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pointgreycam/grasshopper.c

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/*
* This file is part of the grasshopper project.
* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <pthread.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <usefull_macros.h>
#include "aux.h"
#include "camera_functions.h"
#include "cmdlnopts.h"
#include "imageview.h"
void signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
putlog("Exit with status %d", sig);
if(G.pidfile) // remove unnesessary PID file
unlink(G.pidfile);
restore_console();
exit(sig);
}
static int GrabImage(fc2Context context, fc2Image *convertedImage){
fc2Error error;
fc2Image rawImage;
// start capture
FC2FNE(fc2StartCapture, context);
error = fc2CreateImage(&rawImage);
if(error != FC2_ERROR_OK){
printf("Error in fc2CreateImage: %s\n", fc2ErrorToDescription(error));
return -1;
}
// Retrieve the image
error = fc2RetrieveBuffer(context, &rawImage);
if (error != FC2_ERROR_OK){
printf("Error in retrieveBuffer: %s\n", fc2ErrorToDescription(error));
return -1;
}
// Convert image to gray
windowData *win = getWin();
if(win) pthread_mutex_lock(&win->mutex);
error = fc2ConvertImageTo(FC2_PIXEL_FORMAT_MONO8, &rawImage, convertedImage);
if(win) pthread_mutex_unlock(&win->mutex);
if(error != FC2_ERROR_OK){
printf("Error in fc2ConvertImageTo: %s\n", fc2ErrorToDescription(error));
return -1;
}
fc2StopCapture(context);
fc2DestroyImage(&rawImage);
return 0;
}
/**
* Convert gray (unsigned short) into RGB components (GLubyte)
* @argument L - gray level
* @argument rgb - rgb array (GLubyte [3])
*/
static void gray2rgb(double gray, GLubyte *rgb){
int i = gray * 4.;
double x = (gray - (double)i * .25) * 4.;
GLubyte r = 0, g = 0, b = 0;
//r = g = b = (gray < 1) ? gray * 256 : 255;
switch(i){
case 0:
g = (GLubyte)(255. * x);
b = 255;
break;
case 1:
g = 255;
b = (GLubyte)(255. * (1. - x));
break;
case 2:
r = (GLubyte)(255. * x);
g = 255;
break;
case 3:
r = 255;
g = (GLubyte)(255. * (1. - x));
break;
default:
r = 255;
}
*rgb++ = r;
*rgb++ = g;
*rgb = b;
}
// functions for converting grayscale value into colour
typedef enum{
COLORFN_LINEAR, // linear
COLORFN_LOG, // ln
COLORFN_SQRT, // sqrt
COLORFN_MAX // end of list
} colorfn_type;
static colorfn_type ft = COLORFN_LINEAR;
static double linfun(double arg){ return arg; } // bung for PREVIEW_LINEAR
static double logfun(double arg){ return log(1.+arg); } // for PREVIEW_LOG
static double (*colorfun)(double) = linfun; // default function to convert color
static void change_colorfun(colorfn_type f){
DBG("New colorfn: %d", f);
switch (f){
case COLORFN_LOG:
colorfun = logfun;
ft = COLORFN_LOG;
break;
case COLORFN_SQRT:
colorfun = sqrt;
ft = COLORFN_SQRT;
break;
default: // linear
colorfun = linfun;
ft = COLORFN_LINEAR;
}
}
static void roll_colorfun(){
colorfn_type t = ++ft;
if(t == COLORFN_MAX) t = COLORFN_LINEAR;
change_colorfun(t);
}
static void change_displayed_image(windowData *win, fc2Image *convertedImage){
if(!win || !win->image) return;
rawimage *im = win->image;
DBG("imh=%d, imw=%d, ch=%u, cw=%u", im->h, im->w, convertedImage->rows, convertedImage->cols);
/*
if(!im->rawdata || im->h != (int)convertedImage->rows || im->w != (int)convertedImage->cols){
DBG("[re]allocate im->rawdata");
FREE(im->rawdata);
im->h = (int)convertedImage->rows;
im->w = (int)convertedImage->cols;
im->rawdata = MALLOC(GLubyte, 3 * im->h * im->w);
if(!im->rawdata) ERR("Can't allocate memory");
}
printf("image data:\n");
printf("rows=%u, cols=%u, stride=%u, datasize=%u, recds=%u\n", convertedImage->rows,
convertedImage->cols, convertedImage->stride, convertedImage->dataSize, convertedImage->receivedDataSize);
*/
pthread_mutex_lock(&win->mutex);
int x, y, w = convertedImage->cols, h = convertedImage->rows;
double avr, wd, max, min;
avr = max = min = (double)*convertedImage->pData;
for(y = 0; y < h; ++y){
unsigned char *ptr = &convertedImage->pData[y*convertedImage->stride];
for(x = 0; x < w; ++x, ++ptr){
double pix = (double) *ptr;
if(pix > max) max = pix;
if(pix < min) min = pix;
avr += pix;
}
}
avr /= (double)(w*h);
wd = max - min;
if(wd > DBL_EPSILON) avr = (avr - min) / wd; // normal average by preview
if(avr < 0.6) wd *= avr + 0.2;
if(wd < DBL_EPSILON) wd = 1.;
DBG("stat: sz=(%dx%d) avr=%g wd=%g max=%g min=%g", w,h,avr, wd, max, min);
GLubyte *dst = im->rawdata;
for(y = 0; y < h; y++){
unsigned char *ptr = &convertedImage->pData[y*convertedImage->stride];
for(x = 0; x < w; x++, dst += 3, ++ptr){
gray2rgb(colorfun((*ptr - min) / wd), dst);
}
}
win->image->changed = 1;
pthread_mutex_unlock(&win->mutex);
}
static void savePng(fc2Image *convertedImage, char *name){
VDBG("Save the image data into %s", name);
fc2Error error = fc2SaveImage(convertedImage, name, FC2_PNG);
if(error != FC2_ERROR_OK){
fprintf(stderr, "Error in fc2SaveImage: %s\n", fc2ErrorToDescription(error));
}
}
static void saveImages(fc2Image *convertedImage, char *prefix){
if(G.save_png){
char *newname = check_filename(prefix, "png");
if(newname) savePng(convertedImage, newname);
}
// and save FITS here
}
// manage some menu/shortcut events
static void winevt_manage(windowData *win, fc2Image *convertedImage){
if(win->winevt & WINEVT_SAVEIMAGE){ // save image
DBG("Try to make screenshot");
saveImages(convertedImage, "ScreenShot");
win->winevt &= ~WINEVT_SAVEIMAGE;
}
if(win->winevt & WINEVT_ROLLCOLORFUN){
roll_colorfun();
win->winevt &= ~WINEVT_ROLLCOLORFUN;
change_displayed_image(win, convertedImage);
}
}
// main thread to deal with image
void* image_thread(_U_ void *data){
FNAME();
fc2Image *img = (fc2Image*) data;
while(1){
windowData *win = getWin();
if(!win) pthread_exit(NULL);
if(win->killthread){
DBG("got killthread");
pthread_exit(NULL);
}
if(win->winevt) winevt_manage(win, img);
usleep(10000);
}
}
int main(int argc, char **argv){
int ret = 0;
initial_setup();
char *self = strdup(argv[0]);
parse_args(argc, argv);
char *outfprefix = NULL;
if(G.rest_pars_num){
if(G.rest_pars_num != 1){
WARNX("You should point only one free argument - filename prefix");
signals(1);
}else outfprefix = G.rest_pars[0];
}
check4running(self, G.pidfile);
FREE(self);
signal(SIGTERM, signals); // kill (-15) - quit
signal(SIGHUP, SIG_IGN); // hup - ignore
signal(SIGINT, signals); // ctrl+C - quit
signal(SIGQUIT, signals); // ctrl+\ - quit
signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
setup_con();
windowData *mainwin = NULL;
fc2Context context;
fc2PGRGuid guid;
fc2Error err = FC2_ERROR_OK;
unsigned int numCameras = 0;
if(FC2_ERROR_OK != (err = fc2CreateContext(&context))){
ERRX("fc2CreateContext(): %s", fc2ErrorToDescription(err));
}
FC2FNE(fc2GetNumOfCameras, context, &numCameras);
if(numCameras == 0){
fc2DestroyContext(context);
ERRX("No cameras detected!");
}
VMESG("Found %d camera[s]", numCameras);
if(verbose_level >= VERB_MESG){
for(unsigned int i = 0; i < numCameras; ++i){
FC2FNE(fc2GetCameraFromIndex, context, i, &guid);
FC2FNE(fc2Connect, context, &guid);
PrintCameraInfo(context, i);
}
}
FC2FNE(fc2GetCameraFromIndex, context, G.camno, &guid);
FC2FNE(fc2Connect, context, &guid);
if(verbose_level >= VERB_MESG && numCameras > 1) PrintCameraInfo(context, G.camno);
if(isnan(G.exptime)){ // no expose time -> return
printf("No exposure parameters given -> exit\n");
goto destr;
}
// turn off all shit
autoExpOff(context);
whiteBalOff(context);
gammaOff(context);
trigModeOff(context);
trigDelayOff(context);
frameRateOff(context);
if(FC2_ERROR_OK != setexp(context, G.exptime)){
ret = 1;
goto destr;
}
VMESG("Set exposition to %gms", G.exptime);
if(!isnan(G.gain)){
if(FC2_ERROR_OK != setgain(context, G.gain)){
ret = 1;
goto destr;
}
VMESG("Set gain value to %gdB", G.gain);
}
if(G.showimage){
imageview_init();
}
// main cycle
fc2Image convertedImage;
FC2FNE(fc2CreateImage, &convertedImage);
int N = 0;
bool start = TRUE;
while(1){
if(GrabImage(context, &convertedImage)){
fc2DestroyContext(context);
WARNX("GrabImages()");
signals(12);
}
VMESG("\nGrabbed image #%d", ++N);
if(outfprefix){
saveImages(&convertedImage, outfprefix);
}
if(G.showimage){
if(!mainwin && start){
DBG("Create window @ start");
mainwin = createGLwin("Sample window", convertedImage.cols, convertedImage.rows, NULL);
start = FALSE;
if(!mainwin){
WARNX("Can't open OpenGL window, image preview will be inaccessible");
}else
pthread_create(&mainwin->thread, NULL, &image_thread, (void*)&convertedImage); //(void*)mainwin);
}
if((mainwin = getWin())){
DBG("change image");
if(mainwin->killthread) goto destr;
change_displayed_image(mainwin, &convertedImage);
while((mainwin = getWin())){ // test paused state & grabbing custom frames
if((mainwin->winevt & WINEVT_PAUSE) == 0) break;
if(mainwin->winevt & WINEVT_GETIMAGE){
mainwin->winevt &= ~WINEVT_GETIMAGE;
if(!GrabImage(context, &convertedImage))
change_displayed_image(mainwin, &convertedImage);
}
usleep(10000);
}
}else break;
}
if(--G.nimages <= 0) break;
}
if((mainwin = getWin())) mainwin->winevt |= WINEVT_PAUSE;
destr:
if(G.showimage){
while((mainwin = getWin())){
if(mainwin->killthread) break;
}
DBG("Close window");
clear_GL_context();
}
FC2FNE(fc2DestroyImage, &convertedImage);
fc2StopCapture(context);
fc2DestroyContext(context);
signals(ret);
return ret;
}
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