diff options
Diffstat (limited to 'tracker-trackhat/camera.cpp')
| -rw-r--r-- | tracker-trackhat/camera.cpp | 41 |
1 files changed, 26 insertions, 15 deletions
diff --git a/tracker-trackhat/camera.cpp b/tracker-trackhat/camera.cpp index 9609132e..c744a9f9 100644 --- a/tracker-trackhat/camera.cpp +++ b/tracker-trackhat/camera.cpp @@ -43,27 +43,24 @@ pt_camera::result trackhat_camera::get_frame(pt_frame& frame_) { auto& ret = *frame_.as<trackhat_frame>(); trackhat_frame frame; + trackHat_ExtendedPoints_t points = {}; if (status < th_running || error_code != TH_SUCCESS) - { - if (status >= th_running) - qDebug() << "trackhat: disconnected, status" << (void*)error_code; goto error; - } - if (TH_ErrorCode error = trackHat_GetDetectedPoints(&device, &frame.points); error != TH_SUCCESS) + if (TH_ErrorCode error = trackHat_GetDetectedPointsExtended(&device, &points); error != TH_SUCCESS) { error_code = error; goto error; } - ret.points = frame.points; + ret.init_points(points, s.min_point_size, s.max_point_size); return {true, get_desired()}; error: - if (error_code != TH_SUCCESS) + if (status >= th_running) qDebug() << "trackhat: error" << (void*)error_code; - ret.points = {}; + ret.init_points(points, s.min_point_size, s.max_point_size); stop(); return {false, get_desired()}; } @@ -79,6 +76,24 @@ error: } \ } while (false) +int trackhat_camera::init_regs() +{ + constexpr uint8_t regs[][3] = { + { 0x0c, 0x0f, 0xf0 }, // exposure lo + { 0x0c, 0x10, 0x7f }, // exposure hi + { 0x01, 0x01, 0x01 }, // bank1 sync + }; + + for (const auto& reg : regs) + { + trackHat_SetRegister_t r{reg[0], reg[1], reg[2]}; + if (TH_ErrorCode error = trackHat_SetRegisterValue(&device, &r); error != TH_SUCCESS) + return error; + } + + return TH_SUCCESS; +} + bool trackhat_camera::start(const pt_settings&) { int attempts = 0; @@ -96,12 +111,9 @@ start: CHECK(trackHat_Initialize(&device)); status = th_init; CHECK(trackHat_DetectDevice(&device)); status = th_detect; - CHECK(trackHat_Connect(&device)); status = th_connect; - CHECK(trackHat_GetUptime(&device, &uptime)); status = th_running; - -#if 0 - qDebug() << "trackhat start: device uptime" << uptime << "seconds"; -#endif + CHECK(trackHat_Connect(&device, TH_FRAME_EXTENDED)); status = th_connect; + CHECK(trackHat_GetUptime(&device, &uptime)); + CHECK((TH_ErrorCode)init_regs()); status = th_running; return true; error: @@ -133,4 +145,3 @@ void trackhat_camera::stop() status = th_noinit; device = {}; } - |