test.m

1394 接口视觉工具箱 （英文工具箱

% test program to continiously capture stereoscopic pictures from the 
% first 2 cameras on the bus
%
% try..
% >> test
%
% ... or
%
% >> test(2, 100, 100, 50, 200)

function test(varargin)

supportedModes = { ...
	'YUV444 (160x120, 30 fps)', ...
	'YUV422 (320x240, 30 fps)', ...
	'YUV411 (640x480, 30 fps)', ...
	'YUV422 (640x480, 15 fps)', ...
	'RGB8 (640x480, 15 fps)', ...
	'Y8 (640x480, 30 fps)', ...
	'Y16 (640x480, 15 fps)' ...
    };

fname1 = 'colors1.txt';    % default filename
fname2 = 'colors2.txt';    % default filename
scan4col = [];             % all colours

if(isempty(varargin))
    disp('Image type not specified - using YUV as the default');
    mode = 2;			% default mode: YUV411 (640x320, 30 fps)
    myWidth  = -1;      % default width (max)
    myHeight = -1;      % default height (max)
    myOrigX  = -1;      % default origin-x (0)
    myOrigY  = -1;      % default origin-y (0)
elseif(nargin == 1 && isnumeric(varargin{1}))
    mode = varargin{1};
    myWidth  = -1;      % default width (max)
    myHeight = -1;      % default height (max)
    myOrigX  = -1;      % default origin-x (0)
    myOrigY  = -1;      % default origin-y (0)
elseif(nargin == 3 && isnumeric(varargin{1}) && isnumeric(varargin{2}) && isnumeric(varargin{3}))
    mode = varargin{1};
    myWidth  = varargin{2};
    myHeight = varargin{3};
    myOrigX  = -1;      % default origin-x (0)
    myOrigY  = -1;      % default origin-y (0)
elseif(nargin == 5 && isnumeric(varargin{1}) && isnumeric(varargin{2}) && isnumeric(varargin{3}) ...
                                             && isnumeric(varargin{4}) && isnumeric(varargin{5}))
    mode = varargin{1};
    myWidth  = varargin{2};
    myHeight = varargin{3};
    myOrigX  = varargin{4};
    myOrigY  = varargin{5};
end

if(mode == -1)
    
    % switch camera off
    capProcStereo2(-1);
    
else

    % ensure we can exit from the while(1) loop gracefully...
    steroOut = figure;
    set(gcf, 'Position', [20 100 950 400]);
    set(gcf, 'MenuBar', 'none');
    set(gcf, 'Name', 'Stereoscopic Vision');

    subplot(1,2,1)
    title('first camera')
    axis image
    subplot(1,2,2)
    title('second camera')
    axis image

    evalin('base', 'run = 1;');
    set(steroOut, 'CloseRequestFcn', 'evalin(''base'', ''run = 0;'');');

    run = 1;
    while(run)
        
        try
            % verbosity: on (4th call-up parameter)
            [out1, out2, im1, im2] = capProcStereo2(mode, fname1, fname2, scan4col, 1, myWidth, myHeight, myOrigX, myOrigY);

            % camera 1 -------------------------------------------------
            subplot(1,2,1)
            image(im1);
            title('camera #1 -- Close figure window to exit (e.g. ALT+F4)')
            axis image
            drawnow

            if(~isempty(out1))				% no regions detected
                hold on;

                nCol = length(out1);		% number of colours with valid regions
                for(j = 1:nCol)
                    kk = out1(j).nRegions;
                    col = out1(j).Colour;
                    while(kk)
                        cx = out1(j).Regions(1,kk);		% centroid
                        cy = out1(j).Regions(2,kk);
                        x1 = out1(j).Regions(3,kk);		% boundary box
                        y1 = out1(j).Regions(4,kk);
                        x2 = out1(j).Regions(5,kk);
                        y2 = out1(j).Regions(6,kk);
                        % disp(['x1 = ' num2str(x1) ', x2 = ' num2str(x2) ', y1 = ' num2str(y1) ', y2 = ' num2str(y2)])
                        patch([x1 x2 x2 x1], [y1 y1 y2 y2], col);
                        plot(cx,cy,'w*');
                        kk = kk - 1;
                    end
                end

                hold off
            end

            % camera 2 -------------------------------------------------
            subplot(1,2,2)
            image(im2);
            title('camera #2 -- Close figure window to exit (e.g. ALT+F4)')
            axis image
            drawnow

            if(~isempty(out2))				% no regions detected
                hold on;

                nCol = length(out2);		% number of colours with valid regions
                for(j = 1:nCol)
                    kk = out2(j).nRegions;
                    col = out2(j).Colour;
                    while(kk)
                        cx = out2(j).Regions(1,kk);		% centroid
                        cy = out2(j).Regions(2,kk);
                        x1 = out2(j).Regions(3,kk);		% boundary box
                        y1 = out2(j).Regions(4,kk);
                        x2 = out2(j).Regions(5,kk);
                        y2 = out2(j).Regions(6,kk);
                        % disp(['x1 = ' num2str(x1) ', x2 = ' num2str(x2) ', y1 = ' num2str(y1) ', y2 = ' num2str(y2)])
                        patch([x1 x2 x2 x1], [y1 y1 y2 y2], col);
                        plot(cx,cy,'w*');
                        kk = kk - 1;
                    end
                end

                hold off
            end
        catch
            % catch driver errors (e.g. unsupported modes)
            set(gcf, 'CloseRequestFcn', 'closereq');
            close all
            rethrow(lasterror)
        end

        % fetch 'run' from 'base' WS
        run = evalin('base', 'run');
        
    end

end

% switch camera off...
capProcStereo2(-1);
set(steroOut, 'CloseRequestFcn', 'closereq');
close all