U3V example seems to be working

example/u3v_camera1_opencv/u3v_camera1_opencv.cc

@@ -22,108 +22,81 @@ const int32_t height = 480;
 double gain = 400;
 double exposure = 400;
 
-#ifdef _WIN32
-    #define MODULE_NAME "ion-bb.dll"
-#elif __APPLE__
-    #define MODULE_NAME "libion-bb.dylib"
-#else
-    #define MODULE_NAME "libion-bb.so"
-#endif
-
 int positive_pow(int base, int expo){
-  if (expo <= 0){
-      return 1;
-  }
-  if (expo == 1){
-      return base;
-  }else{
-      return base * positive_pow(base, expo-1);
-  }
+    if (expo <= 0){
+        return 1;
+    }
+    if (expo == 1){
+        return base;
+    }else{
+        return base * positive_pow(base, expo-1);
+    }
 }
 
 int main(int argc, char *argv[])
 {
-  // Define builders to build, compile, and execute pipelines.
-  //  Build the pipeline by adding nodes to the Builder.
-  Builder b;
-
-  // Set the target hardware. The default is CPU.
-  b.set_target(Halide::get_host_target());
-
-  // Load standard building block
-  b.with_bb_module(MODULE_NAME);
-
-  // Define the input port
-  //  Port class is used to define dynamic I/O for each node.
-  Port dispose_p{ "dispose",  Halide::type_of<bool>() };
-  Port gain0_p{ "gain0", Halide::type_of<double>() };
-  Port gain1_p{ "gain1", Halide::type_of<double>() };
-  Port exposure0_p{ "exposure0", Halide::type_of<double>() };
-  Port exposure1_p{ "exposure1", Halide::type_of<double>() };
-
-  //  Connect the input port to the Node instance created by b.add().
-  Node n = b.add("image_io_u3v_camera1_u16x2")(dispose_p, gain0_p, exposure0_p)
-    .set_param(
-      Param{"pixel_format_ptr", "Mono12"},
-      Param{"frame_sync", "false"},
-      Param{"gain_key", FEATURE_GAIN_KEY},
-      Param{"exposure_key", FEATURE_EXPOSURE_KEY},
-      Param{"realtime_diaplay_mode", "true"}
-    );
-
-  // Define output ports and pass each object from Node instance.
-  Port rp = n["output0"];
-  Port frame_count_p = n["frame_count"];
-
-  // Using PortMap, define output ports that map data to input ports and pass each object from a Node instance.
-  PortMap pm;
-
-  // In this sample, the gain value and exposure time of both sensors are set statically.
-  pm.set(gain0_p, gain);
-  pm.set(exposure0_p, exposure);
-
-  // Map data from output ports by using PortMap.
-  // Of the output of "u3v_camera1_u16x2",
-  // - rp (output of the obtained video data) to output0,
-  // - frame_count_p (output of the frame number of the obtained video) to frame_count,
-  // each stored in the buffer.
-  std::vector< int > buf_size = std::vector < int >{ width, height };
-  Halide::Buffer<uint16_t> output0(buf_size);
-  Halide::Buffer<uint32_t> frame_count(1);
-
-  pm.set(rp, output0);
-  pm.set(frame_count_p, frame_count);
-
-  // Obtain image data continuously for 100 frames to facilitate operation check.
-  int loop_num = 100;
-  for (int i = 0; i < loop_num; ++i)
-  {
-    pm.set(dispose_p, i == loop_num-1);
-    // JIT compilation and execution of pipelines with Builder.
     try {
-        b.run(pm);
-    }catch(std::exception& e){
-        // e.what() shows the error message if pipeline build/run was failed.
-        std::cerr << "Failed to build pipeline" << std::endl;
+        // Define builders to build, compile, and execute pipelines.
+        //  Build the pipeline by adding nodes to the Builder.
+        Builder b;
+
+        // Set the target hardware. The default is CPU.
+        b.set_target(Halide::get_host_target());
+
+        // Load standard building block
+        b.with_bb_module("ion-bb");
+
+        Buffer<double> gainb(1);
+        gainb.fill(gain);
+
+        Buffer<double> exposureb(1);
+        exposureb.fill(gain);
+
+        //  Connect the input port to the Node instance created by b.add().
+        Node n = b.add("image_io_u3v_cameraN_u16x2")(gainb, exposureb)
+            .set_param(
+                Param("num_devices", 1),
+                Param("frame_sync", "false"),
+                Param("gain_key", FEATURE_GAIN_KEY),
+                Param("exposure_key", FEATURE_EXPOSURE_KEY),
+                Param("realtime_diaplay_mode", "true")
+                );
+
+        // Map output buffer and ports by using Port::bind.
+        // - output: output of the obtained video data
+        // - frame_count: output of the frame number of the obtained video
+        std::vector< int > buf_size = std::vector < int >{ width, height };
+        Buffer<uint16_t> output(buf_size);
+        Buffer<uint32_t> frame_count(1);
+
+        n["output"][0].bind(output);
+        n["frame_count"][0].bind(frame_count);
+
+        // Obtain image data continuously for 100 frames to facilitate operation check.
+        int loop_num = 100;
+        for (int i = 0; i < loop_num; ++i)
+        {
+            // JIT compilation and execution of pipelines with Builder.
+            b.run();
+
+            // Convert the retrieved buffer object to OpenCV buffer format.
+            cv::Mat A(height, width, CV_16UC1, output.data());
+
+            // Depends on sensor image pixel format, apply bit shift on images
+            A = A * positive_pow(2, NUM_BIT_SHIFT);
+
+            // Display the image
+            cv::imshow("A", A);
+
+            // Wait for key input
+            //   When any key is pressed, close the currently displayed image and proceed to the next frame.
+            cv::waitKey(1);
+        }
+
+    } catch (const Halide::Error& e) {
         std::cerr << e.what() << std::endl;
-        exit(1);
+        return 1;
     }
 
-    // Convert the retrieved buffer object to OpenCV buffer format.
-    cv::Mat A(height, width, CV_16UC1);
-
-    std::memcpy(A.ptr(), output0.data(), output0.size_in_bytes());
-
-    // Depends on sensor image pixel format, apply bit shift on images
-    A = A * positive_pow(2, NUM_BIT_SHIFT);
-
-    // Display the image
-    cv::imshow("A", A);
-
-    // Wait for key input
-    //   When any key is pressed, close the currently displayed image and proceed to the next frame.
-    cv::waitKey(1);
-  }
-
   return 0;
-}
+}