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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34 | static const size_t kMaxFilepathLength = 128;
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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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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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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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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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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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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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228 | while (THREAD_ALIVE)
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229 | {
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230 |
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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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243 | timestamp = road_time(); // timestamp
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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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330 |
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331 | // Use it to trigger the camera with the gps signal
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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 |
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443 | if (uiCamera == 0)
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444 | {
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445 | try {
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446 | mDbtImage1.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
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447 | } catch (DbiteException & e) {
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448 | LOG_ERROR("error writing data: " << e.what());
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449 | }
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450 | } else if (uiCamera == 1) {
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451 | try {
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452 | mDbtImage2.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
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453 | } catch (DbiteException & e) {
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454 | LOG_ERROR("error writing data: " << e.what());
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455 | }
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456 | }else if (uiCamera == 2) {
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457 | try {
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458 | mDbtImage3.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
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459 | } catch (DbiteException & e) {
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460 | LOG_ERROR("error writing data: " << e.what());
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461 | }
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462 | }else if (uiCamera == 3) {
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463 | try {
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464 | mDbtImage4.writeRecord(time, tr, (char *) processedImage.pData, kMaxFilepathLength);
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465 | } catch (DbiteException & e) {
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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 |
|
---|
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 |
|
---|
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 |
|
---|
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 | }
|
---|