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Exposure fix for PS3EYEDriver in Windows and OSX. #152

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cboulay wants to merge 7 commits into from
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Exposure fix for PS3EYEDriver in Windows and OSX. #152

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cd030bc
updated PS3EYEDriver submodule.
cboulay Feb 13, 2015
9fa0817
Fixes autoexposure when using PS3EyeDriver.
cboulay Feb 13, 2015
cf4ecb2
Set exposure for PS3EYEDriver in OSX.
cboulay Feb 15, 2015
5ac7978
A ton of whitespace and if-format fixes.
cboulay Feb 16, 2015
3bde3fc
Added preprocessing directives so PS3EYEDriver-specific parameters on…
cboulay Feb 16, 2015
9901391
Uses PS3EYEDriver submodule update for new set_parameter interface.
cboulay Feb 16, 2015
455c91b
Fail gracefully when PS3EYEDriver expected but not present.
cboulay Feb 24, 2015
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5 changes: 5 additions & 0 deletions examples/c/test_tracker.c
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,11 @@ int main(int arg, char** args) {

fprintf(stderr, "Trying to init PSMoveTracker...");
PSMoveTracker* tracker = psmove_tracker_new();
if (!tracker)
{
fprintf(stderr, "Could not init PSMoveTracker.\n");
return 1;
}
psmove_tracker_set_mirror(tracker, PSMove_True);
fprintf(stderr, "OK\n");

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2 changes: 1 addition & 1 deletion external/PS3EYEDriver
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Submodule PS3EYEDriver updated 4 files
+3 −3 src/ps3eye.cpp
+2 −0 src/ps3eye.h
+51 −0 src/ps3eyedriver.cpp
+22 −0 src/ps3eyedriver.h
1 change: 0 additions & 1 deletion src/tracker/camera_control.c
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,6 @@ camera_control_new(int cameraID)
#elif defined(CAMERA_CONTROL_USE_PS3EYE_DRIVER)
ps3eye_init();
int cams = ps3eye_count_connected();

if (cams <= cameraID) {
free(cc);
return NULL;
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24 changes: 21 additions & 3 deletions src/tracker/platform/camera_control_macosx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
**/

#include "../camera_control.h"

#include "../camera_control_private.h"
#include "psmove_osxsupport.h"

void
Expand All @@ -44,8 +44,26 @@ camera_control_set_parameters(CameraControl* cc,
int contrast, int brightness)
{
#if defined(CAMERA_CONTROL_USE_PS3EYE_DRIVER)
// TODO: Implement setting those parameters on cc->eye
psmove_WARNING("Unimplemented: Setting of PS3EYEDriver parameters\n");
ps3eye_set_parameter(cc->eye, PS3EYE_EXPOSURE, exposure);

/** Many of the values passed to this function do not work with PS3EYEDriver.
* comment out these functions until a sane value scheme is implemented.
* ps3eye_set_parameter(cc->eye, PS3EYE_AUTO_GAIN, autoG);
* ps3eye_set_parameter(cc->eye, PS3EYE_GAIN, gain);
* ps3eye_set_parameter(cc->eye, PS3EYE_AUTO_WHITEBALANCE, autoWB);
* ps3eye_set_parameter(cc->eye, PS3EYE_CONTRAST, contrast);
* ps3eye_set_parameter(cc->eye, PS3EYE_BRIGHTNESS, brightness);
* ps3eye_set_parameter(cc->eye, PS3EYE_REDBALANCE, wbRed);
* ps3eye_set_parameter(cc->eye, PS3EYE_BLUEBALANCE, wbGreen);
**/
psmove_WARNING("Only PS3EYEDriver parameter 'exposure' set by ps3eye_set_parameter.\n");
/** Some PS3EYEDriver parameters that could be set are not set by this function
* ps3eye_set_parameter(cc->eye, PS3EYE_SHARPNESS, autoG);
* ps3eye_set_parameter(cc->eye, PS3EYE_HUE, ???);
* ps3eye_set_parameter(cc->eye, PS3EYE_HFLIP, ??);
* ps3eye_set_parameter(cc->eye, PS3EYE_VFLIP, ??);
**/

#else
macosx_camera_set_exposure_lock(1);
#endif
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273 changes: 154 additions & 119 deletions src/tracker/platform/camera_control_win32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -39,92 +39,100 @@

void camera_control_backup_system_settings(CameraControl* cc, const char* file) {
#if !defined(CAMERA_CONTROL_USE_CL_DRIVER) && defined(PSMOVE_USE_PSEYE)
HKEY hKey;
DWORD l = sizeof(DWORD);
DWORD AutoAEC = 0;
DWORD AutoAGC = 0;
DWORD AutoAWB = 0;
DWORD Exposure = 0;
DWORD Gain = 0;
DWORD wbB = 0;
DWORD wbG = 0;
DWORD wbR = 0;
char* PATH = CL_DRIVER_REG_PATH;
int err = RegOpenKeyEx(HKEY_CURRENT_USER, PATH, 0, KEY_ALL_ACCESS, &hKey);
if (err != ERROR_SUCCESS) {
printf("Error: %d Unable to open reg-key: [HKCU]\%s!", err, PATH);
return;
}
RegQueryValueEx(hKey, "AutoAEC", NULL, NULL, (LPBYTE) &AutoAEC, &l);
RegQueryValueEx(hKey, "AutoAGC", NULL, NULL, (LPBYTE) &AutoAGC, &l);
RegQueryValueEx(hKey, "AutoAWB", NULL, NULL, (LPBYTE) &AutoAWB, &l);
RegQueryValueEx(hKey, "Exposure", NULL, NULL, (LPBYTE) &Exposure, &l);
RegQueryValueEx(hKey, "Gain", NULL, NULL, (LPBYTE) &Gain, &l);
RegQueryValueEx(hKey, "WhiteBalanceB", NULL, NULL, (LPBYTE) &wbB, &l);
RegQueryValueEx(hKey, "WhiteBalanceG", NULL, NULL, (LPBYTE) &wbG, &l);
RegQueryValueEx(hKey, "WhiteBalanceR", NULL, NULL, (LPBYTE) &wbR, &l);

dictionary* ini = dictionary_new(0);
iniparser_set(ini, "PSEye", 0);
iniparser_set_int(ini, "PSEye:AutoAEC", AutoAEC);
iniparser_set_int(ini, "PSEye:AutoAGC", AutoAGC);
iniparser_set_int(ini, "PSEye:AutoAWB", AutoAWB);
iniparser_set_int(ini, "PSEye:Exposure", Exposure);
iniparser_set_int(ini, "PSEye:Gain", Gain);
iniparser_set_int(ini, "PSEye:WhiteBalanceB", wbB);
iniparser_set_int(ini, "PSEye:WhiteBalanceG", wbG);
iniparser_set_int(ini, "PSEye:WhiteBalanceR", wbG);
iniparser_save_ini(ini, file);
dictionary_del(ini);
HKEY hKey;
DWORD l = sizeof(DWORD);
DWORD AutoAEC = 0;
DWORD AutoAGC = 0;
DWORD AutoAWB = 0;
DWORD Exposure = 0;
DWORD Gain = 0;
DWORD wbB = 0;
DWORD wbG = 0;
DWORD wbR = 0;
char* PATH = CL_DRIVER_REG_PATH;
int err = RegOpenKeyEx(HKEY_CURRENT_USER, PATH, 0, KEY_ALL_ACCESS, &hKey);
if (err != ERROR_SUCCESS) {
printf("Error: %d Unable to open reg-key: [HKCU]\%s!", err, PATH);
return;
}
RegQueryValueEx(hKey, "AutoAEC", NULL, NULL, (LPBYTE) &AutoAEC, &l);
RegQueryValueEx(hKey, "AutoAGC", NULL, NULL, (LPBYTE) &AutoAGC, &l);
RegQueryValueEx(hKey, "AutoAWB", NULL, NULL, (LPBYTE) &AutoAWB, &l);
RegQueryValueEx(hKey, "Exposure", NULL, NULL, (LPBYTE) &Exposure, &l);
RegQueryValueEx(hKey, "Gain", NULL, NULL, (LPBYTE) &Gain, &l);
RegQueryValueEx(hKey, "WhiteBalanceB", NULL, NULL, (LPBYTE) &wbB, &l);
RegQueryValueEx(hKey, "WhiteBalanceG", NULL, NULL, (LPBYTE) &wbG, &l);
RegQueryValueEx(hKey, "WhiteBalanceR", NULL, NULL, (LPBYTE) &wbR, &l);

dictionary* ini = dictionary_new(0);
iniparser_set(ini, "PSEye", 0);
iniparser_set_int(ini, "PSEye:AutoAEC", AutoAEC);
iniparser_set_int(ini, "PSEye:AutoAGC", AutoAGC);
iniparser_set_int(ini, "PSEye:AutoAWB", AutoAWB);
iniparser_set_int(ini, "PSEye:Exposure", Exposure);
iniparser_set_int(ini, "PSEye:Gain", Gain);
iniparser_set_int(ini, "PSEye:WhiteBalanceB", wbB);
iniparser_set_int(ini, "PSEye:WhiteBalanceG", wbG);
iniparser_set_int(ini, "PSEye:WhiteBalanceR", wbG);
iniparser_save_ini(ini, file);
dictionary_del(ini);
#endif
}

void camera_control_restore_system_settings(CameraControl* cc, const char* file) {
#if !defined(CAMERA_CONTROL_USE_CL_DRIVER) && defined(PSMOVE_USE_PSEYE)
int NOT_FOUND = -1;
int val;
HKEY hKey;
DWORD l = sizeof(DWORD);

char* PATH = CL_DRIVER_REG_PATH;
int err = RegOpenKeyEx(HKEY_CURRENT_USER, PATH, 0, KEY_ALL_ACCESS, &hKey);
if (err != ERROR_SUCCESS) {
printf("Error: %d Unable to open reg-key: [HKCU]\%s!", err, PATH);
return;
}

dictionary* ini = iniparser_load(file);
val = iniparser_getint(ini, "PSEye:AutoAEC", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "AutoAEC", 0, REG_DWORD, (CONST BYTE*) &val, l);

val = iniparser_getint(ini, "PSEye:AutoAGC", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "AutoAGC", 0, REG_DWORD, (CONST BYTE*) &val, l);
int NOT_FOUND = -1;
int val;
HKEY hKey;
DWORD l = sizeof(DWORD);

char* PATH = CL_DRIVER_REG_PATH;
int err = RegOpenKeyEx(HKEY_CURRENT_USER, PATH, 0, KEY_ALL_ACCESS, &hKey);
if (err != ERROR_SUCCESS) {
printf("Error: %d Unable to open reg-key: [HKCU]\%s!", err, PATH);
return;
}

dictionary* ini = iniparser_load(file);
val = iniparser_getint(ini, "PSEye:AutoAEC", NOT_FOUND);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "AutoAEC", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

val = iniparser_getint(ini, "PSEye:AutoAGC", NOT_FOUND);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "AutoAGC", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

val = iniparser_getint(ini, "PSEye:AutoAWB", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "AutoAWB", 0, REG_DWORD, (CONST BYTE*) &val, l);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "AutoAWB", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

val = iniparser_getint(ini, "PSEye:Exposure", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "Exposure", 0, REG_DWORD, (CONST BYTE*) &val, l);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "Exposure", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

val = iniparser_getint(ini, "PSEye:Gain", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "Gain", 0, REG_DWORD, (CONST BYTE*) &val, l);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "Gain", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

val = iniparser_getint(ini, "PSEye:WhiteBalanceR", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "WhiteBalanceR", 0, REG_DWORD, (CONST BYTE*) &val, l);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "WhiteBalanceR", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

val = iniparser_getint(ini, "PSEye:WhiteBalanceB", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "WhiteBalanceB", 0, REG_DWORD, (CONST BYTE*) &val, l);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "WhiteBalanceB", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

val = iniparser_getint(ini, "PSEye:WhiteBalanceG", NOT_FOUND);
if (val != NOT_FOUND)
RegSetValueExA(hKey, "WhiteBalanceG", 0, REG_DWORD, (CONST BYTE*) &val, l);
if (val != NOT_FOUND){
RegSetValueExA(hKey, "WhiteBalanceG", 0, REG_DWORD, (CONST BYTE*) &val, l);
}

iniparser_freedict(ini);
#endif
Expand All @@ -133,60 +141,87 @@ void camera_control_restore_system_settings(CameraControl* cc, const char* file)
void camera_control_set_parameters(CameraControl* cc, int autoE, int autoG, int autoWB, int exposure, int gain, int wbRed, int wbGreen, int wbBlue, int contrast,
int brightness) {
#if defined(CAMERA_CONTROL_USE_CL_DRIVER)
if (autoE >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_AUTO_EXPOSURE, autoE > 0);
if (autoG >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_AUTO_GAIN, autoG > 0);
if (autoWB >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_AUTO_WHITEBALANCE, autoWB > 0);
if (exposure >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_EXPOSURE, round((511 * exposure) / 0xFFFF));
if (gain >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_GAIN, round((79 * gain) / 0xFFFF));
if (wbRed >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_WHITEBALANCE_RED, round((255 * wbRed) / 0xFFFF));
if (wbGreen >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_WHITEBALANCE_GREEN, round((255 * wbGreen) / 0xFFFF));
if (wbBlue >= 0)
CLEyeSetCameraParameter(cc->camera, CLEYE_WHITEBALANCE_BLUE, round((255 * wbBlue) / 0xFFFF));
if (autoE >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_AUTO_EXPOSURE, autoE > 0);
}
if (autoG >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_AUTO_GAIN, autoG > 0);
}
if (autoWB >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_AUTO_WHITEBALANCE, autoWB > 0);
}
if (exposure >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_EXPOSURE, round((511 * exposure) / 0xFFFF));
}
if (gain >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_GAIN, round((79 * gain) / 0xFFFF));
}
if (wbRed >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_WHITEBALANCE_RED, round((255 * wbRed) / 0xFFFF));
}
if (wbGreen >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_WHITEBALANCE_GREEN, round((255 * wbGreen) / 0xFFFF));
}
if (wbBlue >= 0){
CLEyeSetCameraParameter(cc->camera, CLEYE_WHITEBALANCE_BLUE, round((255 * wbBlue) / 0xFFFF));
}
#elif defined(PSMOVE_USE_PSEYE)
int val;
HKEY hKey;
DWORD l = sizeof(DWORD);
char* PATH = CL_DRIVER_REG_PATH;
int err = RegOpenKeyEx(HKEY_CURRENT_USER, PATH, 0, KEY_ALL_ACCESS, &hKey);
if (err != ERROR_SUCCESS) {
printf("Error: %d Unable to open reg-key: [HKCU]\%s!", err, PATH);
return;
}
val = autoE > 0;
RegSetValueExA(hKey, "AutoAEC", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = autoG > 0;
RegSetValueExA(hKey, "AutoAGC", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = autoWB > 0;
RegSetValueExA(hKey, "AutoAWB", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((511 * exposure) / 0xFFFF);
RegSetValueExA(hKey, "Exposure", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((79 * gain) / 0xFFFF);
RegSetValueExA(hKey, "Gain", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((255 * wbRed) / 0xFFFF);
RegSetValueExA(hKey, "WhiteBalanceR", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((255 * wbGreen) / 0xFFFF);
RegSetValueExA(hKey, "WhiteBalanceG", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((255 * wbBlue) / 0xFFFF);
RegSetValueExA(hKey, "WhiteBalanceB", 0, REG_DWORD, (CONST BYTE*) &val, l);

// restart the camera capture with openCv
if (cc->capture) {
int val;
HKEY hKey;
DWORD l = sizeof(DWORD);
char* PATH = CL_DRIVER_REG_PATH;
int err = RegOpenKeyEx(HKEY_CURRENT_USER, PATH, 0, KEY_ALL_ACCESS, &hKey);
if (err != ERROR_SUCCESS) {
printf("Error: %d Unable to open reg-key: [HKCU]\%s!", err, PATH);
return;
}
val = autoE > 0;
RegSetValueExA(hKey, "AutoAEC", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = autoG > 0;
RegSetValueExA(hKey, "AutoAGC", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = autoWB > 0;
RegSetValueExA(hKey, "AutoAWB", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((511 * exposure) / 0xFFFF);
RegSetValueExA(hKey, "Exposure", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((79 * gain) / 0xFFFF);
RegSetValueExA(hKey, "Gain", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((255 * wbRed) / 0xFFFF);
RegSetValueExA(hKey, "WhiteBalanceR", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((255 * wbGreen) / 0xFFFF);
RegSetValueExA(hKey, "WhiteBalanceG", 0, REG_DWORD, (CONST BYTE*) &val, l);
val = round((255 * wbBlue) / 0xFFFF);
RegSetValueExA(hKey, "WhiteBalanceB", 0, REG_DWORD, (CONST BYTE*) &val, l);

// restart the camera capture with openCv
if (cc->capture) {
cvReleaseCapture(&cc->capture);
}

int width, height;
get_metrics(&width, &height);

cc->capture = cvCaptureFromCAM(cc->cameraID);
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_WIDTH, width);
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_HEIGHT, height);
ps3eye_set_parameter(cc->eye, PS3EYE_EXPOSURE, exposure);
/** Many of the values passed to this function do not work with PS3EYEDriver.
* comment out these functions until a sane value scheme is implemented.
* ps3eye_set_parameter(cc->eye, PS3EYE_AUTO_GAIN, autoG);
* ps3eye_set_parameter(cc->eye, PS3EYE_GAIN, gain);
* ps3eye_set_parameter(cc->eye, PS3EYE_AUTO_WHITEBALANCE, autoWB);
* ps3eye_set_parameter(cc->eye, PS3EYE_CONTRAST, contrast);
* ps3eye_set_parameter(cc->eye, PS3EYE_BRIGHTNESS, brightness);
* ps3eye_set_parameter(cc->eye, PS3EYE_REDBALANCE, wbRed);
* ps3eye_set_parameter(cc->eye, PS3EYE_BLUEBALANCE, wbGreen);
**/
psmove_WARNING("Only PS3EYEDriver parameter 'exposure' set by ps3eye_set_parameter.\n");
/** Some PS3EYEDriver parameters that could be set are not set by this function
* ps3eye_set_parameter(cc->eye, PS3EYE_SHARPNESS, autoG);
* ps3eye_set_parameter(cc->eye, PS3EYE_HUE, ???);
* ps3eye_set_parameter(cc->eye, PS3EYE_HFLIP, ??);
* ps3eye_set_parameter(cc->eye, PS3EYE_VFLIP, ??);
**/

int width, height;
get_metrics(&width, &height);

cc->capture = cvCaptureFromCAM(cc->cameraID);
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_WIDTH, width);
cvSetCaptureProperty(cc->capture, CV_CAP_PROP_FRAME_HEIGHT, height);
#endif
}

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