::FileStorage cfg;
if (cfg.open(filename, cv::FileStorage::READ)) {
cv::FileNode cp = cfg["camera_parameter"];
Expand Down Expand Up @@ -315,8 +317,8 @@ bool camera_initFromFile(std::string filename, ArduCamHandle &cameraHandle, Ardu
save_raw = true;
}

//int ret_val = ArduCam_open(cameraHandle, &cameraCfg,0);
int ret_val = ArduCam_autoopen(cameraHandle, &cameraCfg);
int ret_val = ArduCam_open(cameraHandle, &cameraCfg, cam_index);
//int ret_val = ArduCam_autoopen(cameraHandle, &cameraCfg);
if ( ret_val == USB_CAMERA_NO_ERROR) {
//ArduCam_enableForceRead(cameraHandle); //Force display image
cv::FileNode board_param = cfg["board_parameter"];
Expand Down Expand Up @@ -389,15 +391,18 @@ void captureImage_thread(ArduCamHandle handle) {
std::cout << "Capture thread stopped." << std::endl;
}

void readImage_thread(ArduCamHandle handle) {
void readImage_thread(ArduCamHandle handle, const int cam_index) {
ArduCamOutData* frameData;
cv::namedWindow("ArduCam", cv::WINDOW_AUTOSIZE);
char win_name[50];
sprintf(win_name,"ArduCam%d", cam_index);
cv::namedWindow(win_name, cv::WINDOW_AUTOSIZE);
long beginTime = time(NULL);
int frame_count = 0;
long total_frame = 0;
int flag = 0;
cv::Mat rawImage ;
const char* save_path = "images";
char save_path[50];
sprintf(save_path,"cam%d_images/", cam_index);
#ifdef linux
if(access(save_path, F_OK) != 0){
if(mkdir(save_path, S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH) == -1)
Expand Down Expand Up @@ -432,25 +437,25 @@ void readImage_thread(ArduCamHandle handle) {
if ((time(NULL) - beginTime) >= 1)
{
beginTime = time(NULL);
printf("-------------------%d fps\n", frame_count);
printf("cam%d-------------------%d fps\n", cam_index, frame_count);
frame_count = 0;
}
if(save_flag){
char imageName[50];
printf("save image%ld.jpg.\n",total_frame);
sprintf(imageName,"images/image%ld.jpg",total_frame);
sprintf(imageName,"cam%d_images/image%ld.jpg", cam_index, total_frame);
cv::imwrite(imageName,rawImage);
if(save_raw){
printf("save image%ld.raw.\n",total_frame);
sprintf(imageName,"images/image%ld.raw",total_frame);
FILE *file = fopen(imageName,"wb");
fwrite(frameData->pu8ImageData,1,frameData->stImagePara.u32Size,file);
fclose(file);
printf("save image%ld.raw.\n",total_frame);
sprintf(imageName,"cam%d_images/image%ld.raw", cam_index, total_frame);
FILE *file = fopen(imageName,"wb");
fwrite(frameData->pu8ImageData,1,frameData->stImagePara.u32Size,file);
fclose(file);
}
total_frame++;
}
cv::resize(rawImage, rawImage, cv::Size(640, 480), (0, 0), (0, 0), cv::INTER_LINEAR);
cv::imshow("ArduCam", rawImage);
cv::imshow(win_name, rawImage);
//printf("----------%f\n", (clock() - begin_disp) * 1.0 / CLOCKS_PER_SEC);

int key = -1;
Expand Down Expand Up @@ -491,43 +496,48 @@ int main(int argc,char **argv)
showHelp();
return 0;
}

ArduCamIndexinfo pUsbIdxArray[16];
int camera_num = 0;
camera_num = ArduCam_scan(pUsbIdxArray);
printf("device num:%d\n",camera_num);
printf("device num:%d\n",camera_num);
char serial[16];
unsigned char *u8TmpData;
for(int i = 0; i < camera_num ;i++){
for(int i = 0; i < camera_num ;i++){
u8TmpData = pUsbIdxArray[i].u8SerialNum;
sprintf(serial,"%c%c%c%c-%c%c%c%c-%c%c%c%c",
u8TmpData[0], u8TmpData[1], u8TmpData[2], u8TmpData[3],
u8TmpData[4], u8TmpData[5], u8TmpData[6], u8TmpData[7],
u8TmpData[8], u8TmpData[9], u8TmpData[10], u8TmpData[11]);
printf("index:%4d\tSerial:%s\n",pUsbIdxArray[i].u8UsbIndex,serial);
}
printf("index:%4d\tSerial:%s\n",pUsbIdxArray[i].u8UsbIndex,serial);
}
#ifdef linux
sleep(2);
#endif
for(int i = 0 ; i < camera_num ;i++){
//read config file and open the camera.
if (!camera_initFromFile(config_file_name, cameraHandles[i], cameraCfg, i))
cameraHandles[i] = NULL;
else{
Uint32 ret_val = ArduCam_setMode(cameraHandles[i], CONTINUOUS_MODE);
threads.push_back(std::thread(captureImage_thread, cameraHandles[i]));
threads.push_back(std::thread(readImage_thread, cameraHandles[i], i));
std::cout << "camera " << i << " capture thread create successfully." << std::endl;
std::cout << "camera " << i << " read thread create successfully." << std::endl;
}
}

//read config file and open the camera.
if (camera_initFromFile(config_file_name, cameraHandle, cameraCfg)) {
ArduCam_setMode(cameraHandle,CONTINUOUS_MODE);
std::thread captureThread(captureImage_thread, cameraHandle);
std::thread readThread(readImage_thread, cameraHandle);
std::cout << "capture thread create successfully." << std::endl;
std::cout << "read thread create successfully." << std::endl;
int key = -1;
int key_val = -1;
#ifdef linux
while((key = getchar()) != -1){
while((key_val = getchar()) != -1){
#endif
#ifdef _WIN32
while((key = _getch()) != -1){
while((key_val = _getch()) != -1){
#endif
if(key == 'q' || key == 'Q'){
if(key_val == 'q' || key_val == 'Q'){
break;
}
switch(key){
switch(key_val){
case 's':
case 'S':
save_flag = true;
Expand All @@ -537,15 +547,17 @@ int main(int argc,char **argv)
save_flag = false;
break;
}
}

_running = false;
readThread.join();
captureThread.join();
cv::destroyAllWindows();
ArduCam_close(cameraHandle);
}

_running = false;
for (auto & i : threads)
i.join();
cv::destroyAllWindows();
for(int i = 0 ;i < camera_num ;i++){
if(cameraHandles[i] != NULL){
ArduCam_close(cameraHandles[i]);
}
}

std::cout << std::endl << "Press ENTER to exit..." << std::endl;
std::string key;
Expand Down