/****************************************************************************/ /* Copyright 2012 MBARI. */ /* Monterey Bay Aquarium Research Institute Proprietary Information. */ /* All rights reserved. */ /****************************************************************************/ #include #include #include #include #include #include #include /* Sensoray includes */ #include "s2255.h" #include "s2255f.mingw.h" /* OpenCV 2.4.2 includes: */ #include #include #include /* prototypes and defines */ FILE* logFile = NULL; int logMsg(char* msg); #define SOCK_BUFF_SZ 1024 int main(int argc, char* argv[]) { int result; /* process loop vars */ int end_loop = 0; int image_cnt = 1; char image_name[512]; /* openCV vars */ IplImage* bmp_frame; IplImage* frame; /* openCV SIFT vars */ cv::Mat in_img; cv::SIFT sift; cv::vector key_points; cv::Mat descriptors; cv::Mat out_img; cv::FileStorage fs; /* Sensoray vars */ HANDLE hdev; int board = 0; int channel = 1; int im_size; BITMAPINFO bmi; MODE2255 mymode = {DEF_MODE_NTSC_CONT}; /* windows socket vars */ WSADATA wsa_data; SOCKET sock; SOCKADDR_IN recv_addr; SOCKADDR_IN send_addr; int send_addr_size = sizeof(send_addr); char sock_buff[SOCK_BUFF_SZ]; /* log file vars */ char log_buff[1024]; /****************************************************************************/ /* startup and usage banners */ /****************************************************************************/ printf("imageGrabber built on %s at %s\n\n", __DATE__, __TIME__); if (argc != 2) { printf("Usage: imageGrabber.exe [port]\n"); return -1; } /****************************************************************************/ /* init openCV components */ /****************************************************************************/ frame = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U, 3); cvZero(frame); bmp_frame = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U, 3); cvZero(bmp_frame); /* the Sensoray captures RGB frames as window style bitmaps */ /* 1 - bottom-left origin (Windows bitmaps style) */ /* frame->origin = 1; */ /********************************************************/ /* note: frame->origin was not being picked up by */ /* cv::cvarrToMat, so I'm now flipping by using two */ /* frames and cvConvertImage(src, dst, CV_CVTIMG_FLIP); */ /********************************************************/ /****************************************************************************/ /* init Sensoray board */ /****************************************************************************/ result = S2255_DeviceOpen(board, &hdev); if ( result != 0 ) { printf("Error opening Device Error Num %d\n", result); /* clean up and exit with error */ cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); return -1; } /* setup capture mode, assume RGB color */ mymode.color = COLOR_RGB; mymode.scale = SCALE_4CIFSI; result = S2255_SetMode(hdev, channel, &mymode); if ( result != 0 ) { printf("Failed to set Sensoray mode Error Num %d\n", result); /* clean up and exit with error */ cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); S2255_DeviceClose(hdev); return -1; } /* find out what size of buffer we need */ im_size = S2255_get_image_size(&mymode); if (bmp_frame->imageSize != im_size) { printf("Error: Image frame size mismatch\n"); printf("OpenCV frame = %d bytes\n", bmp_frame->imageSize); printf("Sensoray frame = %d bytes\n", im_size); /* clean up and exit with error */ cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); S2255_DeviceClose(hdev); return -1; } /****************************************************************************/ /* init windows sockets */ /****************************************************************************/ /* starup winsock winsock */ result = WSAStartup(MAKEWORD(2, 2), &wsa_data); if ( result != NO_ERROR ) { printf("WSAStartup failed with error %d\n", result); /* clean up and exit with error */ cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); S2255_DeviceClose(hdev); return -1; } /* open the datagram socket */ sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); if (sock == INVALID_SOCKET) { printf("socket failed with error %d\n", WSAGetLastError()); /* clean up and exit with error */ cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); S2255_DeviceClose(hdev); WSACleanup(); return -1; } /* bind the socket to the port you want to listen on */ recv_addr.sin_family = AF_INET; recv_addr.sin_port = htons(atoi(argv[1])); recv_addr.sin_addr.s_addr = htonl(INADDR_ANY); result = bind(sock, (SOCKADDR*)&recv_addr, sizeof(recv_addr)); if ( result != 0 ) { printf("bind failed with error %d\n", WSAGetLastError()); /* clean up and exit with error */ cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); S2255_DeviceClose(hdev); closesocket(sock); WSACleanup(); return -1; } /****************************************************************************/ /* init logfile */ /****************************************************************************/ logFile = fopen("dataLog.txt", "a+"); /****************************************************************************/ /* processing loop */ /****************************************************************************/ /* open a display window named "image" */ cvNamedWindow("image", CV_WINDOW_AUTOSIZE); while ( !end_loop ) { printf("<----------- waiting for image%04d ----------->\n", image_cnt); result = recvfrom(sock, sock_buff, SOCK_BUFF_SZ, 0, (SOCKADDR*)&send_addr, &send_addr_size); if ( result == SOCKET_ERROR ) { printf("recvfrom failed with error %d\n", WSAGetLastError()); } /* terminate received message */ printf("received datagram from %s\n", inet_ntoa(send_addr.sin_addr)); if ( result > 0 ) sock_buff[result] = '\0'; printf("datagram payload [%s]\n", sock_buff); /* send ACK back to sender */ printf("sending ACK to the remote computer\n"); result = sendto(sock, "ACK", strlen("ACK"), 0, (SOCKADDR*)&send_addr, sizeof(send_addr)); if ( result == SOCKET_ERROR ) { printf("sendto failed with error: %d\n", WSAGetLastError()); /* clean up and exit with error */ cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); S2255_DeviceClose(hdev); fclose(logFile); closesocket(sock); WSACleanup(); return -1; } /* make log entry from datagram payload */ /* log the contents of the datagram to the logfile */ sprintf(log_buff, "%04d\t%s", image_cnt, sock_buff); logMsg(log_buff); /* grab a frame from the Sensoray */ result = S2255_GrabFrame(hdev, channel, (unsigned char*)bmp_frame->imageData, bmp_frame->imageSize, 1000, &bmi); if ( result != 0 ) printf("S2255_GrabFrame(...) failed with erro %d\n", result); /* flip the image here so it can be used with cv::Mat */ cvConvertImage(bmp_frame, frame, CV_CVTIMG_FLIP); /* convert the frame to a cv:Mat image */ in_img = cv::cvarrToMat(frame); /* peform the SIFT algorithm */ sift(in_img, cv::Mat(), key_points, descriptors); /* draw the keypoints on an output image */ drawKeypoints(in_img, key_points, out_img); cv::imshow("image", out_img); /* save key_points and descriptors as yaml files */ sprintf(image_name, "keypoints%04d.yml", image_cnt); fs.open(image_name, cv::FileStorage::WRITE); fs << "key_points" << key_points; fs.release(); sprintf(image_name, "descriptors%04d.yml", image_cnt); fs.open(image_name, cv::FileStorage::WRITE); fs << "descriptors" << descriptors; fs.release(); /* cvShowImage doesn't seem to display without a small pause */ cvWaitKey(33); /* save the image */ sprintf(image_name, "image%04d.jpg", image_cnt); cvSaveImage(image_name, frame, 0); printf("image %d saved\n", image_cnt++); /* check for exit request */ if ( strnicmp(sock_buff, "EXIT", 4) == 0 ) { printf("recieved EXIT request, terminating acquisition loop\n"); end_loop = 1; } } /* clean up and exit */ cvDestroyAllWindows(); cvReleaseImage(&frame); cvReleaseImage(&bmp_frame); S2255_DeviceClose(hdev); fclose(logFile); closesocket(sock); WSACleanup(); return 0; } int logMsg(char* msg) { time_t time_now; char time_str[32]; struct tm *tmp; if ( logFile == (FILE*)NULL ) return -1; time(&time_now); tmp = localtime(&time_now); strftime(time_str, 32, "%b %d %X", tmp); /* fprintf(logFile, "%s, %s\n", time_str, msg);*/ fprintf(logFile, "%s\n", msg); fflush(logFile); return 0; }