func dendriteCam(deltaE chan float32, config Configuration) {
camera := C.cvCaptureFromCAM(-1)
// Shutdown dendrite if no camera detected.
if camera == nil {
fmt.Printf("WARNING: No camera detected. Shutting down DendriteCam\n")
return
}
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_WIDTH, 160)
C.cvSetCaptureProperty(camera, C.CV_CAP_PROP_FRAME_HEIGHT, 120)
// Capture original frame.
prev := C.cvCloneImage(C.cvQueryFrame(camera))
// Save out the first frame for debuging purposes.
file := C.CString("frame.png")
C.cvSaveImage(file, unsafe.Pointer(prev), nil)
C.free(unsafe.Pointer(file))
flow := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_32F, 2)
prevG := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_8U, 1)
nextG := C.cvCreateImage(C.cvSize(prev.width, prev.height), C.IPL_DEPTH_8U, 1)
C.cvConvertImage(unsafe.Pointer(prev), unsafe.Pointer(prevG), 0)
for {
C.cvGrabFrame(camera)
// Capture the new frame and convert it to grayscale.
next := C.cvCloneImage(C.cvQueryFrame(camera))
C.cvConvertImage(unsafe.Pointer(prev), unsafe.Pointer(prevG), 0)
C.cvConvertImage(unsafe.Pointer(next), unsafe.Pointer(nextG), 0)
C.cvCalcOpticalFlowFarneback(unsafe.Pointer(prevG), unsafe.Pointer(nextG), unsafe.Pointer(flow), 0.5, 2, 5, 2, 5, 1.1, 0)
deltaE <- float32(calcDeltaEnergy(flow, &config))
C.cvReleaseImage(&prev)
prev = next
}
// Never reached - but here in comments for completeness.
//C.cvReleaseImage(&prev)
//C.cvReleaseImage(&nextG)
//C.cvReleaseImage(&prevG)
//C.cvReleaseImage(&flow)
//C.cvReleaseCapture(&camera)
}
func calibrate(videoFile string, config Configuration) {
// It takes a little while for the white balance to stabalise on the logitech.
// So grab a frame, wait to stabalise for white balance to stabalise, then grab again
// for and save as the calibration frame.
camera, err := getVideoSource(videoFile)
if err != nil {
// No valid video source, abort.
log.Printf("ERROR: Unable to get video source")
log.Print(err)
return
}
calibrationFrame := C.cvQueryFrame(camera)
time.Sleep(1250 * time.Millisecond)
C.cvReleaseCapture(&camera)
camera, err = getVideoSource(videoFile)
if err != nil {
// No valid video source, abort
log.Printf("ERROR: Unable to get video source")
log.Print(err)
return
}
defer C.cvReleaseCapture(&camera)
// Build the calibration image from the first frame that comes off the camera.
calibrationFrame = C.cvQueryFrame(camera)
fileName := "calibrationFrame.jpg"
file := C.CString(fileName)
C.cvSaveImage(file, unsafe.Pointer(calibrationFrame), nil)
C.free(unsafe.Pointer(file))
// Broadcast calibration results to the mothership.
f, err := os.Open(fileName)
if err != nil {
log.Printf("ERROR: Unable to open calibration frame to broadcast")
log.Print(err)
return
}
defer f.Close()
post(fileName, config.MothershipAddress+"/scout_api/calibrated", config.UUID, f)
}
/* Just a combination of cvGrabFrame and cvRetrieveFrame
!!!DO NOT RELEASE or MODIFY the retrieved frame!!! */
func (capture *Capture) QueryFrame() *IplImage {
rv := C.cvQueryFrame((*C.CvCapture)(capture))
return (*IplImage)(rv)
}
func (cap *Capture) QueryFrame() (*Image, error) {
iplImage := C.cvQueryFrame(cap.handler)
return imageFromIplImage(iplImage)
}