/*

 * =====================================================================================

 *

 *       Filename:  main.cpp

 *      Environment:

 *    Description:  SR4K的API使用（libMesaSR.dll）

 *

 *

 *        Version:  1.0

 *        Created:  2013/10/30 20:47:31

 *         Author:  yuliyang

I*

 *             Mail:  wzyuliyang911@gmail.com

 *             Blog:  http://www.cnblogs.com/yuliyang

 *

 * =====================================================================================

 */

#include "definesSR.h"

#include "libMesaSR.h"

#include <stdio.h>

#include <iostream>

#include "opencv2/core/core.hpp"

#include "opencv2/highgui/highgui.hpp"

#include "opencv2/imgproc/imgproc.hpp"

using namespace std;

/*------------------------------------------------------------------------------------------------------------

 *

 *  从内存中dump出内容

 *  共144*176*sizeof(unsigned short int类型)个字节

 *

 *------------------------------------------------------------------------------------------------------------*/

//void Dump(unsigned char* p,int num)

//{

//    puts("Dump of memory byte by byte regrouped in blocks of 8 byte\n"\

//        "   bytes:  0 1 2 3 4 5 6 7| 8 9 a b c d e f|1011121314151617|18191a1b1c1d1e1f|\n"\

//        "--------:-----------------+----------------+----------------+----------------|");

//    for(int i=0;i<num;i++)

//    {

//        if(!(i&0x1f))

//        {

//            printf("%08x: ",i);

//        }

//        printf("%02x",p[i]);

//

//        if(!((i+1)&0x07))

//        {

//            putchar('|');

//            if(!((i+1)&0x1f))

//            {

//                putchar('\n');

//            }

//        }

//    }

//    putchar('\n');

//}

int main(){

    /*------------------------------------------------------------------------------------------------------------

     *  创建一个SR4K设备对象

     *------------------------------------------------------------------------------------------------------------*/

    CMesaDevice *cam=NULL;

    SR_OpenDlg(&cam,,NULL);                    

    /*------------------------------------------------------------------------------------------------------------

     *  设置工作模式在15MHZ

     *------------------------------------------------------------------------------------------------------------*/

    SR_SetModulationFrequency(cam,MF_15MHz);

    SR_SetMode(cam,AM_COR_FIX_PTRN|AM_CONV_GRAY|AM_DENOISE_ANF); /* 其他一些属性的设置：去噪等 */

    /*------------------------------------------------------------------------------------------------------------

     *  获取行数和列数

     *------------------------------------------------------------------------------------------------------------*/

    int r= SR_GetRows(cam);

    int c= SR_GetCols(cam);

    size_t bufSz=r*c**sizeof(unsigned int);    /* 创建缓存 3种图像，depth图，Amplitude幅度图，和确信度图 */

    void *buf=malloc(bufSz);

    memset(buf,0xaf,bufSz);                     /* 缓存区清零 */

    /*------------------------------------------------------------------------------------------------------------

     *  以下用于坐标变换，转到笛卡尔坐标系

     *------------------------------------------------------------------------------------------------------------*/

    short *xS16=(short*)buf, *yS16=&xS16[r*c]; WORD *zU16=(WORD*)&yS16[r*c];

    int pitchS16X=sizeof(short),  pitchS16Y=sizeof(short), pitchU16Z=sizeof(WORD);

    SR_Acquire(cam);

    //    SR_CoordTrfUint16(cam, 0,    0,    zU16, pitchS16X, pitchS16Y, pitchU16Z);

    SR_CoordTrfUint16(cam, xS16, yS16, zU16, pitchS16X, pitchS16Y, pitchU16Z);    

    int num=SR_Acquire(cam);                    /* 触发设备获取图像 */

    ImgEntry  *images;

    int numImg=SR_GetImageList(cam,&images);    /* 获得图像列表 */

    cout<<numImg<<endl;

    void * data;                                /* 指向图像数据部分的指针 */

    data=SR_GetImage(cam, );

    /*------------------------------------------------------------------------------------------------------------

     *  用opencv显示图像

     *------------------------------------------------------------------------------------------------------------*/

    IplImage *temp=cvCreateImage(cvSize(,),IPL_DEPTH_16U,);

    unsigned short int * pdata;

    pdata=(unsigned short int*)data;

    for (int i=;i<temp->height;i++)

    {

        for (int j=;j<temp->width;j++)

        {

            CV_IMAGE_ELEM( temp, unsigned short int, i, j)=*pdata; /* 给图像赋值 */

            pdata++;

        }

    }

    /*------------------------------------------------------------------------------------------------------------

     *  显示图像

     *------------------------------------------------------------------------------------------------------------*/

    cvShowImage("",temp);

    cvWaitKey();

    cvDestroyWindow("");

    cvReleaseImage(&temp);

    /*for(int i=0;i<numImg;i++)

    {

         data=SR_GetImage(cam, i);

         Dump((unsigned char*)data,(int)r*c*2);

    }*/

    /*WORD w1=images->width;

    WORD h1=images->height;

    cout<<images->dataType<<endl;

    cout<<images->imgType<<endl;

    cout<<w1<<endl;

    cout<<h1<<endl;*/

    //SR_GetImage(cam,0);

    //SR_StreamToFile(cam,"11.srs",0);          /* 导出srs格式文件 */

    //SR_StreamToFile(cam,"11.srs",2);

    //SR_CoordTrfFlt(cam, x, y, z, sizeof(float) , sizeof(float) , sizeof(float));

    /*-----------------------------------------------------------------------------

     *  释放内存

     *-----------------------------------------------------------------------------*/

    SR_Close(cam) ;

    free(buf); //free allocated buffers

    return ;

}