[E-puck-user] E-puck Camera Problem
Hi,
I'm trying to extract an image from the epuck camera to the matlab using the
bluetooth connection.
I based the image extraction on the first example of the e_po3030k.h, and
used the uart interface to transfer the buffer, containing the image, from
the e-puck to the matlab. All the libraries (matlab-uart and camera) were
retreived from the epuck site/downloads/library/e-puck-latest-svn-trunk
The code is the following:
#include "e_uart_char.h"
#include "e_init_port.h"
#include "e_po3030k.h"
#include "matlab.h"
//buffer containing the image
char buffer[2*40*40];
int main(void)
{
//initializations
e_init_port();
e_init_uart1();
e_po3030k_init_cam();
//begining of the program
e_send_char_to_matlab("CHECKPOINT1",11);
//configuring the camera
e_po3030k_config_cam((ARRAY_WIDTH
-160)/2,(ARRAY_HEIGHT-160)/2,60,160,4,4,RGB_565_MODE);
//?dont know what is this??
e_po3030k_write_cam_registers();
//start capturing the image
e_po3030k_launch_capture(buffer);
//after launching the image capture - the e-puck arrives to this stage
e_send_char_to_matlab("CHECKPOINT2",11);
//wait for the image to be captured and the data is on the buffer
while(!e_po3030k_is_img_ready());
//when the image is ready to be sent - E-PUCK NEVER ARRIVES TO THIS
STAGE
e_send_char_to_matlab("CHECKPOINT3",11);
//sending the data to MATLAB - 40*40 RGB565 (16 bits-2 bytes) picture
e_send_char_to_matlab(buffer,2*40*40);
//wait for the epuck to send the data
while(e_uart1_sending());
return 0;
}
I can compile it and upload it to the e-puck. But when the e-pucks boots, it
seems that it stays stuck on a resetting and booting loop. I can see this
because of the checkpoints I put the in the program.
The e-puck keeps repeatedly printing CHECKPOINT1 and CHECKPOINT2 and never
arrives to CHECKPOINT 3. I tried to issuie CHECKPOINT2 after a certain time
has passed (with a timer). It's seems that after a few seconds (1/2 seconds)
of delay the program starts only issueing CHECKPOINT1, so I presume the
rebooting ocurres somewhere arround that delay.
I can't seem to get arround this problem. Could someone please help?
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Re: [E-puck-user] E-puck Camera Problem
Hi,
Are you sure you have a po3030 or a po6060?
Sergi
2011/2/28 Duarte Dias
> Hi,
>
> I'm trying to extract an image from the epuck camera to the matlab using
> the bluetooth connection.
>
> I based the image extraction on the first example of the e_po3030k.h, and
> used the uart interface to transfer the buffer, containing the image, from
> the e-puck to the matlab. All the libraries (matlab-uart and camera) were
> retreived from the epuck site/downloads/library/e-puck-latest-svn-trunk
>
> The code is the following:
>
> #include "e_uart_char.h"
> #include "e_init_port.h"
> #include "e_po3030k.h"
> #include "matlab.h"
>
> //buffer containing the image
> char buffer[2*40*40];
>
> int main(void)
> {
> //initializations
> e_init_port();
> e_init_uart1();
> e_po3030k_init_cam();
>
> //begining of the program
> e_send_char_to_matlab("CHECKPOINT1",11);
>
> //configuring the camera
> e_po3030k_config_cam((ARRAY_WIDTH
> -160)/2,(ARRAY_HEIGHT-160)/2,60,160,4,4,RGB_565_MODE);
>
> //?dont know what is this??
> e_po3030k_write_cam_registers();
>
> //start capturing the image
> e_po3030k_launch_capture(buffer);
>
> //after launching the image capture - the e-puck arrives to this stage
> e_send_char_to_matlab("CHECKPOINT2",11);
>
> //wait for the image to be captured and the data is on the buffer
> while(!e_po3030k_is_img_ready());
>
> //when the image is ready to be sent - E-PUCK NEVER ARRIVES TO THIS
> STAGE
> e_send_char_to_matlab("CHECKPOINT3",11);
>
> //sending the data to MATLAB - 40*40 RGB565 (16 bits-2 bytes) picture
> e_send_char_to_matlab(buffer,2*40*40);
>
> //wait for the epuck to send the data
> while(e_uart1_sending());
>
> return 0;
> }
>
> I can compile it and upload it to the e-puck. But when the e-pucks boots,
> it seems that it stays stuck on a resetting and booting loop. I can see this
> because of the checkpoints I put the in the program.
> The e-puck keeps repeatedly printing CHECKPOINT1 and CHECKPOINT2 and never
> arrives to CHECKPOINT 3. I tried to issuie CHECKPOINT2 after a certain time
> has passed (with a timer). It's seems that after a few seconds (1/2 seconds)
> of delay the program starts only issueing CHECKPOINT1, so I presume the
> rebooting ocurres somewhere arround that delay.
>
> I can't seem to get arround this problem. Could someone please help?
>
> ___
> 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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Re: [E-puck-user] E-puck Camera Problem
Sergi,
I am very dum in camera concepts
I don't know what is the diference of a po3030 and po6060. I heard the term
po6060 but don't know what it is.
If it is this the problem what should I do? I presume there is a po6060
camera library but I don't have it on the downloaded libraries.
Thx for the reply
2011/2/28 Sergi Torrellas
> Hi,
>
> Are you sure you have a po3030 or a po6060?
>
> Sergi
>
> 2011/2/28 Duarte Dias
>
>> Hi,
>>
>> I'm trying to extract an image from the epuck camera to the matlab using
>> the bluetooth connection.
>>
>> I based the image extraction on the first example of the e_po3030k.h, and
>> used the uart interface to transfer the buffer, containing the image, from
>> the e-puck to the matlab. All the libraries (matlab-uart and camera) were
>> retreived from the epuck site/downloads/library/e-puck-latest-svn-trunk
>>
>> The code is the following:
>>
>> #include "e_uart_char.h"
>> #include "e_init_port.h"
>> #include "e_po3030k.h"
>> #include "matlab.h"
>>
>> //buffer containing the image
>> char buffer[2*40*40];
>>
>> int main(void)
>> {
>> //initializations
>> e_init_port();
>> e_init_uart1();
>> e_po3030k_init_cam();
>>
>> //begining of the program
>> e_send_char_to_matlab("CHECKPOINT1",11);
>>
>> //configuring the camera
>> e_po3030k_config_cam((ARRAY_WIDTH
>> -160)/2,(ARRAY_HEIGHT-160)/2,60,160,4,4,RGB_565_MODE);
>>
>> //?dont know what is this??
>> e_po3030k_write_cam_registers();
>>
>> //start capturing the image
>> e_po3030k_launch_capture(buffer);
>>
>> //after launching the image capture - the e-puck arrives to this stage
>> e_send_char_to_matlab("CHECKPOINT2",11);
>>
>> //wait for the image to be captured and the data is on the buffer
>> while(!e_po3030k_is_img_ready());
>>
>> //when the image is ready to be sent - E-PUCK NEVER ARRIVES TO THIS
>> STAGE
>> e_send_char_to_matlab("CHECKPOINT3",11);
>>
>> //sending the data to MATLAB - 40*40 RGB565 (16 bits-2 bytes) picture
>> e_send_char_to_matlab(buffer,2*40*40);
>>
>> //wait for the epuck to send the data
>> while(e_uart1_sending());
>>
>> return 0;
>> }
>>
>> I can compile it and upload it to the e-puck. But when the e-pucks boots,
>> it seems that it stays stuck on a resetting and booting loop. I can see this
>> because of the checkpoints I put the in the program.
>> The e-puck keeps repeatedly printing CHECKPOINT1 and CHECKPOINT2 and never
>> arrives to CHECKPOINT 3. I tried to issuie CHECKPOINT2 after a certain time
>> has passed (with a timer). It's seems that after a few seconds (1/2 seconds)
>> of delay the program starts only issueing CHECKPOINT1, so I presume the
>> rebooting ocurres somewhere arround that delay.
>>
>> I can't seem to get arround this problem. Could someone please help?
>>
>> ___
>> 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
>
___
E-puck-user mailing list
E-puck-user@gna.org
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Re: [E-puck-user] E-puck Camera Problem
Sergi,
I was using the fast_2_timer library. When I switch to the slow_3_timer
library a buffer is effectively transfered throught the bluetooth. But this
buffer consists of a vector of zeros, no matter the color environment the
e-puck camera is looking at.
I switch to the po library. The thing is the po library only exists
on the fast_2_timer. The problems are the same (with the fast_2_timer we
have a rebooting loop and with slow_3_timer we have a buffer of zeros).
With the search I did through the po library code, I understanded that
this library has the two models of the camera (3030 and 6030) included, and
the interface just acts as a switcher between the two of them. When I init
the camera, the model of the camera is calculated and stored in a variable.
The general functions just use that variable as a switch between the
functions of the two models, thus choosing allways the right function
regardless of the model we are in.
What I don't understand:
1 - why do the fast_2_timer library doesn't work (regardless the model I
have)?
2 - what is the difference between fast_2_timer library and slow_3_timer
library?
3 - why do the slow_3_timer doesn't have a po interface and there is no
library for the model 6030?
4 - why do I get a buffer with zeros with the fast_2_timer library?
5 - where is the slow_3_timer library for the po6030 model?
6 - in the site you told me to download the libraries there are two files
with the same description:
epucklib.zip (only have model 3030)
e-puck-latest-svn-trunk.tar.gz (have the models 3030, 6030
and a the model switcher )
why the first is not updated? Because I started to download that one thus
never heard of the po library before
ONE MORE THING: I'm not building my application on the library projects. I
just take the .c and .h I need and do my own project. In the fast_2_timer
library, e_interrupt.s and cam_fast.a are not included - are these files
important? The project compiles!
Sry for the length of the mail
2011/2/28 Sergi Torrellas
> Here you have:
>
>
> http://www.e-puck.org/index.php?option=com_phocadownload&view=category&id=11:library&Itemid=38
>
> Sorry for the misunderstanding ...
> There are many examples there that can help you.
>
>
> Sergi
>
> 2011/2/28 Duarte Dias
>
>> Sorry Sergi but I don't understand what librarys you want me to
>> download. Was the link u sent suppose to direct me to the libraries? because
>> instead I just go to a Apach Server Debugging Page.
>>
>> Duarte
>>
>> 2011/2/28 Sergi Torrellas
>>
>>> Hi Duarte,
>>>
>>> The po3030K or po6060k are the model of the integrated camera of the
>>> e-puck. However, it exists generic calls independent of the camera model.
>>> Something like:
>>> e_po_init_cam();
>>> e_po_config_cam((ARRAY_WIDTH -160)/2,(ARRAY_HEIGHT-160)/2,
>>> 160,160,4,4,RGB_565_MODE);
>>> e_po_write_cam_registers();
>>>
>>> Try to have a look at the examples that come with the library
>>> downloadable from e-puck.org.
>>>
>>>
>>> Sergi
>>>
>>> 2011/2/28 Duarte Dias
>>>
Sergi,
I am very dum in camera concepts
I don't know what is the diference of a po3030 and po6060. I heard the
term po6060 but don't know what it is.
If it is this the problem what should I do? I presume there is a po6060
camera library but I don't have it on the downloaded libraries.
Thx for the reply
2011/2/28 Sergi Torrellas
Hi,
>
> Are you sure you have a po3030 or a po6060?
>
> Sergi
>
> 2011/2/28 Duarte Dias
>
>> Hi,
>>
>> I'm trying to extract an image from the epuck camera to the matlab
>> using the bluetooth connection.
>>
>> I based the image extraction on the first example of the e_po3030k.h,
>> and used the uart interface to transfer the buffer, containing the image,
>> from the e-puck to the matlab. All the libraries (matlab-uart and camera)
>> were retreived from the epuck
>> site/downloads/library/e-puck-latest-svn-trunk
>>
>> The code is the following:
>>
>> #include "e_uart_char.h"
>> #include "e_init_port.h"
>> #include "e_po3030k.h"
>> #include "matlab.h"
>>
>> //buffer containing the image
>> char buffer[2*40*40];
>>
>> int main(void)
>> {
>> //initializations
>> e_init_port();
>> e_init_uart1();
>> e_po3030k_init_cam();
>>
>> //begining of the program
>> e_send_char_to_matlab("CHECKPOINT1",11);
>>
>> //configuring the camera
>> e_po3030k_config_cam((ARRAY_WIDTH
>> -160)/2,(ARRAY_HEIGHT-160)/2,60,160,4,4,RGB_565_MODE);
>>
>> //?dont know what is this??
>> e_po3030k_write_cam_registers();
>>
>> //start capturing the image
>> e_po3030k_launch_capture(buffer);
>>
>> //after launching the image capture - the e-puck arrives to this
>> sta
