Cannot Get the Sdk to work correctly with Visual c++

[raymondim]

I am having some major issues getting SDK stuff to work on my pc. I have been trying to use the SDK to access the frames from one Optitrack Flex:V100 camera and port this into open cv. so far the farthest i get is being able to read the frames for about 5 seconds and then it crashes on me. I tried to download both the grey scale and the SDK sample from the optitrack website and neither of the run. One says it cannot find the atlbase.h file. The other one has a conversion issue when i try to port it from its original format to a format usable in Visual c++ 2008 Express edition. I am attaching my code so that you can see exactly what i am doing and maybe there is something that i am not understanding. I would appreciate any advise, help, or anything i can get. Thanks.

Code: Select all

#include <winsock2.h>
#include <stdio.h>
#include <conio.h>
#include <time.h>
#include <dos.h>
#include "cv.h"
#include "cxcore.h"
#include "highgui.h"
#include <optitrack.h>
#include <iostream>

using namespace std;

#define BUFFER_FRAME_SIZE 640*480


bool TimeToClose = false;

INPCameraCollection * cameraCollection;
INPCamera *camera;
INPCameraFrame * frame;
INPCameraFrame * tempframe;

INPVector *pVector;
BYTE *Buffer;
long *pVal;

static unsigned char bufFrameCurrent[BUFFER_FRAME_SIZE];

#define HRCHECK(message) if (FAILED(hr)) { fprintf(stderr, "%s\n", message); return 0; }

int main(int argc, char* argv[])
{
	HRESULT hr;
	LONG count;
	LONG misc;
	LONG waittime;
	LONG pVal;
	long width, height;

	VARIANT vx, vy, vz;
	VARIANT vyaw, vpitch, vroll;
	VARIANT voption;

	VARIANT_BOOL corrupt;

	int running = 1;
	int toerrors = 0;
	int windowWidth = 0;
	int windowHeight = 0;
	int frameCounter = 0;


	// probably not needed, but doesn't hurt:
	VariantInit(&vx);
	VariantInit(&vy);
	VariantInit(&vz);
	VariantInit(&vyaw);
	VariantInit(&vpitch);
	VariantInit(&vroll);
	VariantInit(&voption);


	CoInitialize(NULL);  // Startup Microsoft crap

	// create CameraCollection and Vector objects:

	hr = CoCreateInstance(__uuidof(NPCameraCollection), NULL, CLSCTX_ALL,
			__uuidof(INPCameraCollection), (void **) &cameraCollection);
	HRCHECK("CoCreateInstance for CameraCollection");

	hr = CoCreateInstance(__uuidof(NPVector), NULL, CLSCTX_ALL,
			__uuidof(INPVector), (void **) &pVector);
	HRCHECK("CoCreateInstance for Vector");


	// find all the cameras:
	hr = cameraCollection->Enum();
	HRCHECK("CameraCollection->Enum");


	hr = cameraCollection->get_Count(&count);
	HRCHECK("CameraCollection->get_Count");

	cout << "There are " << count << endl;

	if (count < 1) 
	{
		fprintf(stderr, "camera count < 1\n");
		return 0;
	}

  // get one:
  hr = cameraCollection->Item(0, &camera);
  HRCHECK("CameraCollection->Item");

  camera->get_SerialNumber(&misc);
  camera->get_Width(&width);
  camera->get_Height(&height);

  windowWidth = width;
  windowHeight = height;

  printf("serial number = %ld\n", misc);

 

#if 0
  voption.vt = VT_BOOL;
  voption.boolVal = VARIANT_TRUE;
  //hr = pCamera->SetOption(NP_OPTION_SEND_EMPTY_FRAMES, voption);
  HRCHECK("Camera->SetOption");
#endif



	waittime = 100; // value in milliseconds; 0 = don't wait; INFINITE = wait till data

	//pVector->Reset();
	//HRCHECK("Vector->Reset");

	running = 6000; // run ~1 minute for waittime=10 ms

 
	IplImage* curFrame = cvCreateImage(cvSize(355, 290), IPL_DEPTH_8U, 1);
	//IplImage* cvFrame = cvCreateImage(cvSize(355, 290), IPL_DEPTH_8U, 1);
	//IplImage* curFrame;
	static unsigned char frameBuffer[355*290];
	unsigned char *data = (unsigned char *)(curFrame->imageData);

	cvNamedWindow( "Window", CV_WINDOW_AUTOSIZE);
	//cvResizeWindow("Window", 600, 290);





	if(count > 0)
	{
		cameraCollection->Item(0, &camera);
		{
			  hr = camera->Open();

			  // turn on illumination LEDs
			  hr = camera->SetLED(NP_LED_ONE, VARIANT_TRUE);
			  hr = camera->Start();
			  //camera->SetOption(NP_OPTION_EXPOSURE, (VARIANT) 5);
			  
				  while(!TimeToClose)
				  {
						Sleep(5);

						MSG msg;
						if( PeekMessage( &msg, NULL, 0, 0, PM_NOREMOVE ) ) 
						{
						   if(GetMessage( &msg, NULL, 0, 0 ) )
						   {
							 TranslateMessage(&msg);
							 DispatchMessage(&msg);
						   }
						}

						camera->GetFrame(0, &tempframe);
						frame = tempframe;

						while (tempframe!= NULL)
						{
							tempframe->get_Id(&pVal);
							cout << "fame numer: " << pVal << endl;
						    frame = tempframe;
						    //tempframe->Free();
						    tempframe->Release();
						    camera->GetFrame(0, &tempframe);
						}

 // while(running--) 
  //{
						if(frame != 0)
						{
							frameCounter++;

							camera->GetFrameImage(frame, windowWidth, windowHeight, windowWidth, 8, (byte *) bufFrameCurrent);

							frame->Free();
							frame->Release();
						}
					}		  
		}
	}






	 

#if 0
    if (FAILED(hr)) {
		cout << "WTF" << endl;
      // fprintf(stderr,"Camera->GetFrame %x ", hr);
      switch(hr) {
        case S_OK:
	  fprintf(stderr, "OK\n"); break;
        case E_POINTER:
	  fprintf(stderr, "E_POINTER\n"); break;
        case NP_E_DEVICE_DISCONNECTED:
	  fprintf(stderr, "NP_E_DEVICE_DISCONNECTED\n"); break;
        case NP_E_DEVICE_NOT_SUPPORTED:
	  fprintf(stderr, "NP_E_DEVICE_NOT_SUPPORTED\n"); break;
        //case HRESULT_FROM_WIN32(ERROR_TIMEOUT):
	  /*fprintf(stderr, "HRESULT_FROM_WIN32(ERROR_TIMEOUT)\n");*/
	  //toerrors++;
	  break;
        default:
	  fprintf(stderr, "default\n"); break;
      }
      continue;
    }
#endif



  // shut everything down
  camera->SetLED(NP_LED_ONE, VARIANT_FALSE);
  camera->Stop();
  camera->Close();

  CoUninitialize();

  return 0;
}

[raymondim]

Well i kind of solved this problem. I installed microsoft visual studio 2005 proffessional edition. This took all the problems i was having and made them just go away.