public static extern int mknod(byte *path, mode_t mode, dev_t dev);
public static extern int mknodat(int dirfd, byte *path, mode_t mode, dev_t dev);
public static int mknod(byte *path, mode_t mode, dev_t dev) => _mknod(0, path, mode, &dev);
public static void Main(string[] argv)
{
dmcam.init(null);
dmcam.log_cfg(log_level_e.LOG_LEVEL_WARN, log_level_e.LOG_LEVEL_DEBUG,
log_level_e.LOG_LEVEL_NONE);
dmcamDevArray devs = new dmcamDevArray(16);
int cnt = dmcam.dev_list(devs.cast(), 16);
Console.Write("found {0} device\n", cnt);
if (cnt == 0)
{
return;
}
Console.WriteLine(" Open dmcam device ..");
dev_t dev = dmcam.dev_open(null);
if (dev == null)
{
Console.WriteLine(" Open device failed");
return;
}
/* get info */
dev_info_t dev_info = new dev_info_t();
dmcam.dev_get_info(dev, dev_info);
dm_u32_p freq_list = dm_u32_p.frompointer(dev_info.calib.freq_list);
Console.WriteLine("calibrated freq: n={0}, f0={1}", dev_info.calib.n_freq, freq_list.getitem(0));
/* set param */
param_item_t p_fps = new param_item_t();
p_fps.param_id = dev_param_e.PARAM_FRAME_RATE;
p_fps.param_val.frame_rate.fps = 10;
param_item_t p_intg = new param_item_t();
p_intg.param_id = dev_param_e.PARAM_INTG_TIME;
p_intg.param_val.intg.intg_us = 1000;
dmcamParamArray wparams = new dmcamParamArray(2);
wparams.setitem(0, p_fps);
wparams.setitem(1, p_intg);
if (!dmcam.param_batch_set(dev, wparams.cast(), 2))
{
Console.WriteLine(" set param failed\n");
}
/* get param */
param_item_t r_fps = new param_item_t();
r_fps.param_id = dev_param_e.PARAM_FRAME_RATE;
param_item_t r_intg = new param_item_t();
r_intg.param_id = dev_param_e.PARAM_INTG_TIME;
dmcamParamArray rparams = new dmcamParamArray(2);
rparams.setitem(0, r_fps);
rparams.setitem(1, r_intg);
if (!dmcam.param_batch_get(dev, rparams.cast(), 2))
{
Console.WriteLine(" get param failed\n");
}
else
{
Console.WriteLine("fps = {0}, intg = {1}",
(int)rparams.getitem(0).param_val.frame_rate.fps,
(int)rparams.getitem(1).param_val.intg.intg_us);
}
cap_cfg_t cfg = new cap_cfg_t();
cfg.cache_frames_cnt = 10;
cfg.on_error = null;
cfg.on_frame_ready = null;
cfg.en_save_replay = 0;
cfg.en_save_dist_u16 = 0;
cfg.en_save_gray_u16 = 0;
cfg.fname_replay = null;
dmcam.cap_config_set(dev, cfg);
//dmcam.cap_set_frame_buffer(dev, null, 10 * 320 * 240 * 4);
// dmcam.cap_set_callback_on_error(dev, null);
Console.WriteLine(" Start capture ...");
dmcam.cap_start(dev);
byte[] f = new byte[640 * 480 * 4 * 3];
//ByteBuffer f = ByteBuffer.allocateDirect(1920 * 1080 * 3); [> should be large enough to have one frame <]
Console.WriteLine(" sampling 100 frames ...");
int count = 0;
bool run = true;
while (run)
{
// get one frame
frame_t finfo = new frame_t();
int ret = dmcam.cap_get_frames(dev, 1, f, (uint)f.Length, finfo);
if (ret > 0)
{
int img_w = (int)finfo.frame_info.width;
int img_h = (int)finfo.frame_info.height;
Console.Write(" frame @ {0}x{1}, {2} [",
finfo.frame_info.width,
finfo.frame_info.height,
finfo.frame_info.frame_idx);
//byte[] first_seg = new byte[16];
//f.get(first_seg, 0, 16);
for (int n = 0; n < 16; n++)
{
Console.Write("{0:X2}, ", f[n]);
}
Console.Write("]\n");
ushort[] dist = new ushort[img_w * img_h];
//dmcam.raw2dist(dist, dist.length, f, f.capacity());
dmcam.frame_get_dist_u16(dev, dist, dist.Length, f, f.Length, finfo.frame_info);
for (int n = 0; n < 16; n++)
{
Console.Write("{0},", dist[n]);
}
Console.Write("]\n");
count += 1;
if (count >= 30)
{
break;
}
}
// print(" frame @ %d, %d, %d" %
// (finfo.frame_fbpos, finfo.frame_count, finfo.frame_size))
// # print the first 16bytes of the frame
// # print([hex(n) for n in f][:16])
}
Console.WriteLine(" Stop capture ...");
dmcam.cap_stop(dev);
Console.WriteLine(" Close dmcam device ..");
dmcam.dev_close(dev);
// Console.WriteLine("hello world " + cnt);
dmcam.uninit();
}
public static int mknodat(int dirfd, byte *path, mode_t mode, dev_t dev) => _mknodat(0, dirfd, path, mode, &dev);
