Hi Jenny, Are you using the library from the e-puck site? http://www.e-puck.org/index.php?option=com_content&view=article&id=8&Itemid=25 This libraries provide functions to know what camera you have. It is very strange that the camera gives you garbage. Did you use an example to develop your code? When you download the library there are examples to be based on. In my case, I used a 40x40 image which is the one from the example.
Hope that helps, Sergi 2011/2/15 Jenny Owen <jo...@cs.york.ac.uk> > Thank you for your reply Sergi. In my code I configured the camera to > capture the whole 640x480 image which is scaled by a zoom factor of 8 in x > and y to give a 80x60 image. I also set it to be in greyscale so only 1 byte > per pixel is needed. Which is why I didn't think the problem was the buffer > being too small or me not interpreting the data into rgb properly. > > The data the camera gives me is basically garbage, it's mostly empty 0x00 > or 0x08 and the data doesn't seem to be affected when I put my hand over the > camera. I've attached an example of the image data the epuck running the > code below sends back. > > Perhaps I have incorrect drivers for the camera or something? I read > somewhere that there are sometimes po6030k cameras on the epuck. How do I > tell which one my robot has? > Thanks, > > Jenny > > > On 14/02/11 16:35, Sergi Torrellas wrote: > >> Hi Jenny, >> >> I tried to do exactly the same. >> What you get from the e-puck is 40x40 bytes of an RGB code (2bytes). >> Have a look at the datasheet of the camera, there is an explanation >> there of the codification. >> You can create the an image file (jpg, bmp, png) by using this array of >> pixels. >> >> Hope that helps, >> >> Sergi >> >> 2011/2/14 Jenny Owen <jo...@cs.york.ac.uk <mailto:jo...@cs.york.ac.uk>> >> >> >> Hello all, >> I've been working on some code which tells the epuck to take a >> picture with its camera and then send it to my computer via >> bluetooth. The problem is that when the camera takes a picture, the >> data it creates is rubbish. I've looked at sample code in the >> library documentation and the epuck player drivers and I can't tell >> where my code is going wrong. >> Anyway, this is the code that is running on the epuck: >> >> #include <uart/e_uart_char.h> >> #include <motor_led/e_init_port.h> >> #include <camera/fast_2_timer/e_po3030k.h> >> >> #define CAM_BUFFER_SIZE 80*60 >> unsigned char cam_buffer[CAM_BUFFER_SIZE]; >> >> void init_cam(void) >> { >> e_po3030k_init_cam(); >> e_po3030k_config_cam(0, 0, ARRAY_WIDTH, ARRAY_HEIGHT, 8, 8, >> GREY_SCALE_MODE); >> e_po3030k_write_cam_registers(); >> return; >> } >> >> >> void capture(void) >> { >> e_po3030k_launch_capture((char *)cam_buffer); >> while(!e_po3030k_is_img_ready()); >> } >> >> >> int main(void) >> { >> e_init_port(); >> init_cam(); >> e_init_uart1(); >> >> e_send_uart1_char("photography ", 12); >> >> char ch; >> //get ch from uart until we receive an x >> while(ch != 'x') >> { >> //is_char checks for incoming data from uart1 >> if(e_ischar_uart1()) >> { >> e_getchar_uart1(&ch); >> } >> } >> capture(); >> >> //send buffer contents to bluetooth >> e_send_uart1_char((char *)cam_buffer, CAM_BUFFER_SIZE); >> >> //wait to finish sending >> while(e_uart1_sending()){} >> >> >> return 0; >> } >> >> So the camera is taking a 640 x 480 greyscale image and scaling it >> down to an 80x60 image. This is then sent to my computer across >> uart1. On my computer I've tried reading the data through the >> terminal in TinyBld which gives me raw data which looks like: >> >> û û û û >> ÿ ÿ etc. When I >> converted that to an image it was basically a black retangle with >> some lighter grey pixels. >> I thought maybe the problem was with the bluetooth connection, but >> when I try and use the data for other things in the epuck it's clear >> the camera isn't filling the buffer with data properly. I also tried >> running the BTcom/epuck monitor program, and with that code the >> camera worked properly so it's not a broken camera either. >> >> I'm not sure what else the problem could be, does anyone here have >> any ideas? >> Thanks, >> >> Jenny >> >> _______________________________________________ >> E-puck-user mailing list >> E-puck-user@gna.org <mailto:E-puck-user@gna.org> >> >> https://mail.gna.org/listinfo/e-puck-user >> >> >> >> >> -- >> *SERGI TORRELLAS SOCASTRO >> Desenvolupador >> R+D Salut >> >> M. 616.21.72.97** >> *storrel...@bdigital.org <http://bdigital.org> >> >> >> *BARCELONA DIGITAL CENTRE TECNOLÒGIC* >> Roc Boronat 117, 5a planta, 08018 Barcelona >> Tel. +34 93 553 45 40 - Fax. +34 93 553 45 41 >> www.bdigital.org <http://www.bdigital.org/> >> >> >> >> >> > > _______________________________________________ > E-puck-user mailing list > E-puck-user@gna.org > https://mail.gna.org/listinfo/e-puck-user > > -- *SERGI TORRELLAS SOCASTRO Desenvolupador R+D Salut M. 616.21.72.97** *storrel...@bdigital.org *BARCELONA DIGITAL CENTRE TECNOLÒGIC* Roc Boronat 117, 5a planta, 08018 Barcelona Tel. +34 93 553 45 40 - Fax. +34 93 553 45 41 www.bdigital.org
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