Changeset 160 in flair-src for trunk/lib/FlairMeta/src/SimuX4.cpp

Timestamp:

Mar 5, 2017, 12:21:41 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

cam

File:

• trunk/lib/FlairMeta/src/SimuX4.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/SimuX4.cpp

@@ -53 +53 @@
   GetBatteryMonitor()->SetBatteryValue(12);
   
-  string camvOpts=FindArgument(options,"camv=",false);
   uint16_t camvWidth=320,camvHeight=240;
-        if(camvOpts=="") {
-    Info("using default vertical camera resolution: %ix%i\n",camvWidth, camvHeight);
-        }
+        ReadCameraResolutionOption(options,"camv",camvWidth,camvHeight);
+  Info("using vertical camera resolution: %ix%i\n",camvWidth, camvHeight);
+  SetVerticalCamera(new SimuCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id,0, 10));
   
-  SetVerticalCamera(new SimuCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id,0, 10));
-  //SetHorizontalCamera(new SimuCamera("simu_cam_h", 320, 240, 3, simu_id,1, 10));
+  uint16_t camhWidth=320,camhHeight=240;
+  ReadCameraResolutionOption(options,"camh",camhWidth,camhHeight);
+  Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
+  SetHorizontalCamera(new SimuCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
 }
 
@@ -69 +70 @@
   ((SimuUs *)GetUsRangeFinder())->Start();
   ((SimuCamera *)GetVerticalCamera())->Start();
+  ((SimuCamera *)GetHorizontalCamera())->Start();
 }
 
+void SimuX4::ReadCameraResolutionOption(string options,string cameraName,uint16_t &camWidth,uint16_t &camHeight) const {
+  string camOpts=FindArgument(options,cameraName +"=",false);
+        if(camOpts!="") {
+    size_t position=camOpts.find("x");
+    if(position!=std::string::npos) {
+        camWidth=std::stoi(camOpts.substr(0,position));
+        camHeight=std::stoi(camOpts.substr(position+1,std::string::npos));
+    } else {
+      Warn("bad camera resolution parameter (%s) should be WIDTHxHEIGHT format\n",camOpts.c_str());
+    }
+  }
+}
 
 } // end namespace meta