Hi guys!
First of all I want to thank all the people posting in this thread, you really helped me.
I am working on a small application in order to get pictures from the Pixy. The goal is to use these picture to get the calibration matrix of the camera using the openCV library.
To do so I took Hemanand Ramasamy’s code (thanks a lot for this work). Took me a while to understand how to compile it (“g++ -I/usr/include/libusb-1.0/ -I/usr/local/include -L/usr/local/lib/ pkg-config --cflags --libs opencv snapshot.cpp -o snapshot -Wall -lpixyusb -lusb-1.0 -lboost_system -lboost_thread -lboost_date_time -lboost_chrono” if can help someone).
However I get some weird things inside my image. Anyone having an idea of why this is happening? Am I missing something big? Can it be related to the camera mode? Or its software revision?
As you will see, the image is not complete as if the program was not able to recover the whole picture.
I also add the code allowing me to save the image.
Thanks for your consideration and help.
Maxime
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
using namespace cv;
using namespace std;
void interpolateBayer(unsigned int width, unsigned int x, unsigned int y, unsigned char *pixel, unsigned int &r, unsigned int &g, unsigned int &b);
Mat renderBA81(uint8_t renderFlags, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame);
Mat getImage();
int main(int argc, char * argv[])
{
int pixy_init_status;
int return_value;
int32_t response;
pixy_init_status = pixy_init();
if(!pixy_init_status == 0)
{
printf("pixy_init(): ");
pixy_error(pixy_init_status);
return pixy_init_status;
}
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
//return_value = pixy_rcs_set_position(1, 900);
//return_value = pixy_rcs_set_position(0, 500);
Mat image = getImage();
// Display and save the image
namedWindow( "Snapshot", WINDOW_AUTOSIZE );
imshow("Snapshot", image);
waitKey(0);
imwrite("/home/pi/pixy/calib/snapshot.jpg", image);
}
Mat getImage()
{
unsigned char *pixels;
int32_t response, fourcc;
int8_t renderflags;
//int return_value, res;
int return_value;
uint16_t rwidth, rheight;
uint32_t numPixels;
//uint16_t height,width;
//uint16_t mode;
return_value = pixy_command("run", END_OUT_ARGS, &response, END_IN_ARGS);
return_value = pixy_command("stop", END_OUT_ARGS, &response, END_IN_ARGS);
return_value = pixy_command("cam_getFrame", // String id for remote procedure
0x01, 0x21, // mode
0x02, 0, // xoffset
0x02, 0, // yoffset
0x02, 320, // width
0x02, 200, // height
0, // separator
&response, &fourcc, &renderflags, &rwidth, &rheight, &numPixels, &pixels, 0);
return renderBA81(renderflags,rwidth,rheight,numPixels,pixels);
}
inline void interpolateBayer(uint16_t width, uint16_t x, uint16_t y, uint8_t *pixel, uint8_t* r, uint8_t* g, uint8_t* b)
{
if (y&1)
{
if (x&1)
{
*r = *pixel;
*g = (*(pixel-1)+*(pixel+1)+*(pixel+width)+*(pixel-width))>>2;
*b = (*(pixel-width-1)+*(pixel-width+1)+*(pixel+width-1)+*(pixel+width+1))>>2;
}
else
{
*r = (*(pixel-1)+*(pixel+1))>>1;
*g = *pixel;
*b = (*(pixel-width)+*(pixel+width))>>1;
}
}
else
{
if (x&1)
{
*r = (*(pixel-width)+*(pixel+width))>>1;
*g = *pixel;
*b = (*(pixel-1)+*(pixel+1))>>1;
}
else
{
*r = (*(pixel-width-1)+*(pixel-width+1)+*(pixel+width-1)+*(pixel+width+1))>>2;
*g = (*(pixel-1)+*(pixel+1)+*(pixel+width)+*(pixel-width))>>2;
*b = *pixel;
}
}
}
Mat renderBA81(uint8_t renderFlags, uint16_t width, uint16_t height, uint32_t frameLen, uint8_t *frame)
{
uint16_t x, y;
uint8_t r, g, b;
Mat imageRGB;
frame += width;
uchar data[3*((height-2)*(width-2))];
uint m = 0;
for (y=1; y<height-1; y++)
{
frame++;
for (x=1; x<width-1; x++, frame++)
{
interpolateBayer(width, x, y, frame, &r, &g, &b);
data[m++] = b;
data[m++] = g;
data[m++] = r;
}
frame++;
}
imageRGB = Mat(height - 2,width -2, CV_8UC3, data);
return imageRGB;
}
