ChangeResolution.cc

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#ifdef WIN32
#ifndef WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN 1
#endif

#include <windows.h>
#include <winsock2.h>
#else
#include <unistd.h>
#include <netdb.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#endif

#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <fstream>
#include <iostream>
#include <iomanip>

#include <errno.h>
#include <string.h>

#include <LibMultiSense/details/utility/Portability.hh>
#include <LibMultiSense/MultiSenseChannel.hh>

#include <LibMultiSense/details/utility/BufferStream.hh>
#include <LibMultiSense/details/wire/Protocol.h>
#include <LibMultiSense/details/wire/SysNetworkMessage.h>

#include <Utilities/portability/getopt/getopt.h>

namespace {  // anonymous

void usage(const char *programNameP)
{
    fprintf(stderr, "USAGE: %s [<options>]\n", programNameP);
    fprintf(stderr, "Where <options> are:\n");
    fprintf(stderr, "\t-a address : MultiSense IP Address (default=10.66.171.21)\n");
    fprintf(stderr, "\t-h height  : Imager width, in px (default=544)\n");
    fprintf(stderr, "\t-w width   : Imager height, in px (default=1024)\n");
    fprintf(stderr, "\t-m mode    : Imager crop mode, (default=0)\n");
    fprintf(stderr, "\t             0    = No change sent\n");
    fprintf(stderr, "\t             2000 = Switch to CMV2000 ROI\n");
    fprintf(stderr, "\t             4000 = Switch to CMV4000 ROI\n");
    fprintf(stderr, "\t-o offset  : Position of cropped ROI, in px from bottom of image\n");
    fprintf(stderr, "\t             -1   = No change sent\n");
    fprintf(stderr, "\t             0    = ROI is bottom of CMV4000 FOV\n");
    fprintf(stderr, "\t             480  = ROI is center of CMV4000 FOV, assuming full resolution\n");
    fprintf(stderr, "\t             960  = ROI is top of CMV4000 FOV, assuming full resolution\n");

    exit(-1);
}

}; // anonymous

using namespace crl::multisense;

int main(int    argc,
         char **argvPP)
{
    std::string currentAddress = "10.66.171.21";
    int32_t height = 544;
    uint32_t width = 1024;
    int mode = 0;
    int offset = -1;

    //
    // Parse args

    int c;

    while(-1 != (c = getopt(argc, argvPP, "a:h:w:m:o:")))
        switch(c) {
        case 'a': currentAddress = std::string(optarg);    break;
        case 'h': height         = atoi(optarg);           break;
        case 'w': width          = atoi(optarg);           break;
        case 'm': mode           = atoi(optarg);           break;
        case 'o': offset         = atoi(optarg);           break;
        default: usage(*argvPP);                           break;
        }

    //
    // Initialize communications.

    Channel *channelP = Channel::Create(currentAddress);
    if (NULL == channelP) {
                std::cerr << "Failed to establish communications with \"" << currentAddress << "\"" << std::endl;
        return -1;
    }

    //
    // Query version

    Status status;
    system::VersionInfo v;

    status = channelP->getVersionInfo(v);
    if (Status_Ok != status) {
                std::cerr << "Failed to query sensor version: " << Channel::statusString(status) << std::endl;
        goto clean_out;
    }

        std::cout << "API build date      :  " << v.apiBuildDate << "\n";
    std::cout << "API version         :  0x" << std::hex << std::setw(4) << std::setfill('0') << v.apiVersion << "\n";
        std::cout << "Firmware build date :  " << v.sensorFirmwareBuildDate << "\n";
        std::cout << "Firmware version    :  0x" << std::hex << std::setw(4) << std::setfill('0') << v.sensorFirmwareVersion << "\n";
        std::cout << "Hardware version    :  0x" << std::hex << v.sensorHardwareVersion << "\n";
        std::cout << "Hardware magic      :  0x" << std::hex << v.sensorHardwareMagic << "\n";
        std::cout << "FPGA DNA            :  0x" << std::hex << v.sensorFpgaDna << "\n";
        std::cout << std::dec;

    if (v.sensorFirmwareVersion < 0x0305) {
        if (mode != 0 || offset >= 0) {
            std::cerr << "Changing crop mode of a CMV4000 imager requires v3.5 or greater, sensor is " <<
            "running v" << (v.sensorFirmwareVersion >> 8) << "." << (v.sensorFirmwareVersion & 0xff) << std::endl;
            goto clean_out;
        }
    }

    //
    // Change operating parameters

    {
        image::Config cfg;

        status = channelP->getImageConfig(cfg);
        if (Status_Ok != status) {
                        std::cerr << "Failed to get image config: " << Channel::statusString(status) << std::endl;
            goto clean_out;
        } else {
            if (mode != 0) {
                cfg.setCamMode(mode);
            }

            cfg.setResolution(width, height);

            if (offset >= 0) {
                cfg.setOffset(offset);
            }

            status = channelP->setImageConfig(cfg);
            if (Status_Ok != status) {
                                std::cerr << "Failed to configure sensor: " << Channel::statusString(status) << std::endl;
                goto clean_out;
            }
        }
    }

clean_out:

    Channel::Destroy(channelP);
    return 0;
}