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/*
* Performance evaluation demo program for libdc1394
*
* (c) 2011 Cyberdyne Inc., by Damien Douxchamps
*/
#include <stdlib.h>
#include <math.h>
#include <stdio.h>
#include <unistd.h>
#include <signal.h>
#include <dc1394/dc1394.h>
#include <SDL/SDL.h>
#include <SDL/SDL_opengl.h>
#include <sys/time.h>
#define HALF_RESOLUTION
#ifdef HALF_RESOLUTION
#define SX 376
#define SY 240
#define PKT 1504
#define MODE DC1394_VIDEO_MODE_FORMAT7_1
#define DEF_BIN_MAX 125.0
#define DEF_BIN_MIN 109.0
#else
#define SX 752
#define SY 480
#define PKT 3008
#define MODE DC1394_VIDEO_MODE_FORMAT7_0
#define DEF_BIN_MAX 66.0
#define DEF_BIN_MIN 50.0
#endif
#define DEF_BIN_N 8
#define STABILIZING_TIME 1.0
double fps_min, fps_max;
unsigned int *bins = NULL;
unsigned int nframes=0;
float bin_max, bin_min;
int bin_n;
dc1394_t *d;
dc1394camera_t *camera;
SDL_Surface *video;
typedef struct {
struct timeval rawtime_new;
struct timeval rawtime_old;
} TimeLapse_t;
void
DisplayStatsAndExit(int sig)
{
int i;
fprintf(stderr,"\nFramerate statistics:\n");
fprintf(stderr,"bin centers:\t[");
for (i=0;i<bin_n;i++) {
if (i==0)
fprintf(stderr,"<");
fprintf(stderr,"%3.1f",(float)bin_min+(float)(bin_max-bin_min)/(float)bin_n*((float)i+.5));
if (i==bin_n-1)
fprintf(stderr,">");
if (i<bin_n)
fprintf(stderr,"\t");
}
fprintf(stderr,"]\n");
fprintf(stderr,"histogram:\t[");
for (i=0;i<bin_n;i++) {
if (bins[i]!=0)
fprintf(stderr,"%d",bins[i]);
else
fprintf(stderr," ");
if (i<bin_n)
fprintf(stderr,"\t");
}
fprintf(stderr,"]\n");
fprintf(stderr,"percentage:\t[");
for (i=0;i<bin_n;i++) {
if (bins[i]!=0)
fprintf(stderr,"%3.1f",(float)bins[i]/nframes*100);
else
fprintf(stderr," ");
if (i<bin_n)
fprintf(stderr,"\t");
}
fprintf(stderr,"]\n");
free(bins);
SDL_Quit();
dc1394_video_set_transmission(camera, DC1394_OFF);
dc1394_capture_stop(camera);
dc1394_camera_free (camera);
dc1394_free(d);
exit(0);
}
SDL_Surface*
SDL_Start_GL(int width, int height)
{
// Slightly different SDL initialization
if ( SDL_Init(SDL_INIT_VIDEO) != 0 ) {
printf("SDL error: %s\n", SDL_GetError());
return NULL;
}
// set window title:
SDL_WM_SetCaption("Camera live output","");
SDL_GL_SetAttribute( SDL_GL_DOUBLEBUFFER, 1);
SDL_GL_SetAttribute( SDL_GL_SWAP_CONTROL, 0);
video = SDL_SetVideoMode( width, height, 16, SDL_OPENGL | SDL_HWSURFACE); // *changed*
if ( !video ) {
printf("SDL error: %s\n", SDL_GetError());
return NULL;
}
// Setup OpenGL
glClearColor( 0, 0, 0, 0 );
glEnable( GL_TEXTURE_2D ); // Need this to display a texture
glViewport( 0, 0, width, height );
glMatrixMode( GL_PROJECTION );
glLoadIdentity();
glOrtho( 0, width, height, 0, -10000, 10000);
glMatrixMode( GL_MODELVIEW );
glLoadIdentity();
SDL_ShowCursor(0);
return(video);
}
// Reset the interval timer
void
ResetTimer(TimeLapse_t *timer)
{
gettimeofday(&timer->rawtime_old, NULL);
}
// Return the time lapse in seconds between the last call to the same function or to ResetTimer
double
GetTimeLapseSec(TimeLapse_t *timer)
{
double interval;
gettimeofday(&timer->rawtime_new, NULL);
interval = timer->rawtime_new.tv_sec-timer->rawtime_old.tv_sec + (float)(timer->rawtime_new.tv_usec-timer->rawtime_old.tv_usec)/1000000.0;
timer->rawtime_old.tv_sec = timer->rawtime_new.tv_sec;
timer->rawtime_old.tv_usec = timer->rawtime_new.tv_usec;
return interval;
}
int main(int argc, char *argv[])
{
double lapse=0;
double fps;
double ntime=0, ptime=0, tmp;
int index;
dc1394video_frame_t *frame;
dc1394error_t err;
GLuint texture;
TimeLapse_t timer;
int cam_id=0;
if ( argc!=1 && argc!=2) {
fprintf(stderr,"Usage:\n\tdc1394_iso <optional camera_ID>\n");
fprintf(stderr,"\t\tDefault values for histogram are min=%.0f, max=%.0f and %d bins\n\n",DEF_BIN_MIN, DEF_BIN_MAX, (int)DEF_BIN_N);
exit(0);
}
signal(SIGINT, DisplayStatsAndExit);
if (argc==2)
cam_id=atoi(argv[1]);
bin_n=DEF_BIN_N;
bin_max=DEF_BIN_MAX;
bin_min=DEF_BIN_MIN;
bins = calloc(bin_n,sizeof(unsigned int));
// init 1394
d = dc1394_new();
if (!d) return 1;
// find cameras
dc1394camera_list_t * list;
err=dc1394_camera_enumerate (d, &list);
DC1394_ERR_RTN(err,"Failed to enumerate cameras");
if (list->num == 0) {
fprintf(stderr,"No cameras found\n");
return 1;
}
else {
if (list->num<cam_id+1) {
fprintf(stderr,"Not enough cameras found for id\n");
return 1;
}
}
// use selected camera
camera = dc1394_camera_new (d, list->ids[cam_id].guid);
if (!camera) {
dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[cam_id].guid);
return 1;
}
dc1394_camera_free_list (list);
// setup video format
dc1394_video_set_transmission(camera, DC1394_OFF); // just in case
dc1394_video_set_mode(camera, MODE);
dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
err=dc1394_format7_set_roi(camera, MODE, DC1394_COLOR_CODING_MONO8, PKT, 0, 0, SX, SY);
if (err!=DC1394_SUCCESS) {
fprintf(stderr,"Could not set ROI!\n");
return 0;
}
// setup catpure
err=dc1394_capture_setup(camera, 10, DC1394_CAPTURE_FLAGS_DEFAULT);
if (err!=DC1394_SUCCESS) {
fprintf(stderr,"Could not set capture!\n");
return 0;
}
fps_min=9e6;
fps_max=0;
fprintf(stderr,"\t\t\t\t------------- FPS -------------- \n");
fprintf(stderr,"Time:\t\tFrames:\t\tInst:\tMin:\tMax:\tAvg:\n");
fprintf(stderr,"Stabilizing...\r");
unsigned int stabilized=0;
video=SDL_Start_GL(SX, SY);
// start image transmission
dc1394_video_set_transmission(camera, DC1394_ON);
ResetTimer(&timer);
// ----- ready to roll on all images! -----
int quit = 0;
while (!quit) {
// capture image
err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &frame);/* Capture */
DC1394_ERR_RTN(err,"Problem getting an image");
// display image
glGenTextures( 1, &texture);
glBindTexture( GL_TEXTURE_2D, texture);
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
glTexImage2D( GL_TEXTURE_2D, 0, GL_LUMINANCE8, SX, SY, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, frame->image );
// return buffer
dc1394_capture_enqueue(camera, frame);
glBegin( GL_QUADS );
{
glTexCoord2f(0, 0);
glVertex3f(0, 0, 1 );
glTexCoord2f(0, 1);
glVertex3f(0, SY, 1 );
glTexCoord2f(1, 1);
glVertex3f(SX, SY, 1 );
glTexCoord2f(1, 0);
glVertex3f(SX, 0, 1 );
}
glEnd();
SDL_GL_SwapBuffers();
glDeleteTextures(1, &texture);
if (ntime>0.1) // if ntime is valid...
ptime=ntime;
ntime=(double)frame->timestamp/1000000.0;
// display the framerate
nframes++;
fps=1.0/(ntime-ptime+1e-20);
tmp=GetTimeLapseSec(&timer);
lapse+=tmp;
if (lapse>STABILIZING_TIME && stabilized==0) {
stabilized=1;
lapse=tmp;
nframes=1;
fprintf(stderr," \r");
}
if (stabilized>0) {
if (nframes>1) {
fprintf(stderr,"%9.3f\t%7d \t%-3.2f \t%3.2f \t%3.2f \t%3.3f \r", lapse, nframes, fps, fps_min, fps_max, ((float)nframes)/(lapse+1e-10));
}
index=(int)((fps-bin_min)/((double)(bin_max-bin_min)/(double)bin_n));
if (index>bin_n-1)
index=bin_n-1;
if (index<0)
index=0;
bins[index]++;
if (fps_min>fps)
fps_min=fps;
if (fps_max<fps)
fps_max=fps;
}
SDL_Event event;
while (SDL_PollEvent(&event)) {
switch (event.type) {
case SDL_QUIT:
quit = 1;
break;
}
}
} // --------------- END OF BIG IMAGE LOOP -------------------
DisplayStatsAndExit(0);
return 0;
}