[81] | 1 | // Ladybug.cpp : définit les fonctions exportées pour l'application DLL.
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| 2 | //
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| 3 |
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| 4 | #include "LadybugComponent.h"
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| 5 |
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| 6 | #ifdef WIN32
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| 7 | #include <Windows.h>
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| 8 | #endif
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| 9 |
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| 10 | #include <qfile.h>
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| 11 | #include <qapplication.h>
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| 12 |
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| 13 | #include <iostream>
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| 14 | //#include <sstream>
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| 15 | //#include <string>
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| 16 | #include <qdebug.h>
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| 17 | #include <shlobj.h>
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| 18 |
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| 19 | //#include <QMetaType>
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| 20 | #include "Pacpus/kernel/ComponentFactory.h"
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| 21 | #include "Pacpus/kernel/Log.h"
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| 22 | //#include "Pacpus/kernel/DbiteException.h"
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| 23 | //#include "Pacpus/kernel/DbiteFileTypes.h"
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| 24 |
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| 25 | using namespace std;
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| 26 | using namespace pacpus;
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| 27 |
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| 28 | namespace pacpus{
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| 29 |
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| 30 | DECLARE_STATIC_LOGGER("pacpus.base.LadybugComponent");
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| 31 |
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| 32 | // Construct the factory
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| 33 | static ComponentFactory<LadybugComponent> sFactory("LadybugComponent");
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[98] | 34 | static const size_t kMaxFilepathLength = 128;
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[81] | 35 |
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| 36 | /* *Constructor*/
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| 37 | LadybugComponent::LadybugComponent(QString name) : ComponentBase(name)
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| 38 | {
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| 39 | lbFrameCount = 0;
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| 40 | lbCurrentTime = 0;
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| 41 | lbElapsedTime = 0;
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| 42 | lbLastUpdateTime = 0;
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| 43 |
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| 44 | LOG_TRACE ("constructor(" << name << ")");
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| 45 | }
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| 46 |
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| 47 | /* *Destructor */
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| 48 | LadybugComponent::~LadybugComponent()
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| 49 | {
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| 50 | LOG_TRACE ("destructor");
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| 51 | }
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| 52 |
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| 53 | /* *Called by the ComponentManager to start the component*/
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| 54 | void LadybugComponent::startActivity()
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| 55 | {
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| 56 | lbTotalMBWritten = 0.0;
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| 57 | lbTotalNumberOfImagesWritten = 0;
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| 58 | lbNumOfFrames = 0;
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[98] | 59 |
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| 60 | if (lbSaveJPGImages)
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| 61 | {
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| 62 | try
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| 63 | {
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| 64 | QString dbtFileName_ = "Camera_1.dbt";
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| 65 | mDbtImage1.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, kMaxFilepathLength);
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| 66 | } catch (DbiteException & e) {
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| 67 | LOG_ERROR("error opening dbt file: " << e.what());
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| 68 | }
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| 69 |
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| 70 | try
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| 71 | {
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| 72 | QString dbtFileName_ = "Camera_2.dbt";
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| 73 | mDbtImage1.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, kMaxFilepathLength);
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| 74 | } catch (DbiteException & e) {
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| 75 | LOG_ERROR("error opening dbt file: " << e.what());
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| 76 | }
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| 77 |
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| 78 | try
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| 79 | {
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| 80 | QString dbtFileName_ = "Camera_3.dbt";
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| 81 | mDbtImage1.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, kMaxFilepathLength);
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| 82 | } catch (DbiteException & e) {
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| 83 | LOG_ERROR("error opening dbt file: " << e.what());
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| 84 | }
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| 85 |
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| 86 | try
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| 87 | {
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| 88 | QString dbtFileName_ = "Camera_4.dbt";
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| 89 | mDbtImage1.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, kMaxFilepathLength);
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| 90 | } catch (DbiteException & e) {
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| 91 | LOG_ERROR("error opening dbt file: " << e.what());
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| 92 | }
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| 93 |
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| 94 | try
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| 95 | {
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| 96 | QString dbtFileName_ = "Camera_5.dbt";
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| 97 | mDbtImage1.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, kMaxFilepathLength);
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| 98 | } catch (DbiteException & e) {
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| 99 | LOG_ERROR("error opening dbt file: " << e.what());
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| 100 | }
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| 101 |
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| 102 | try
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| 103 | {
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| 104 | QString dbtFileName_ = "Camera_6.dbt";
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| 105 | mDbtImage1.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, kMaxFilepathLength);
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| 106 | } catch (DbiteException & e) {
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| 107 | LOG_ERROR("error opening dbt file: " << e.what());
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| 108 | }
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| 109 | }
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| 110 |
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| 111 | if (lbSavePanoImage)
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| 112 | {
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| 113 | try
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| 114 | {
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| 115 | QString dbtFileName_ = "CameraPano.dbt";
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| 116 | mDbtImage1.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, kMaxFilepathLength);
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| 117 | } catch (DbiteException & e) {
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| 118 | LOG_ERROR("error opening dbt file: " << e.what());
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| 119 | }
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| 120 | }
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| 121 |
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[81] | 122 | THREAD_ALIVE = true;
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| 123 | start();
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| 124 | //LOG_TRACE(Q_FUNC_INFO);
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| 125 | }
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| 126 |
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| 127 | /* *Called by the ComponentManager to stop the component*/
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| 128 | void LadybugComponent::stopActivity()
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| 129 | {
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| 130 | printf (" \n*** Stopping Activity ***\n");
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| 131 | LadybugError error;
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| 132 |
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[98] | 133 | // Close DBT files
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| 134 | if (lbSaveJPGImages) {
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| 135 | mDbtImage1.close();
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| 136 | mDbtImage2.close();
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| 137 | mDbtImage3.close();
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| 138 | mDbtImage4.close();
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| 139 | mDbtImage5.close();
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| 140 | mDbtImage6.close();
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| 141 | }
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| 142 |
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| 143 | if (lbSavePanoImage) {
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| 144 | mDbtImagePano.close();
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| 145 | }
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| 146 |
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[81] | 147 | lbIsRecording = false;
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| 148 | THREAD_ALIVE = false;
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| 149 |
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| 150 | // wait the thread termination
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| 151 | if (!wait(1000)) {
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| 152 | LOG_ERROR(name() << ":The thread doesn't respond for 1 second, it has been terminated");
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| 153 | terminate();
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| 154 | }
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| 155 |
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| 156 | /*error = ladybugStopStream (lbStreamContext);
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| 157 | HandleError(error);
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| 158 |
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| 159 | // Allocate memory for the 6 processed images
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| 160 | for (unsigned int uiCamera = 0; uiCamera < LADYBUG_NUM_CAMERAS; uiCamera++)
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| 161 | {
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| 162 | delete lbArpBuffers[uiCamera];
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| 163 | }
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| 164 |
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| 165 | printf( "Stopping camera...\n" );
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| 166 | error = ladybugStop(lbContext);
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| 167 | HandleError(error);
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| 168 |
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| 169 | error = ladybugDestroyStreamContext ( &lbStreamContext );
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| 170 | HandleError(error);
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| 171 |
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| 172 | // Destroy the context
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| 173 | printf( "Destroying context...\n" );
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| 174 | error = ladybugDestroyContext(&lbContext);
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| 175 | HandleError(error);*/
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| 176 | }
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| 177 |
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| 178 | /* *Called by the ComponentManager to pass the XML parameters to the component*/
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| 179 | ComponentBase::COMPONENT_CONFIGURATION LadybugComponent::configureComponent(XmlComponentConfig config)
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| 180 | {
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| 181 | if (config.getProperty("saveVideoStream") != QString::null) {
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| 182 | lbSaveVideoStream = config.getProperty("saveVideoStream").toInt();
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| 183 | }
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| 184 | if (config.getProperty("saveJPGImages") != QString::null) {
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| 185 | lbSaveJPGImages = config.getProperty("saveJPGImages").toInt();
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| 186 | }
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| 187 | if (config.getProperty("savePanoImage") != QString::null) {
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| 188 | lbSavePanoImage = config.getProperty("savePanoImage").toInt();
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| 189 | }
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| 190 | if (config.getProperty("trigger") != QString::null) {
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| 191 | lbTriggerOn = config.getProperty("trigger").toInt();
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| 192 | }
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| 193 | if (config.getProperty("trigger_mode") != QString::null) {
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| 194 | lbTriggerMode = config.getProperty("trigger_mode").toInt();
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| 195 | }
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| 196 | if (config.getProperty("trigger_source") != QString::null) {
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| 197 | lbTriggerSource = config.getProperty("trigger_source").toInt();
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| 198 | }
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| 199 | if (config.getProperty("trigger_param") != QString::null) {
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| 200 | lbTriggerParam = config.getProperty("trigger_param").toInt();
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| 201 | }
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| 202 | if (config.getProperty("trigger_polarity") != QString::null) {
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| 203 | lbTriggerPolarity = config.getProperty("trigger_polarity").toInt();
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| 204 | }
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| 205 |
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| 206 | return ComponentBase::CONFIGURED_OK;
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| 207 | }
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| 208 |
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| 209 | /* *Initialize default values to the camera*/
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| 210 | void LadybugComponent::InitDefault()
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| 211 | {
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| 212 |
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| 213 | }
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| 214 |
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| 215 | /* *Thread loop*/
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| 216 | void LadybugComponent::run()
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| 217 | {
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| 218 | LadybugError error;
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| 219 | LadybugImage image;
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| 220 |
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| 221 | StartCamera();
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| 222 | CreateImageBuffers();
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| 223 |
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[98] | 224 | // Timestamp
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| 225 | road_time_t timestamp = 0;
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| 226 | road_timerange_t tr = 0;
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| 227 |
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[81] | 228 | while (THREAD_ALIVE)
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| 229 | {
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[98] | 230 |
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[81] | 231 | lbCurrentTime = GetTickCount(); // road_time_t timestamp = road_time(); // ui64 ; unit microsec ; Orig 01/01/1970 00:00
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| 232 | lbFrameCount++;
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| 233 |
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| 234 | lbElapsedTime = lbCurrentTime - lbLastUpdateTime;
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| 235 | if (lbElapsedTime >= 1000)
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| 236 | {
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| 237 | std::cout << "FPS: " << (lbFrameCount * 1000.0 / lbElapsedTime) << std::endl;
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| 238 | lbFrameCount = 0;
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| 239 | lbLastUpdateTime = lbCurrentTime;
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| 240 | }
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| 241 |
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| 242 | error = ladybugGrabImage( lbContext, &image );
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[98] | 243 | timestamp = road_time(); // timestamp
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[81] | 244 | HandleError(error);
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| 245 |
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| 246 | if (error == LADYBUG_OK)
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| 247 | {
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| 248 | // Save videostream
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| 249 | if ( lbStreamContext != NULL && lbSaveVideoStream)
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| 250 | {
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| 251 | SaveVideoStream(&image);
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| 252 | }
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| 253 |
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| 254 | // Save JPG for each camera
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| 255 | if (lbSaveJPGImages)
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| 256 | {
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| 257 | SaveJPGImages(&image);
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| 258 | }
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| 259 |
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| 260 | // Save Panoramic Images
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| 261 | if (lbSavePanoImage)
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| 262 | {
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| 263 | SavePanoImage(&image);
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| 264 | }
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| 265 | lbNumOfFrames++;
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| 266 | }
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| 267 | }
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| 268 |
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| 269 |
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| 270 | //error = ladybugConvertImage( context, &image, NULL );
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| 271 | LOG_INFO("Finishing acquisition...\n");
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| 272 |
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| 273 | if (lbSaveVideoStream)
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| 274 | {
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| 275 | error = ladybugStopStream (lbStreamContext);
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| 276 | HandleError(error);
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| 277 | }
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| 278 |
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| 279 | triggerMode.bOnOff = false;
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| 280 |
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| 281 | error = ladybugSetTriggerMode( lbContext, &triggerMode);
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| 282 | HandleError(error);
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| 283 |
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| 284 | //
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| 285 | // Clean up the buffers
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| 286 | //
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| 287 | for( int uiCamera = 0; uiCamera < LADYBUG_NUM_CAMERAS; uiCamera++ )
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| 288 | {
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| 289 | delete [] lbArpBuffers[ uiCamera ];
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| 290 | }
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| 291 |
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| 292 | printf (" \n*** Stopping Activity ***\n");
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| 293 |
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| 294 | printf( "Stopping camera...\n" );
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| 295 | error = ladybugStop(lbContext);
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| 296 | HandleError(error);
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| 297 |
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| 298 | error = ladybugDestroyStreamContext ( &lbStreamContext );
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| 299 | HandleError(error);
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| 300 |
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| 301 | // Destroy the context
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| 302 | printf( "Destroying context...\n" );
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| 303 | error = ladybugDestroyContext(&lbContext);
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| 304 | HandleError(error);
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| 305 | }
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| 306 |
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| 307 | void LadybugComponent::StartCamera()
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| 308 | {
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| 309 | LadybugError error;
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| 310 |
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| 311 | // Initialize context
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| 312 | error = ladybugCreateContext(&lbContext);
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| 313 | HandleError(error);
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| 314 |
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| 315 | error = ladybugCreateStreamContext(&lbStreamContext);
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| 316 | HandleError(error);
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| 317 |
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| 318 | error = ladybugInitializeFromIndex(lbContext, 0);
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| 319 | HandleError(error);
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| 320 |
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| 321 | error = ladybugGetCameraInfo(lbContext, &lbCamInfo);
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| 322 | HandleError(error);
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| 323 |
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| 324 | error = ladybugLoadConfig(lbContext, NULL);
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| 325 | HandleError(error);
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| 326 |
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| 327 | error = ladybugSetAutoShutterRange(lbContext, LADYBUG_AUTO_SHUTTER_MOTION);
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| 328 | HandleError(error);
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| 329 |
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[98] | 330 |
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| 331 | // Use it to trigger the camera with the gps signal
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[81] | 332 | /*// Initialize Trigger
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| 333 | error = ladybugGetTriggerModeInfo( lbContext, &triggerModeInfo );
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| 334 | HandleError(error);
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| 335 |
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| 336 | error = ladybugGetTriggerMode( lbContext, &triggerMode);
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| 337 | HandleError(error);
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| 338 |
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| 339 | // Set camera to trigger mode 0
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| 340 | // A source of 7 means software trigger
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| 341 | triggerMode.bOnOff = false;
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| 342 | triggerMode.uiSource = 0; //7
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| 343 | triggerMode.uiMode = 0;
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| 344 | triggerMode.uiParameter = 0;
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| 345 | triggerMode.uiPolarity = 0;*/
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| 346 |
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| 347 | error = ladybugSetPanoramicViewingAngle( lbContext, LADYBUG_FRONT_0_POLE_5);
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| 348 | HandleError(error);
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| 349 |
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| 350 | error = ladybugSetColorProcessingMethod(lbContext, LADYBUG_NEAREST_NEIGHBOR_FAST);
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| 351 | HandleError(error);
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| 352 |
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| 353 | // Configure output images in Ladybug library
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| 354 | error = ladybugConfigureOutputImages( lbContext, LADYBUG_PANORAMIC );
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| 355 | HandleError(error);
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| 356 |
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| 357 | error = ladybugSetOffScreenImageSize(lbContext, LADYBUG_PANORAMIC, PANORAMIC_IMAGE_WIDTH, PANORAMIC_IMAGE_HEIGHT );
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| 358 | HandleError(error);
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| 359 |
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| 360 | if (lbSaveVideoStream)
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| 361 | {
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| 362 | char pszOutputFilePath[256] = {0};
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| 363 | char pszStreamNameToOpen[256] = {0};
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| 364 | char buf[_MAX_PATH];
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| 365 | HRESULT hres = SHGetFolderPath( NULL, CSIDL_PERSONAL, NULL, 0, buf);
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| 366 | if ( hres == S_OK)
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| 367 | {
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| 368 | // Set stream name to "My Documents" folder
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| 369 | sprintf( pszStreamNameToOpen, "%s\\Ladybug\\PGR\\%s\0", buf, "LadybugCameraStream" );
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| 370 | }
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| 371 | else
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| 372 | {
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| 373 | // Set stream name to current folder
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| 374 | strcpy( pszOutputFilePath, buf);
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| 375 | }
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| 376 |
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| 377 | error = ladybugInitializeStreamForWriting(lbStreamContext, pszStreamNameToOpen, lbContext, pszOutputFilePath, false);
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| 378 | HandleError(error);
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| 379 | //printf( "Recording to %s\n", pszOutputFilePath );
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| 380 | }
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| 381 |
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| 382 | printf("Starting %s (%u)...\n", lbCamInfo.pszModelName, lbCamInfo.serialHead);
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| 383 | error = ladybugStart(lbContext, LADYBUG_DATAFORMAT_HALF_HEIGHT_RAW8 );
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| 384 | HandleError(error);
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| 385 | }
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| 386 |
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| 387 | void LadybugComponent::SaveVideoStream(LadybugImage* image)
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| 388 | {
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| 389 | LadybugError error;
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| 390 | error = ladybugWriteImageToStream( lbStreamContext, image, &lbTotalMBWritten, &lbTotalNumberOfImagesWritten );
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| 391 | if ( error != LADYBUG_OK )
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| 392 | {
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| 393 | printf("Error while saving images...\n");
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| 394 | //
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| 395 | // Stop recording if a write error occurs
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| 396 | // If the return value is LADYBUG_ERROR_DISK_NOT_ENOUGH_SPACE,
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| 397 | // the disk is full.
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| 398 | //
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| 399 | lbIsRecording = false;
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| 400 | ladybugStopStream ( lbStreamContext );
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| 401 | _DISPLAY_ERROR_MSG_AND_RETURN
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| 402 | }
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| 403 | }
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| 404 |
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| 405 | void LadybugComponent::SaveJPGImages(LadybugImage* image)
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| 406 | {
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| 407 | LadybugError error;
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| 408 | cv::Mat col_img;
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| 409 |
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| 410 | char pszPath[256] = {0};
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| 411 | char pszOutputFilePath[256] = {0};
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| 412 | char buf[_MAX_PATH];
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| 413 | HRESULT hres = SHGetFolderPath( NULL, CSIDL_PERSONAL, NULL, 0, buf);
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| 414 | if ( hres == S_OK)
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| 415 | {
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| 416 | sprintf( pszPath, "%s\\Ladybug\\Images\0", buf);
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| 417 | }
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| 418 | else
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| 419 | {
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| 420 | // Set stream name to current folder
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| 421 | strcpy( pszPath, buf);
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| 422 | }
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| 423 |
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| 424 | error = ladybugConvertImage(lbContext, image, lbArpBuffers, LADYBUG_BGRU);
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| 425 | HandleError(error);
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| 426 |
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| 427 | // Save the image as 6 individual raw (unstitched, distorted) images
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| 428 | for (unsigned int uiCamera = 0; uiCamera < LADYBUG_NUM_CAMERAS; uiCamera++)
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| 429 | {
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| 430 | LadybugProcessedImage processedImage;
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| 431 | processedImage.pData = lbArpBuffers[uiCamera];
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| 432 | processedImage.pixelFormat = LADYBUG_BGRU;
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| 433 | processedImage.uiCols = image->uiCols;
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| 434 | processedImage.uiRows = image->uiRows;
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| 435 |
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| 436 | col_img = cv::Mat(processedImage.uiRows, processedImage.uiCols, CV_8UC4);
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| 437 | col_img.data = processedImage.pData;
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| 438 |
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| 439 | sprintf(pszOutputFilePath, "%s\\ladybug_%d_cam_%02u.bmp", pszPath, lbTotalNumberOfImagesWritten, uiCamera);
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| 440 | error = ladybugSaveImage(lbContext, &processedImage, pszOutputFilePath, LADYBUG_FILEFORMAT_BMP);
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| 441 | HandleError(error);
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---|
| 442 |
|
---|
[98] | 443 | if (uiCamera == 0)
|
---|
| 444 | {
|
---|
| 445 | try {
|
---|
| 446 | mDbtImage1.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
|
---|
| 447 | } catch (DbiteException & e) {
|
---|
| 448 | LOG_ERROR("error writing data: " << e.what());
|
---|
| 449 | }
|
---|
| 450 | } else if (uiCamera == 1) {
|
---|
| 451 | try {
|
---|
| 452 | mDbtImage2.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
|
---|
| 453 | } catch (DbiteException & e) {
|
---|
| 454 | LOG_ERROR("error writing data: " << e.what());
|
---|
| 455 | }
|
---|
| 456 | }else if (uiCamera == 2) {
|
---|
| 457 | try {
|
---|
| 458 | mDbtImage3.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
|
---|
| 459 | } catch (DbiteException & e) {
|
---|
| 460 | LOG_ERROR("error writing data: " << e.what());
|
---|
| 461 | }
|
---|
| 462 | }else if (uiCamera == 3) {
|
---|
| 463 | try {
|
---|
| 464 | mDbtImage4.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
|
---|
| 465 | } catch (DbiteException & e) {
|
---|
| 466 | LOG_ERROR("error writing data: " << e.what());
|
---|
| 467 | }
|
---|
| 468 | }else if (uiCamera == 4) {
|
---|
| 469 | try {
|
---|
| 470 | mDbtImage5.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
|
---|
| 471 | } catch (DbiteException & e) {
|
---|
| 472 | LOG_ERROR("error writing data: " << e.what());
|
---|
| 473 | }
|
---|
| 474 | }else if (uiCamera == 5) {
|
---|
| 475 | try {
|
---|
| 476 | mDbtImage6.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
|
---|
| 477 | } catch (DbiteException & e) {
|
---|
| 478 | LOG_ERROR("error writing data: " << e.what());
|
---|
| 479 | }
|
---|
| 480 | }
|
---|
| 481 |
|
---|
[81] | 482 | //printf("Saved camera %u image to %s.\n", uiCamera, pszOutputFilePath);
|
---|
| 483 |
|
---|
| 484 | /*// Showing the result
|
---|
| 485 | cv::String name = cv::format("Gray%d",uiCamera);
|
---|
| 486 | cv::resize(col_img, col_img, cv::Size(), 0.25, 0.25, cv::INTER_NEAREST);
|
---|
| 487 | cv::namedWindow( name, CV_WINDOW_AUTOSIZE );
|
---|
| 488 | cv::imshow( name, col_img );
|
---|
| 489 | cv::waitKey(10);*/
|
---|
| 490 | }
|
---|
| 491 | }
|
---|
| 492 |
|
---|
| 493 | void LadybugComponent::SavePanoImage(LadybugImage* image)
|
---|
| 494 | {
|
---|
| 495 | LadybugError error;
|
---|
| 496 | char pszPath[256] = {0};
|
---|
| 497 | char pszOutputFilePath[256] = {0};
|
---|
| 498 | char buf[_MAX_PATH];
|
---|
| 499 | HRESULT hres = SHGetFolderPath( NULL, CSIDL_PERSONAL, NULL, 0, buf);
|
---|
| 500 | if ( hres == S_OK)
|
---|
| 501 | {
|
---|
| 502 | sprintf( pszPath, "%s\\Ladybug\\Panoramic\0", buf);
|
---|
| 503 | }
|
---|
| 504 | else
|
---|
| 505 | {
|
---|
| 506 | // Set stream name to current folder
|
---|
| 507 | strcpy( pszPath, buf);
|
---|
| 508 | }
|
---|
| 509 |
|
---|
| 510 | // Convert the image to 6 RGB buffers
|
---|
| 511 | error = ladybugConvertImage(lbContext, image, lbArpBuffers);
|
---|
| 512 | HandleError(error);
|
---|
| 513 |
|
---|
| 514 | // Send the RGB buffers to the graphics card
|
---|
| 515 | error = ladybugUpdateTextures(lbContext, LADYBUG_NUM_CAMERAS, const_cast<const unsigned char**>( lbArpBuffers ));
|
---|
| 516 | HandleError(error);
|
---|
| 517 |
|
---|
| 518 | // Stitch the images (inside the graphics card) and retrieve the output to the user's memory
|
---|
| 519 | LadybugProcessedImage processedImage;
|
---|
| 520 | error = ladybugRenderOffScreenImage(lbContext, LADYBUG_PANORAMIC, LADYBUG_BGR, &processedImage);
|
---|
| 521 | HandleError(error);
|
---|
| 522 |
|
---|
| 523 | // Save the output image to a file
|
---|
| 524 | sprintf(pszOutputFilePath, "%s\\PanoStitchOutput_%d.jpg", pszPath, lbNumOfFrames);
|
---|
| 525 | error = ladybugSaveImage(lbContext, &processedImage, pszOutputFilePath, LADYBUG_FILEFORMAT_JPG);
|
---|
| 526 | HandleError(error);
|
---|
| 527 |
|
---|
[98] | 528 | try {
|
---|
| 529 | mDbtImagePano.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
|
---|
| 530 | } catch (DbiteException & e) {
|
---|
| 531 | LOG_ERROR("error writing data: " << e.what());
|
---|
| 532 | }
|
---|
| 533 |
|
---|
[81] | 534 | }
|
---|
| 535 |
|
---|
| 536 | void LadybugComponent::CreateImageBuffers()
|
---|
| 537 | {
|
---|
| 538 | LadybugError error;
|
---|
| 539 | LadybugImage image;
|
---|
| 540 |
|
---|
| 541 | // Creating buffers for images
|
---|
| 542 | error = LADYBUG_FAILED;
|
---|
| 543 | for ( int i = 0; i < 10 && error != LADYBUG_OK; i++)
|
---|
| 544 | {
|
---|
| 545 | error = ladybugGrabImage(lbContext, &image);
|
---|
| 546 | }
|
---|
| 547 | HandleError(error);
|
---|
| 548 |
|
---|
| 549 | unsigned int uiRawCols, uiRawRows;
|
---|
| 550 | uiRawCols = image.uiCols;// / 2;
|
---|
| 551 | uiRawRows = image.uiRows;// / 2;
|
---|
| 552 |
|
---|
| 553 | error = ladybugInitializeAlphaMasks( lbContext, uiRawCols, uiRawRows );
|
---|
| 554 | HandleError(error);
|
---|
| 555 | error = ladybugSetAlphaMasking( lbContext, true );
|
---|
| 556 | HandleError(error);
|
---|
| 557 |
|
---|
| 558 | /// Allocate memory for the 6 processed images
|
---|
| 559 | for (unsigned int uiCamera = 0; uiCamera < LADYBUG_NUM_CAMERAS; uiCamera++)
|
---|
| 560 | {
|
---|
| 561 | lbArpBuffers[uiCamera] = new unsigned char[image.uiRows * image.uiCols * 4];
|
---|
| 562 | // Initialize the entire buffer so that the alpha channel has a valid (maximum) value.
|
---|
| 563 | memset(lbArpBuffers[uiCamera], 0xff, image.uiRows * image.uiCols * 4);
|
---|
| 564 | }
|
---|
| 565 | }
|
---|
| 566 |
|
---|
| 567 | void LadybugComponent::HandleError(LadybugError error)
|
---|
| 568 | {
|
---|
| 569 | if( error != LADYBUG_OK )
|
---|
| 570 | {
|
---|
| 571 | printf ("Error: Ladybug library reported - %s\n", ladybugErrorToString( error ) );
|
---|
| 572 | exit( 1 );
|
---|
| 573 | }
|
---|
| 574 | //else
|
---|
| 575 | //printf("ok...\n");
|
---|
| 576 | };
|
---|
| 577 |
|
---|
| 578 | }
|
---|