536 lines
16 KiB
C++
536 lines
16 KiB
C++
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// Copyright (c) Microsoft Corporation. All rights reserved.
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// Licensed under the MIT License.
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//************************ Includes *****************************
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#include <stdio.h>
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#include <k4a/k4a.h>
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#include <k4ainternal/capture.h>
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#include <k4ainternal/logging.h>
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#include <k4ainternal/usbcommand.h>
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#include <assert.h>
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#include "Cli.h"
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#include "Main.h"
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#include "../src/depth_mcu/depthcommands.h" // include private command definitions for testing
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#include <azure_c_shared_utility/tickcounter.h>
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#include <azure_c_shared_utility/threadapi.h>
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#include <azure_c_shared_utility/lock.h>
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#include "UsbCmd.h"
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#include "Capture.h"
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#ifdef _WIN32
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#include "mfcamerareader.h"
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//**************Symbolic Constant Macros (defines) *************
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#define CLI_MENU_CAPTURE "capture"
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#define MAX_BUFFER_SIZE 2000000
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#define SAMPLE_SIZE 128
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#define DEFAULT_CAPTURE_COUNT 10
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#define START_IMU_STREAM_CMD 0x80000003
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#define STOP_IMU_STREAM_CMD 0x80000004
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#define PSEUDO_COMMON 3
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#define LONG_THROW_NATIVE 4
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#define MEGA_PIXEL 5
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#define QUARTER_MEGA_PIXEL 7
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#define COLOR_SENSOR "color"
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#define DEPTH_SENSOR "depth"
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//************************ Typedefs *****************************
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#pragma pack(push, 1)
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typedef struct _InputFrameFooter_t
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{
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unsigned int Signature;
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unsigned short BlockSize;
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unsigned short BlockVer;
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unsigned long long TimeStamp;
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float SensorTemp;
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float ModuleTemp;
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unsigned long long USBSoFSeqNum;
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unsigned long long USBSoFPTS;
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} InputFrameFooter_t;
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#pragma pack(pop)
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//************ Declarations (Statics and globals) ***************
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static uint8_t data_buffer[MAX_BUFFER_SIZE];
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static FILE *p_file = NULL;
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static TICK_COUNTER_HANDLE tick_handle;
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static uint32_t stream_count;
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static LOCK_HANDLE stream_mutex;
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//******************* Function Prototypes ***********************
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//*********************** Functions *****************************
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static usb_cmd_stream_cb_t image_stream_callback;
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static void capture_stream_callback(k4a_result_t result, k4a_capture_t capture_handle, void *context)
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{
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if (result == K4A_RESULT_SUCCEEDED)
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{
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k4a_image_t image = capture_get_color_image(capture_handle);
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image_stream_callback(result, image, context);
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image_dec_ref(image);
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}
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else
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{
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image_stream_callback(result, NULL, context);
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}
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}
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/**
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* callback routine for displaying stream data
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*
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* @param result status of last transfer
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*
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* @param capture_handle Memory reference
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*
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* @param context Parameter passed in
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*
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*/
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static void image_stream_callback(k4a_result_t result, k4a_image_t image_handle, void *context)
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{
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char *p_type = (char *)context;
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size_t capture_size;
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uint8_t *p_frame = NULL;
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InputFrameFooter_t *p_depth_info = NULL;
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tickcounter_ms_t now;
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p_frame = image_get_buffer(image_handle);
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assert(p_frame != 0);
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capture_size = image_get_size(image_handle);
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(void)result;
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Lock(stream_mutex);
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printf("%s", p_type);
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printf("%11d", stream_count);
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if (tickcounter_get_current_ms(tick_handle, &now) == 0)
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{
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printf("%12lld", now);
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}
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if (p_type[0] == 'd')
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{
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p_frame += capture_size;
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p_frame -= sizeof(InputFrameFooter_t);
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p_depth_info = (InputFrameFooter_t *)p_frame;
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printf("%32lld ", K4A_90K_HZ_TICK_TO_USEC(p_depth_info->TimeStamp));
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}
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else
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{
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printf("%16lld ", image_get_device_timestamp_usec(image_handle));
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}
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printf("%10zu\n", capture_size);
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if (p_file != NULL)
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{
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fprintf(p_file, "\n%s, ", p_type);
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fprintf(p_file, "%d, ", stream_count);
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if (tickcounter_get_current_ms(tick_handle, &now) == 0)
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{
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fprintf(p_file, "%lld, ", now);
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}
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if (p_type[0] == 'd')
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{
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fprintf(p_file, "%lld, ", K4A_90K_HZ_TICK_TO_USEC(p_depth_info->TimeStamp));
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}
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else
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{
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fprintf(p_file, "%lld, ", image_get_device_timestamp_usec(image_handle));
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}
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fprintf(p_file, "%zu", capture_size);
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}
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stream_count--;
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Unlock(stream_mutex);
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}
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/**
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* Command to read color and depth stream and display timing
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* metrics between frames
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*
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* @param Argc Number of variables handed in
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*
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* @param Argv Pointer to variable array
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*
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* @return
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* CLI_SUCCESS If executed properly
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* CLI_ERROR If error was detected
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*
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*/
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static CLI_STATUS capture_cmd_sync(int Argc, char **Argv)
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{
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CLI_STATUS status = CLI_SUCCESS;
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k4a_result_t result;
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usbcmd_t handle;
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uint32_t depth_mode;
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uint32_t fps;
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uint32_t depth_fps;
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uint32_t color_format;
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uint32_t color_resolution;
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uint32_t width = 0;
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uint32_t height = 0;
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float color_fps = 1.0f;
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Microsoft::WRL::ComPtr<CMFCameraReader> spCameraReader;
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size_t payload_size = 0;
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uint32_t nv_tag = DEVICE_NV_IR_SENSOR_CALIBRATION;
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size_t bytes_read;
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FILE *p_cal_file;
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uint8_t ContainerID[16];
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Microsoft::WRL::MakeAndInitialize<CMFCameraReader>(&spCameraReader, (GUID *)ContainerID);
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// Get user input
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if (Argc < 2)
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{
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// Needs at least the stream count
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CliDisplayUsage(capture_cmd_sync);
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return CLI_ERROR;
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}
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// Get number of captures to read
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if ((!CliGetStrVal(Argv[1], &stream_count)))
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{
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return CLI_ERROR;
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}
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if (Argc < 7)
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{
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printf("Invalid number of parameters, using defaults:\n");
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printf(" Depth Mode = LONG_THROW_NATIVE\n");
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printf(" Depth FPS = 30 FPS\n");
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printf(" Color Format = K4A_IMAGE_FORMAT_COLOR_MJPG\n");
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printf(" Color resolution = K4A_COLOR_RESOLUTION_2160P\n");
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printf(" Color FPS = 30 FPS\n");
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depth_mode = LONG_THROW_NATIVE;
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depth_fps = 30;
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color_format = K4A_IMAGE_FORMAT_COLOR_MJPG;
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width = 3840;
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height = 2160;
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color_fps = 30.0f;
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}
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else
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{
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// Get depth mode
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if (!CliGetStrVal(Argv[2], &depth_mode))
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{
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return CLI_ERROR;
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}
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// Get FPS
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if (!CliGetStrVal(Argv[3], &fps))
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{
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return CLI_ERROR;
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}
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switch (depth_mode)
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{
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case PSEUDO_COMMON:
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payload_size = SENSOR_MODE_PSEUDO_COMMON_PAYLOAD_SIZE;
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break;
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case LONG_THROW_NATIVE:
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payload_size = SENSOR_MODE_LONG_THROW_NATIVE_PAYLOAD_SIZE;
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break;
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case MEGA_PIXEL:
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payload_size = SENSOR_MODE_MEGA_PIXEL_PAYLOAD_SIZE;
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break;
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case QUARTER_MEGA_PIXEL:
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payload_size = SENSOR_MODE_QUARTER_MEGA_PIXEL_PAYLOAD_SIZE;
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break;
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default:
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printf("depth mode %d is invalid", depth_mode);
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CliDisplayUsage(capture_cmd_sync);
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return CLI_ERROR;
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}
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switch (fps)
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{
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case K4A_FRAMES_PER_SECOND_30:
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depth_fps = 30;
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break;
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case K4A_FRAMES_PER_SECOND_15:
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depth_fps = 15;
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break;
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case K4A_FRAMES_PER_SECOND_5:
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depth_fps = 5;
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break;
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default:
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printf("depth fps %d is invalid", fps);
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CliDisplayUsage(capture_cmd_sync);
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return CLI_ERROR;
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}
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// Get color format
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if (!CliGetStrVal(Argv[4], &color_format))
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{
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return CLI_ERROR;
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}
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// Get color resolution
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if (!CliGetStrVal(Argv[5], &color_resolution))
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{
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return CLI_ERROR;
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}
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// Get color fps
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if (!CliGetStrVal(Argv[6], &fps))
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{
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return CLI_ERROR;
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}
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switch (color_format)
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{
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case K4A_IMAGE_FORMAT_COLOR_NV12:
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case K4A_IMAGE_FORMAT_COLOR_YUY2:
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case K4A_IMAGE_FORMAT_COLOR_MJPG:
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break;
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default:
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printf("color fomat %d is invalid", color_format);
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CliDisplayUsage(capture_cmd_sync);
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return CLI_ERROR;
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}
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// set up color operating parameters based on input
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switch (color_resolution)
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{
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case K4A_COLOR_RESOLUTION_720P:
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width = 1280;
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height = 720;
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break;
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case K4A_COLOR_RESOLUTION_2160P:
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width = 3840;
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height = 2160;
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break;
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case K4A_COLOR_RESOLUTION_1440P:
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width = 2560;
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height = 1440;
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break;
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case K4A_COLOR_RESOLUTION_1080P:
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width = 1920;
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height = 1080;
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break;
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case K4A_COLOR_RESOLUTION_3072P:
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width = 4096;
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height = 3072;
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break;
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case K4A_COLOR_RESOLUTION_1536P:
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width = 2048;
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height = 1536;
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break;
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default:
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printf("color resolution %d is invalid", color_resolution);
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CliDisplayUsage(capture_cmd_sync);
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return CLI_ERROR;
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}
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switch (fps)
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{
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case K4A_FRAMES_PER_SECOND_30:
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color_fps = 30.0f;
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break;
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case K4A_FRAMES_PER_SECOND_15:
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color_fps = 15.0f;
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break;
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case K4A_FRAMES_PER_SECOND_5:
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color_fps = 5.0f;
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break;
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default:
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printf("color fps %d is invalid", fps);
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CliDisplayUsage(capture_cmd_sync);
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return CLI_ERROR;
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}
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}
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// Close the K4A instance to allow direct access to lower level libraries
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close_k4a();
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// Get handle instance
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if (usb_cmd_create(USB_DEVICE_DEPTH_PROCESSOR, 0, NULL, &handle) == K4A_RESULT_SUCCEEDED)
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{
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tick_handle = tickcounter_create();
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stream_mutex = Lock_Init();
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printf(" Color Depth\n");
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printf("Sensor Countdown Tick(mSec) Timestamp(uSec) Timestamp(uSec) Size (bytes)\n");
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// Start up color
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spCameraReader->Start(width,
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height, // Resolution
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color_fps, // Frame rate
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(k4a_image_format_t)color_format, // Color format enum
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&capture_stream_callback, // Callback
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(void *)COLOR_SENSOR); // Callback context
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// Start up depth
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// Register callback routine with handle
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if ((result = usb_cmd_stream_register_cb(handle, image_stream_callback, (void *)DEPTH_SENSOR)) !=
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K4A_RESULT_SUCCEEDED)
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{
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printf("Failed with error code %d\n", result);
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status = CLI_ERROR;
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goto handleDestroy;
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}
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// Send power up command
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usb_cmd_write(handle,
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DEV_CMD_DEPTH_POWER_ON, // Power Up Command
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NULL,
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0,
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NULL,
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0);
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// Send set mode command
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if ((result = usb_cmd_write(handle,
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DEV_CMD_DEPTH_MODE_SET, // Set Mode
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(uint8_t *)&depth_mode,
|
||
|
|
sizeof(depth_mode),
|
||
|
|
NULL,
|
||
|
|
0)) != K4A_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
|
||
|
|
printf("Set depth mode command failed with error code %d\n", result);
|
||
|
|
status = CLI_ERROR;
|
||
|
|
goto handleDestroy;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Send set FPS command
|
||
|
|
if ((result = usb_cmd_write(handle,
|
||
|
|
DEV_CMD_DEPTH_FPS_SET, // Set FPS
|
||
|
|
(uint8_t *)&depth_fps,
|
||
|
|
sizeof(depth_fps),
|
||
|
|
NULL,
|
||
|
|
0)) != K4A_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
|
||
|
|
printf("Set depth FPS command failed with error code %d\n", result);
|
||
|
|
status = CLI_ERROR;
|
||
|
|
goto handleDestroy;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Get the calibration data and store to file
|
||
|
|
if ((result = usb_cmd_read(handle,
|
||
|
|
DEV_CMD_NV_DATA_GET,
|
||
|
|
(uint8_t *)&nv_tag,
|
||
|
|
sizeof(nv_tag),
|
||
|
|
data_buffer,
|
||
|
|
MAX_BUFFER_SIZE,
|
||
|
|
&bytes_read)) != K4A_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
if (fopen_s(&p_cal_file, "depth.ccb", "wb") == 0)
|
||
|
|
{
|
||
|
|
fwrite(data_buffer, 1, bytes_read, p_cal_file);
|
||
|
|
fclose(p_cal_file);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Send command to start the depth sensor on the device
|
||
|
|
if ((result = usb_cmd_write(handle, DEV_CMD_DEPTH_START, NULL, 0, NULL, 0)) != K4A_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
printf("Start depth sensor command failed with error code %d\n", result);
|
||
|
|
status = CLI_ERROR;
|
||
|
|
goto handleDestroy;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Send start stream command
|
||
|
|
if ((result = usb_cmd_write(handle, DEV_CMD_DEPTH_STREAM_START, NULL, 0, NULL, 0)) != K4A_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
printf("Start depth stream command failed with error code %d\n", result);
|
||
|
|
status = CLI_ERROR;
|
||
|
|
goto handleDestroy;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (fopen_s(&p_file, "capture.csv", "w") == 0)
|
||
|
|
{
|
||
|
|
// Write column headers
|
||
|
|
fprintf(p_file, "Sensor, Countdown, HostTick, Timestamp, Size");
|
||
|
|
|
||
|
|
usb_cmd_stream_start(handle, payload_size);
|
||
|
|
while (((int32_t)stream_count) > 0)
|
||
|
|
{
|
||
|
|
ThreadAPI_Sleep(5);
|
||
|
|
}
|
||
|
|
usb_cmd_stream_stop(handle);
|
||
|
|
Lock(stream_mutex);
|
||
|
|
fclose(p_file);
|
||
|
|
p_file = NULL;
|
||
|
|
Unlock(stream_mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Send command to stop the depth stream on the device
|
||
|
|
if ((result = usb_cmd_write(handle, DEV_CMD_DEPTH_STREAM_STOP, NULL, 0, NULL, 0)) != K4A_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
printf("Stop depth stream command failed with error code %d\n", result);
|
||
|
|
status = CLI_ERROR;
|
||
|
|
}
|
||
|
|
|
||
|
|
if ((result = usb_cmd_write(handle, DEV_CMD_DEPTH_STOP, NULL, 0, NULL, 0)) != K4A_RESULT_SUCCEEDED)
|
||
|
|
{
|
||
|
|
printf("Stop depth command failed with error code %d\n", result);
|
||
|
|
status = CLI_ERROR;
|
||
|
|
}
|
||
|
|
handleDestroy:
|
||
|
|
spCameraReader->Shutdown();
|
||
|
|
spCameraReader.Reset();
|
||
|
|
|
||
|
|
usb_cmd_destroy(handle);
|
||
|
|
|
||
|
|
Lock_Deinit(stream_mutex);
|
||
|
|
tickcounter_destroy(tick_handle);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
printf("Device not found\n");
|
||
|
|
status = CLI_ERROR;
|
||
|
|
}
|
||
|
|
|
||
|
|
// close out displayed data
|
||
|
|
printf("\n");
|
||
|
|
|
||
|
|
// re-open the k4a instance
|
||
|
|
open_k4a();
|
||
|
|
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
// _WIN32
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Initialization for this module
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
void capture_init(void)
|
||
|
|
{
|
||
|
|
#ifdef _WIN32
|
||
|
|
CliRegister(
|
||
|
|
CLI_MENU_CAPTURE,
|
||
|
|
"capsync",
|
||
|
|
capture_cmd_sync,
|
||
|
|
"Capture frames and verify sync data",
|
||
|
|
"Captures both depth and color and display time discrepancies\n"
|
||
|
|
"Syntax: capsync <number of captures> <depth mode> <depth fps> <color format> <color resolution> <color fps>\n"
|
||
|
|
"Example: capsync 20 4 3 3 5 3\n"
|
||
|
|
"Acceptable depth modes:\n"
|
||
|
|
"3 = PSEUDO_COMMON {K4A_DEPTH_MODE_PASSIVE_IR}\n"
|
||
|
|
"4 = LONG_THROW_NATIVE {K4A_DEPTH_MODE_NFOV_2X2BINNED & K4A_DEPTH_MODE_NFOV_UNBINNED}\n"
|
||
|
|
"5 = MEGA_PIXEL {K4A_DEPTH_MODE_WFOV_UNBINNED}\n"
|
||
|
|
"7 = QUARTER_MEGA_PIXEL {K4A_DEPTH_MODE_WFOV_2X2BINNED}\n"
|
||
|
|
"Acceptable Depth FPS:\n"
|
||
|
|
"1 = 5 fps\n"
|
||
|
|
"2 = 15 fps\n"
|
||
|
|
"3 = 30 fps \n"
|
||
|
|
"Acceptable color format:\n"
|
||
|
|
"1 = K4A_IMAGE_FORMAT_COLOR_NV12\n"
|
||
|
|
"2 = K4A_IMAGE_FORMAT_COLOR_YUY2\n"
|
||
|
|
"3 = K4A_IMAGE_FORMAT_COLOR_MJPG\n"
|
||
|
|
"Acceptable color resolution:\n"
|
||
|
|
"1 = K4A_COLOR_RESOLUTION_720P\n"
|
||
|
|
"2 = K4A_COLOR_RESOLUTION_1080P\n"
|
||
|
|
"3 = K4A_COLOR_RESOLUTION_1440P\n"
|
||
|
|
"4 = K4A_COLOR_RESOLUTION_1536P\n"
|
||
|
|
"5 = K4A_COLOR_RESOLUTION_2160P\n"
|
||
|
|
"6 = K4A_COLOR_RESOLUTION_3072P\n"
|
||
|
|
"Acceptable color FPS:\n"
|
||
|
|
"1 = 5 fps\n"
|
||
|
|
"2 = 15 fps\n"
|
||
|
|
"3 = 30 fps\n");
|
||
|
|
#endif
|
||
|
|
}
|