[48] | 1 | /*********************************************************************
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| 2 | // created: 2013/10/25 - 19:36
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| 3 | // filename: DisparityMapComponent.cpp
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| 4 | //
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| 5 | // author: Danilo Alves de Lima and Students of SY27
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 7 | //
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| 8 | // version: $Id: $
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| 9 | //
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| 10 | // purpose: Disparity map calculation from stereo image data
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| 11 | //
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| 12 | //
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| 13 | *********************************************************************/
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| 14 |
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| 15 | #include "Flea3Component.h"
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| 16 |
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| 17 | #include <iostream>
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| 18 | #include <sstream>
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| 19 | #include <iomanip>
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| 20 | #include <string>
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| 21 | #include "opencv2/objdetect/objdetect.hpp"
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| 22 | #include "opencv2/highgui/highgui.hpp"
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| 23 | #include "opencv2/imgproc/imgproc.hpp"
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| 24 | #include "opencv2/calib3d/calib3d.hpp"
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| 25 | #include "opencv2/core/core.hpp"
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| 26 |
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| 27 | #include <qapplication.h>
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| 28 | #include <string>
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| 29 |
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| 30 | // Includes, qt.
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| 31 | #include <QMetaType>
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| 32 |
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| 33 | #include "Pacpus/kernel/ComponentFactory.h"
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| 34 | #include "Pacpus/kernel/DbiteException.h"
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| 35 | #include "Pacpus/kernel/DbiteFileTypes.h"
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| 36 | #include "Pacpus/kernel/Log.h"
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| 37 |
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| 38 | using namespace std;
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| 39 | using namespace pacpus;
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| 40 |
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| 41 | DECLARE_STATIC_LOGGER("pacpus.base.Flea3Component");
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| 42 |
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| 43 | // Construct the factory
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| 44 | static ComponentFactory<Flea3Component> sFactory("Flea3Component");
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| 45 |
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| 46 | const int kMaxFilepathLength = 512; // TODO: should be same for all images
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| 47 |
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[50] | 48 | static const string Flea3MemoryName_img = "Flea3_";
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[48] | 49 |
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| 50 | //////////////////////////////////////////////////////////////////////////
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| 51 | /// Constructor.
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| 52 | Flea3Component::Flea3Component(QString name)
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| 53 | : ComponentBase(name)
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| 54 | {
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| 55 | LOG_TRACE(Q_FUNC_INFO);
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| 56 |
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| 57 | //recording = 0;
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| 58 |
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| 59 | this->cam_serial = 0; // Camera serial to connect
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| 60 | this->cam_FrameRate = FlyCapture2::FRAMERATE_7_5; // Frame rates in frames per second
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| 61 | this->cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7; // DCAM video modes
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| 62 | this->cam_mode = FlyCapture2::MODE_4; // Camera modes for DCAM formats as well as Format7
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| 63 | this->cam_PixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8; // Pixel formats available for Format7 modes
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| 64 | this->cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR; /**
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| 65 | * Color processing algorithms. Please refer to our knowledge base at
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| 66 | * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
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| 67 | * complete details for each algorithm.
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| 68 | */
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| 69 | this->cam_start_point_left = 0; // Image left point (for standard modes only)
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| 70 | this->cam_start_point_top = 0; // Image top point (for standard modes only)
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| 71 | this->cam_width = 2048; // Image width (for standard modes only)
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| 72 | this->cam_height = 1080; // image height (for standard modes only)
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| 73 |
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| 74 | this->showdebug = false; // Show frame acquired
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| 75 |
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| 76 | if(this->cam_ColorProcessingAlgorithm == 1)
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| 77 | this->cam_channels = 1;
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| 78 | else
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| 79 | this->cam_channels = 3;
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| 80 |
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| 81 | // Size of the image data sizeof(char)*width*height*channels
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| 82 | this->mMaxImageOutputSize = sizeof(char)*this->cam_width*this->cam_height*this->cam_channels;
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| 83 |
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| 84 | // output data
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| 85 | this->shmem_image = 0; // Shared memory control access to the image data
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[50] | 86 |
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| 87 | stereoVision = false;
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| 88 | cam_side = "";
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[48] | 89 |
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| 90 | }
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| 91 |
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| 92 | //////////////////////////////////////////////////////////////////////////
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| 93 | /// Destructor.
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| 94 | Flea3Component::~Flea3Component()
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| 95 | {
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| 96 | LOG_TRACE(Q_FUNC_INFO);
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| 97 |
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| 98 | if(this->shmem_image)
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| 99 | delete shmem_image;
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| 100 |
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| 101 | this->shmem_image = NULL;
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| 102 |
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| 103 | }
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| 104 |
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| 105 | //////////////////////////////////////////////////////////////////////////
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| 106 | /// Called by the ComponentManager to start the component
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| 107 | void Flea3Component::startActivity()
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| 108 | {
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| 109 | LOG_TRACE(Q_FUNC_INFO);
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| 110 |
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| 111 | if( ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
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| 112 | ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
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| 113 | ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16) )
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| 114 | {
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| 115 | this->cam_channels = 1;
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| 116 | }
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| 117 | else
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| 118 | {
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| 119 | if(this->cam_ColorProcessingAlgorithm == 1)
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| 120 | {
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| 121 | this->cam_channels = 1;
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| 122 | }
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| 123 | else
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| 124 | {
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| 125 | this->cam_channels = 3;
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| 126 | }
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| 127 | }
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| 128 |
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[50] | 129 | // If do not rescale the image before save
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| 130 | this->mMaxImageOutputSize = sizeof(unsigned char)*this->cam_width*this->cam_height*this->cam_channels;
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| 131 |
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| 132 | if(this->image_scale == 1.0)
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| 133 | {
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| 134 | this->mSaveImageSize = this->mMaxImageOutputSize;
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| 135 | }
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| 136 | else
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| 137 | {
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| 138 | this->mSaveImageSize = sizeof(unsigned char)*((int)(this->cam_width*this->image_scale))*((int)(this->cam_height*this->image_scale))*this->cam_channels;
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| 139 | }
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| 140 |
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[48] | 141 | // Create output files for recording
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[50] | 142 | if (isRecording())
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[48] | 143 | {
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| 144 | try
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| 145 | {
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[50] | 146 | QString dbtFileName_ = this->mOutputDirectory.filePath(name() + ".dbt");
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| 147 |
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| 148 | if(this->save2dbt)
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| 149 | {
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| 150 | //std::cout << "Save file : " << dbtFileName_.toStdString() << std::endl;
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| 151 | this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, this->mSaveImageSize);
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| 152 | //this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, kMaxFilepathLength);
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| 153 | }
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| 154 | else
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| 155 | {
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| 156 | //std::cout << "Save file : " << dbtFileName_.toStdString() << std::endl;
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| 157 | this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_IMAGE, kMaxFilepathLength);
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| 158 | //this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, kMaxFilepathLength);
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| 159 | }
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[48] | 160 | }
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| 161 | catch (DbiteException & e)
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| 162 | {
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| 163 | cerr << "error opening dbt file: " << e.what() << endl;
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| 164 | }
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| 165 | }
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| 166 |
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| 167 | // Run thread
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[50] | 168 | THREAD_ALIVE = true;
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[48] | 169 | start();
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| 170 | }
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| 171 |
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| 172 | //////////////////////////////////////////////////////////////////////////
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| 173 | /// Called by the ComponentManager to stop the component
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| 174 | void Flea3Component::stopActivity()
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| 175 | {
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| 176 | LOG_TRACE(Q_FUNC_INFO);
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| 177 |
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[50] | 178 | if(THREAD_ALIVE)
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[48] | 179 | {
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| 180 | // Stop thread
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[50] | 181 | THREAD_ALIVE = false;
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[48] | 182 |
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| 183 | while(is_running)
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| 184 | {
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| 185 | msleep(10);
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| 186 | }
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| 187 |
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| 188 | }
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| 189 |
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| 190 | // Close DBT file
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[50] | 191 | if (isRecording())
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[48] | 192 | {
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| 193 | this->mDbtImage.close();
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| 194 | }
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| 195 |
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| 196 | LOG_INFO("stopped component '" << name() << "'");
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| 197 | }
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| 198 |
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| 199 | //////////////////////////////////////////////////////////////////////////
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| 200 | /// Called by the ComponentManager to pass the XML parameters to the
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| 201 | /// component
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| 202 | ComponentBase::COMPONENT_CONFIGURATION Flea3Component::configureComponent(XmlComponentConfig config)
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| 203 | {
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| 204 | LOG_TRACE(Q_FUNC_INFO);
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| 205 |
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| 206 | // Initialize with default values
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| 207 | this->InitDefault();
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| 208 |
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| 209 | if (config.getProperty("cam_serial") != QString::null)
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| 210 | this->cam_serial = config.getProperty("cam_serial").toInt();
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| 211 |
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| 212 | //---------------------------------------- Camera configuration --------------------------------------------
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| 213 | if (config.getProperty("auto_FrameRate") != QString::null)
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| 214 | this->auto_FrameRate = (config.getProperty("auto_FrameRate") == "true" ? true : false);
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| 215 |
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| 216 | if (config.getProperty("cam_FrameRate") != QString::null)
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| 217 | this->cam_FrameRate = config.getProperty("cam_FrameRate").toDouble();
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| 218 |
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| 219 | if (config.getProperty("auto_Gain") != QString::null)
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| 220 | this->auto_Gain = (config.getProperty("auto_Gain") == "true" ? true : false);
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| 221 |
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| 222 | if (config.getProperty("cam_Gain") != QString::null)
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| 223 | this->cam_Gain = config.getProperty("cam_Gain").toDouble();
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| 224 |
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| 225 | if (config.getProperty("auto_Exposure") != QString::null)
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| 226 | this->auto_Exposure = (config.getProperty("auto_Exposure") == "true" ? true : false);
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| 227 |
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| 228 | if (config.getProperty("cam_Exposure") != QString::null)
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| 229 | this->cam_Exposure = config.getProperty("cam_Exposure").toDouble();
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| 230 |
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| 231 | if (config.getProperty("auto_Shutter") != QString::null)
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| 232 | this->auto_Shutter = (config.getProperty("auto_Shutter") == "true" ? true : false);
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| 233 |
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| 234 | if (config.getProperty("cam_Shutter") != QString::null)
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| 235 | this->cam_Shutter = config.getProperty("cam_Shutter").toDouble();
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| 236 |
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| 237 | if (config.getProperty("auto_ExposurebyCode") != QString::null)
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| 238 | this->auto_ExposurebyCode = (config.getProperty("auto_ExposurebyCode") == "true" ? true : false);
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| 239 |
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| 240 | if (config.getProperty("cam_ExposurebyCode_tshold") != QString::null)
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| 241 | this->cam_ExposurebyCode_tshold = config.getProperty("cam_ExposurebyCode_tshold").toDouble();
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| 242 | //----------------------------------------------------------------------------------------------------------
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| 243 |
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| 244 | if (config.getProperty("cam_video_mode") != QString::null)
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| 245 | this->cam_video_mode = config.getProperty("cam_video_mode").toInt();
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| 246 |
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| 247 | if (config.getProperty("cam_mode") != QString::null)
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| 248 | this->cam_mode = config.getProperty("cam_mode").toInt();
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| 249 |
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| 250 | if (config.getProperty("cam_PixelFormat") != QString::null)
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| 251 | this->cam_PixelFormat = config.getProperty("cam_PixelFormat").toInt();
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| 252 |
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| 253 | if (config.getProperty("cam_ColorProcessingAlgorithm") != QString::null)
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| 254 | this->cam_ColorProcessingAlgorithm = config.getProperty("cam_ColorProcessingAlgorithm").toInt();
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| 255 |
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| 256 | if (config.getProperty("cam_start_point_left") != QString::null)
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| 257 | this->cam_start_point_left = config.getProperty("cam_start_point_left").toInt();
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| 258 |
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| 259 | if (config.getProperty("cam_start_point_top") != QString::null)
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| 260 | this->cam_start_point_top = config.getProperty("cam_start_point_top").toInt();
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| 261 |
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| 262 | if (config.getProperty("cam_width") != QString::null)
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| 263 | this->cam_width = config.getProperty("cam_width").toInt();
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| 264 |
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| 265 | if (config.getProperty("cam_height") != QString::null)
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| 266 | this->cam_height = config.getProperty("cam_height").toInt();
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| 267 |
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[50] | 268 | //-------------------------------- Recording options ------------------------------------------------
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| 269 | if (config.getProperty("recording") != QString::null)
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| 270 | setRecording(config.getProperty("recording").toInt());
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| 271 |
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| 272 | if (config.getProperty("image_scale") != QString::null)
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| 273 | this->image_scale = config.getProperty("image_scale").toDouble();
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| 274 |
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[48] | 275 | if (config.getProperty("image_compact") != QString::null)
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| 276 | this->image_compact = config.getProperty("image_compact").toInt();
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| 277 |
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[50] | 278 | if (config.getProperty("save2dbt") != QString::null)
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| 279 | this->save2dbt = config.getProperty("save2dbt").toInt();
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| 280 | //---------------------------------------------------------------------------------------------------
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| 281 |
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| 282 | if (config.getProperty("stereoVision") != QString::null)
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| 283 | stereoVision = config.getBoolProperty("stereoVision");
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| 284 |
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| 285 | if (stereoVision)
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| 286 | {
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| 287 | if (config.getProperty("cam_side") != QString::null)
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| 288 | cam_side = config.getProperty("cam_side");
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| 289 | }
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| 290 |
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[48] | 291 | if (config.getProperty("showdebug") != QString::null)
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| 292 | this->showdebug = (bool)config.getProperty("showdebug").toInt();
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| 293 |
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| 294 | if (config.getProperty("outputdir") != QString::null)
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[50] | 295 | {
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| 296 | if (isRecording())
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[48] | 297 | {
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[50] | 298 | this->mOutputDirectory.mkdir(config.getProperty("outputdir"));
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| 299 | this->mOutputDirectory.mkdir(config.getProperty("outputdir") + "/" + name());
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| 300 | this->mOutputDirectory.setPath(config.getProperty("outputdir"));
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[48] | 301 | }
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[50] | 302 | }
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| 303 | else
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| 304 | {
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| 305 | if (isRecording())
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[48] | 306 | {
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| 307 |
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[50] | 308 | this->mOutputDirectory.mkdir(name());
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| 309 | this->mOutputDirectory.setPath(this->mOutputDirectory.currentPath());
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[48] | 310 | }
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[50] | 311 | }
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[48] | 312 |
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[50] | 313 | if (config.getProperty("use_shmem") != QString::null)
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| 314 | this->use_shmem = (bool)config.getProperty("use_shmem").toInt();
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| 315 |
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[48] | 316 | LOG_INFO("configured component '" << name() << "'");
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| 317 | return ComponentBase::CONFIGURED_OK;
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| 318 | }
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| 319 |
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| 320 | /**
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| 321 | * Initialize default values
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| 322 | */
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| 323 | void Flea3Component::InitDefault()
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| 324 | {
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| 325 | // Default
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[50] | 326 | setRecording(0);
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[48] | 327 |
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| 328 | this->cam_serial = 0; // Camera index to connect
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| 329 |
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| 330 | // Camera configuration
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| 331 | this->auto_FrameRate = false; // Set auto frame rate
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| 332 | this->cam_FrameRate = 15.0; // Frame rates in frames per second = FlyCapture2::FRAMERATE_15
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| 333 | this->auto_Gain = false; // Set auto gain
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| 334 | this->cam_Gain = 1.0; // Gain value in db
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| 335 | this->auto_Exposure = true; // Set auto exposure
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| 336 | this->cam_Exposure = 2.414; // Auto exposure in EV
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| 337 | this->auto_Shutter = true; // Set auto shutter
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| 338 | this->cam_Shutter = 66.639; // Shutter in miliseconds
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| 339 | this->auto_ExposurebyCode = false; // Set auto exposure by pos processing method
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| 340 | this->cam_ExposurebyCode_tshold = 20.0; // Pecentage of white pixels for threshold
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| 341 |
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| 342 | this->cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7; // DCAM video modes
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| 343 | this->cam_mode = FlyCapture2::MODE_0; // Camera modes for DCAM formats as well as Format7
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| 344 | this->cam_PixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8; // Pixel formats available for Format7 modes
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| 345 | this->cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR; /**
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| 346 | * Color processing algorithms. Please refer to our knowledge base at
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| 347 | * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
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| 348 | * complete details for each algorithm.
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| 349 | */
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| 350 | this->cam_start_point_left = 0; // Image left point (for standard modes only)
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| 351 | this->cam_start_point_top = 0; // Image top point (for standard modes only)
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| 352 | this->cam_width = 4096; // Image width (for standard modes only)
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| 353 | this->cam_height = 2160; // image height (for standard modes only)
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| 354 |
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| 355 | this->showdebug = false; // Show frame acquired
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| 356 |
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| 357 | if(this->cam_ColorProcessingAlgorithm == 1)
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| 358 | this->cam_channels = 1;
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| 359 | else
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| 360 | this->cam_channels = 3;
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| 361 |
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| 362 | // Size of the image data sizeof(char)*width*height*channels
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| 363 | this->mMaxImageOutputSize = sizeof(char)*this->cam_width*this->cam_height*this->cam_channels;
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| 364 |
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[50] | 365 | this->image_scale = 1.0; // Default scale
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[48] | 366 | this->image_compact = 0; // Don't compact the image data
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[50] | 367 | this->save2dbt = 0;
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[48] | 368 | }
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| 369 |
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| 370 | // Thread loop
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| 371 | void Flea3Component::run()
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| 372 | {
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| 373 | LOG_TRACE(Q_FUNC_INFO);
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| 374 |
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| 375 | this->is_running = true;
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| 376 |
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| 377 | //==================================== Camera initialization =================================================
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| 378 | // Check the number of cameras
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| 379 | FlyCapture2::BusManager busMgr;
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| 380 | unsigned int numCameras;
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| 381 | FlyCapture2::Error error = busMgr.GetNumOfCameras(&numCameras);
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| 382 |
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| 383 | if (error != FlyCapture2::PGRERROR_OK)
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| 384 | {
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| 385 | LOG_ERROR( error.GetDescription() );
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| 386 | exit(0);
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| 387 | }
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| 388 |
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| 389 | if ( numCameras < 1 )
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| 390 | {
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| 391 | LOG_ERROR( "Insufficient number of cameras... exiting" );
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| 392 | exit(0);
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| 393 | }
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| 394 |
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| 395 | // Get camera from serial (in this case first camera in the bus)
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| 396 | FlyCapture2::PGRGuid guid;
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| 397 | error = busMgr.GetCameraFromSerialNumber(this->cam_serial, &guid);
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| 398 | if (error != FlyCapture2::PGRERROR_OK)
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| 399 | {
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| 400 | LOG_ERROR( error.GetDescription() );
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| 401 | exit(0);
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| 402 | }
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| 403 |
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| 404 | FlyCapture2::Camera cam; // FlyCapture camera class
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| 405 |
|
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| 406 | // Connect to a camera
|
---|
| 407 | error = cam.Connect(&guid);
|
---|
| 408 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 409 | {
|
---|
| 410 | LOG_ERROR( error.GetDescription() );
|
---|
| 411 | exit(0);
|
---|
| 412 | }
|
---|
| 413 |
|
---|
| 414 | // Get the camera information
|
---|
| 415 | FlyCapture2::CameraInfo camInfo;
|
---|
| 416 | error = cam.GetCameraInfo(&camInfo);
|
---|
| 417 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 418 | {
|
---|
| 419 | LOG_ERROR( error.GetDescription() );
|
---|
| 420 | exit(0);
|
---|
| 421 | }
|
---|
| 422 |
|
---|
| 423 | // Just for visualization
|
---|
| 424 | printf(
|
---|
| 425 | "\n*** CAMERA INFORMATION ***\n"
|
---|
| 426 | "Serial number - %u\n"
|
---|
| 427 | "Camera model - %s\n"
|
---|
| 428 | "Camera vendor - %s\n"
|
---|
| 429 | "Sensor - %s\n"
|
---|
| 430 | "Resolution - %s\n"
|
---|
| 431 | "Firmware version - %s\n"
|
---|
| 432 | "Firmware build time - %s\n\n",
|
---|
| 433 | camInfo.serialNumber,
|
---|
| 434 | camInfo.modelName,
|
---|
| 435 | camInfo.vendorName,
|
---|
| 436 | camInfo.sensorInfo,
|
---|
| 437 | camInfo.sensorResolution,
|
---|
| 438 | camInfo.firmwareVersion,
|
---|
| 439 | camInfo.firmwareBuildTime );
|
---|
| 440 |
|
---|
| 441 | // Query for available Format 7 modes
|
---|
| 442 | FlyCapture2::Format7Info fmt7Info;
|
---|
| 443 | bool supported;
|
---|
| 444 | fmt7Info.mode = (FlyCapture2::Mode)this->cam_mode;
|
---|
| 445 | error = cam.GetFormat7Info( &fmt7Info, &supported );
|
---|
| 446 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 447 | {
|
---|
| 448 | LOG_ERROR( error.GetDescription() );
|
---|
| 449 | exit(0);
|
---|
| 450 | }
|
---|
| 451 |
|
---|
| 452 | if ( ((FlyCapture2::PixelFormat)this->cam_PixelFormat & fmt7Info.pixelFormatBitField) == 0 )
|
---|
| 453 | {
|
---|
| 454 | // Pixel format not supported!
|
---|
| 455 | LOG_ERROR("Pixel format is not supported\n");
|
---|
| 456 | exit(0);
|
---|
| 457 | }
|
---|
| 458 |
|
---|
| 459 | // Configurate custom image
|
---|
| 460 | FlyCapture2::Format7ImageSettings fmt7ImageSettings;
|
---|
| 461 | fmt7ImageSettings.mode = (FlyCapture2::Mode)this->cam_mode;
|
---|
| 462 | fmt7ImageSettings.offsetX = this->cam_start_point_left;
|
---|
| 463 | fmt7ImageSettings.offsetY = this->cam_start_point_top;
|
---|
| 464 | fmt7ImageSettings.width = this->cam_width;
|
---|
| 465 | fmt7ImageSettings.height = this->cam_height;
|
---|
| 466 | fmt7ImageSettings.pixelFormat = (FlyCapture2::PixelFormat)this->cam_PixelFormat;
|
---|
| 467 |
|
---|
| 468 | bool valid;
|
---|
| 469 | FlyCapture2::Format7PacketInfo fmt7PacketInfo;
|
---|
| 470 |
|
---|
| 471 | // Validate the settings to make sure that they are valid
|
---|
| 472 | error = cam.ValidateFormat7Settings(
|
---|
| 473 | &fmt7ImageSettings,
|
---|
| 474 | &valid,
|
---|
| 475 | &fmt7PacketInfo );
|
---|
| 476 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 477 | {
|
---|
| 478 | LOG_ERROR( error.GetDescription() );
|
---|
| 479 | exit(0);
|
---|
| 480 | }
|
---|
| 481 |
|
---|
| 482 | if ( !valid )
|
---|
| 483 | {
|
---|
| 484 | // Settings are not valid
|
---|
| 485 | LOG_ERROR( "Format7 settings are not valid" );
|
---|
| 486 | exit(0);
|
---|
| 487 | }
|
---|
| 488 |
|
---|
| 489 | // Set the settings to the camera
|
---|
| 490 | error = cam.SetFormat7Configuration(
|
---|
| 491 | &fmt7ImageSettings,
|
---|
| 492 | fmt7PacketInfo.recommendedBytesPerPacket );
|
---|
| 493 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 494 | {
|
---|
| 495 | LOG_ERROR( error.GetDescription() );
|
---|
| 496 | exit(0);
|
---|
| 497 | }
|
---|
| 498 |
|
---|
| 499 | // Define the color algorithm
|
---|
| 500 | FlyCapture2::Image::SetDefaultColorProcessing((FlyCapture2::ColorProcessingAlgorithm)this->cam_ColorProcessingAlgorithm);
|
---|
| 501 |
|
---|
| 502 |
|
---|
| 503 | // Start capturing images
|
---|
| 504 | error = cam.StartCapture();
|
---|
| 505 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 506 | {
|
---|
| 507 | LOG_ERROR( error.GetDescription() );
|
---|
| 508 | exit(0);
|
---|
| 509 | }
|
---|
| 510 |
|
---|
| 511 | // Set frame rate property
|
---|
| 512 | FlyCapture2::Property cam_property;
|
---|
| 513 | cam_property.type = (FlyCapture2::PropertyType)16; //FlyCapture2::PropertyType::FRAME_RATE;
|
---|
| 514 | cam_property.absControl = true;
|
---|
| 515 | cam_property.autoManualMode = this->auto_FrameRate;
|
---|
| 516 | cam_property.onOff = true;
|
---|
| 517 | cam_property.onePush = false;
|
---|
| 518 | cam_property.absValue = (float)this->cam_FrameRate;
|
---|
| 519 | error = cam.SetProperty( &cam_property );
|
---|
| 520 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 521 | {
|
---|
| 522 | LOG_ERROR( error.GetDescription() );
|
---|
| 523 | exit(0);
|
---|
| 524 | }
|
---|
| 525 |
|
---|
| 526 | // Set gain property
|
---|
| 527 | cam_property.type = (FlyCapture2::PropertyType)13; //FlyCapture2::PropertyType::GAIN;
|
---|
| 528 | cam_property.absControl = true;
|
---|
| 529 | cam_property.autoManualMode = this->auto_Gain;
|
---|
| 530 | cam_property.onOff = true;
|
---|
| 531 | cam_property.onePush = false;
|
---|
| 532 | cam_property.absValue = (float)this->cam_Gain;
|
---|
| 533 | error = cam.SetProperty( &cam_property );
|
---|
| 534 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 535 | {
|
---|
| 536 | LOG_ERROR( error.GetDescription() );
|
---|
| 537 | exit(0);
|
---|
| 538 | }
|
---|
| 539 |
|
---|
| 540 | // Set exposure property
|
---|
| 541 | cam_property.type = (FlyCapture2::PropertyType)1; //FlyCapture2::PropertyType::AUTO_EXPOSURE;
|
---|
| 542 | cam_property.absControl = true;
|
---|
| 543 | cam_property.onePush = false;
|
---|
| 544 | cam_property.onOff = true;
|
---|
| 545 | cam_property.autoManualMode = this->auto_Exposure;
|
---|
| 546 | cam_property.absValue = (float)this->cam_Exposure;
|
---|
| 547 | error = cam.SetProperty( &cam_property );
|
---|
| 548 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 549 | {
|
---|
| 550 | LOG_ERROR( error.GetDescription() );
|
---|
| 551 | exit(0);
|
---|
| 552 | }
|
---|
| 553 |
|
---|
| 554 | // Set shuttet property
|
---|
| 555 | cam_property.type = (FlyCapture2::PropertyType)12; //FlyCapture2::PropertyType::SHUTTER;
|
---|
| 556 | cam_property.absControl = true;
|
---|
| 557 | cam_property.onePush = false;
|
---|
| 558 | cam_property.onOff = true;
|
---|
| 559 | cam_property.autoManualMode = this->auto_Shutter;
|
---|
| 560 | cam_property.absValue = (float)this->cam_Shutter;
|
---|
| 561 | error = cam.SetProperty( &cam_property );
|
---|
| 562 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 563 | {
|
---|
| 564 | LOG_ERROR( error.GetDescription() );
|
---|
| 565 | exit(0);
|
---|
| 566 | }
|
---|
| 567 | //============================================================================================================
|
---|
| 568 |
|
---|
| 569 | //---------------------------------- Recording parameters ------------------------------------
|
---|
| 570 | size_t imageCount = 0;
|
---|
| 571 |
|
---|
| 572 | // Timestamp
|
---|
| 573 | road_time_t time = 0;
|
---|
| 574 | road_timerange_t tr = 0;
|
---|
| 575 |
|
---|
| 576 | const char * const imagePrefix = "image";
|
---|
| 577 | const char * const imageNameDelimiter = "-";
|
---|
| 578 | const char * const imageExtension = this->image_compact ? ".jpg" :
|
---|
| 579 | (((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
|
---|
| 580 | ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
|
---|
| 581 | ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16)) ? ".pgm" : ".ppm";
|
---|
| 582 |
|
---|
| 583 | const char kFillCharacter = '0';
|
---|
| 584 | const int kNumberWidth = 5;
|
---|
| 585 |
|
---|
| 586 | //--------------------------------------------------------------------------------------------
|
---|
| 587 |
|
---|
| 588 | // Raw image
|
---|
| 589 | FlyCapture2::Image rawImage;
|
---|
| 590 |
|
---|
| 591 | bool shmen_init = false;
|
---|
| 592 |
|
---|
| 593 | while (THREAD_ALIVE)
|
---|
| 594 | {
|
---|
| 595 | //LOG_INFO("Grab new image");
|
---|
| 596 | //std::cout << "Grab new image\n";
|
---|
| 597 | // Retrieve an image
|
---|
| 598 | error = cam.RetrieveBuffer( &rawImage );
|
---|
| 599 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 600 | {
|
---|
| 601 | LOG_ERROR( error.GetDescription() );
|
---|
| 602 | continue;
|
---|
| 603 | }
|
---|
| 604 |
|
---|
| 605 | //std::cout << "Get timestamp\n";
|
---|
| 606 |
|
---|
| 607 | // Image timestamp
|
---|
| 608 | FlyCapture2::TimeStamp timeStamp = rawImage.GetTimeStamp();
|
---|
| 609 |
|
---|
| 610 | // Time in seconds
|
---|
| 611 | //double currTime = (double)timeStamp.cycleSeconds + (((double)timeStamp.cycleCount+((double)timeStamp.cycleOffset/3072.0))/8000.0);
|
---|
| 612 |
|
---|
| 613 | //unsigned long timeStampSeconds = timeStamp.seconds;
|
---|
| 614 | //unsigned long timeStampMicroSeconds = timeStamp.microSeconds;
|
---|
| 615 | //time = static_cast<road_time_t>(timeStampSeconds) * 1000 * 1000 + timeStampMicroSeconds;
|
---|
| 616 | time = road_time(); // Use the same time base of the other sensors
|
---|
| 617 |
|
---|
| 618 | //std::cout << "Time: " << time << " \n";
|
---|
| 619 |
|
---|
| 620 | // Get the raw image dimensions
|
---|
| 621 | /*FlyCapture2::PixelFormat pixFormat;
|
---|
| 622 | unsigned int rows, cols, stride;
|
---|
| 623 | rawImage.GetDimensions( &rows, &cols, &stride, &pixFormat );*/
|
---|
| 624 |
|
---|
| 625 | // Create a converted image
|
---|
| 626 | FlyCapture2::Image convertedImage;
|
---|
| 627 |
|
---|
[50] | 628 | //LOG_INFO("Converting frame...");
|
---|
[48] | 629 | if(this->cam_channels == 1)
|
---|
| 630 | {
|
---|
| 631 | // Convert the raw image
|
---|
| 632 | error = rawImage.Convert( FlyCapture2::PIXEL_FORMAT_MONO8, &convertedImage );
|
---|
| 633 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 634 | {
|
---|
| 635 | LOG_ERROR( error.GetDescription() );
|
---|
| 636 | exit(0);
|
---|
| 637 | }
|
---|
| 638 | }
|
---|
| 639 | else
|
---|
| 640 | {
|
---|
| 641 | // Convert the raw image
|
---|
| 642 | error = rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &convertedImage );
|
---|
| 643 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 644 | {
|
---|
| 645 | LOG_ERROR( error.GetDescription() );
|
---|
| 646 | exit(0);
|
---|
| 647 | }
|
---|
| 648 | }
|
---|
| 649 |
|
---|
[50] | 650 | //LOG_INFO("Copy to shared memory...");
|
---|
[48] | 651 | ////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 652 | if(this->use_shmem)
|
---|
| 653 | {
|
---|
| 654 | //std::cout << "Create shared memory\n";
|
---|
| 655 | if(!shmen_init)
|
---|
| 656 | {
|
---|
| 657 | //---------------------------- Shared Memory Initialization --------------------------------------
|
---|
[50] | 658 | this->ImageHeader.image.width = this->cam_width;
|
---|
| 659 | this->ImageHeader.image.height = this->cam_height;
|
---|
| 660 | this->ImageHeader.image.channels = this->cam_channels;
|
---|
| 661 | this->ImageHeader.image.width_step = (size_t)convertedImage.GetStride();
|
---|
| 662 | this->ImageHeader.image.data_size = convertedImage.GetDataSize();
|
---|
[48] | 663 |
|
---|
[50] | 664 | this->img_mem_size = sizeof(TimestampedStructImage) + mMaxImageOutputSize;
|
---|
[48] | 665 |
|
---|
[50] | 666 | this->img_mem = malloc(this->img_mem_size);
|
---|
[48] | 667 |
|
---|
[50] | 668 | if (this->cam_side == "right" || this->cam_side == "Right")
|
---|
| 669 | this->shmem_image = new ShMem(QString(Flea3MemoryName_img.c_str() + QString().setNum(camInfo.serialNumber) + "-right").toStdString().c_str(), this->img_mem_size);
|
---|
| 670 | else if (this->cam_side == "left" || this->cam_side == "Left")
|
---|
| 671 | this->shmem_image = new ShMem(QString(Flea3MemoryName_img.c_str() + QString().setNum(camInfo.serialNumber) + "-left").toStdString().c_str(), this->img_mem_size);
|
---|
[48] | 672 | //------------------------------------------------------------------------------------------------
|
---|
| 673 |
|
---|
| 674 | shmen_init = true;
|
---|
| 675 | }
|
---|
| 676 |
|
---|
| 677 | //std::cout << "Share image created : " << this->img_mem_size << "\n";
|
---|
| 678 |
|
---|
[50] | 679 | // Complete timestamp header of the right image
|
---|
| 680 | this->ImageHeader.time = time;
|
---|
| 681 | this->ImageHeader.timerange = 0;
|
---|
| 682 |
|
---|
| 683 | // Copy images header and data to memory
|
---|
| 684 | memcpy(this->img_mem, &ImageHeader, sizeof(TimestampedStructImage));
|
---|
| 685 | memcpy((void*)((TimestampedStructImage*)this->img_mem + 1), (void*)convertedImage.GetData(), this->ImageHeader.image.data_size);
|
---|
| 686 | this->shmem_image->write(this->img_mem, this->img_mem_size);
|
---|
[48] | 687 | }
|
---|
| 688 |
|
---|
| 689 | ////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 690 |
|
---|
| 691 | /////////////////////
|
---|
| 692 | // Write images to disk
|
---|
[50] | 693 | if (isRecording())
|
---|
[48] | 694 | {
|
---|
[50] | 695 | if(this->save2dbt)
|
---|
| 696 | {
|
---|
| 697 | //------------------------------------------------ Save image in the dbt file ------------------------------------------------------------
|
---|
| 698 | if(this->image_scale == 1.0)
|
---|
| 699 | {
|
---|
| 700 | try
|
---|
| 701 | {
|
---|
| 702 | this->mDbtImage.writeRecord(time, tr, (char *)convertedImage.GetData(), convertedImage.GetDataSize());
|
---|
| 703 | }
|
---|
| 704 | catch (DbiteException & e)
|
---|
| 705 | {
|
---|
| 706 | cerr << "error opening dbt file: " << e.what() << endl;
|
---|
| 707 | }
|
---|
| 708 | }
|
---|
| 709 | else
|
---|
| 710 | {
|
---|
| 711 | // convert to cv::mat
|
---|
| 712 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 713 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->cam_channels), convertedImage.GetData(), rowBytes);
|
---|
[48] | 714 |
|
---|
[50] | 715 | // Scaled image
|
---|
| 716 | cv::Mat img_resized;
|
---|
| 717 |
|
---|
| 718 | cv::resize(Img_BGR, img_resized, cv::Size((int)(Img_BGR.cols*this->image_scale), (int)(Img_BGR.rows*this->image_scale)), 0.0, 0.0, CV_INTER_CUBIC);
|
---|
| 719 |
|
---|
| 720 | try
|
---|
| 721 | {
|
---|
| 722 | this->mDbtImage.writeRecord(time, tr, (char*)img_resized.data, this->mSaveImageSize);
|
---|
| 723 | }
|
---|
| 724 | catch (DbiteException & e)
|
---|
| 725 | {
|
---|
| 726 | cerr << "error opening dbt file: " << e.what() << endl;
|
---|
| 727 | }
|
---|
| 728 | }
|
---|
| 729 | //----------------------------------------------------------------------------------------------------------------------------------------
|
---|
| 730 | }
|
---|
| 731 | else
|
---|
[48] | 732 | {
|
---|
[50] | 733 | //------------------------------------------------------------ Save image file ------------------------------------------------------------
|
---|
| 734 | // Save the image to file
|
---|
| 735 | stringstream imageNameSs;
|
---|
| 736 |
|
---|
| 737 | imageNameSs << name().toStdString() << "/" << imagePrefix << imageNameDelimiter << setfill(kFillCharacter) << setw(kNumberWidth) << imageCount << imageExtension;
|
---|
| 738 | string imageName = this->mOutputDirectory.filePath(imageNameSs.str().c_str()).toStdString();
|
---|
| 739 |
|
---|
| 740 | //LOG_INFO("Recording frame...");
|
---|
| 741 | if((this->image_compact == 0)&&(this->image_scale == 1.0))
|
---|
| 742 | {
|
---|
| 743 | // Save the image. If a file format is not passed in, then the file
|
---|
| 744 | // extension is parsed to attempt to determine the file format.
|
---|
| 745 | error = convertedImage.Save( const_cast<char *>(imageName.c_str()) );
|
---|
| 746 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 747 | {
|
---|
| 748 | LOG_ERROR( error.GetDescription() );
|
---|
| 749 | exit(0);
|
---|
| 750 | }
|
---|
| 751 | }
|
---|
| 752 | else if(this->image_scale == 1.0)
|
---|
| 753 | {
|
---|
| 754 | // convert to cv::mat
|
---|
| 755 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 756 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->cam_channels), convertedImage.GetData(), rowBytes);
|
---|
[48] | 757 |
|
---|
[50] | 758 | // Save the image. If a file format is not passed in, then the file
|
---|
| 759 | // extension is parsed to attempt to determine the file format.
|
---|
| 760 | if (!cv::imwrite( const_cast<char *>(imageName.c_str()), Img_BGR ))
|
---|
| 761 | {
|
---|
| 762 | LOG_ERROR( "Error to save the Flea image!" );
|
---|
| 763 | exit(0);
|
---|
| 764 | }
|
---|
| 765 | }
|
---|
| 766 | else
|
---|
| 767 | {
|
---|
| 768 | // convert to cv::mat
|
---|
| 769 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 770 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->cam_channels), convertedImage.GetData(), rowBytes);
|
---|
| 771 |
|
---|
| 772 | // Scaled image
|
---|
| 773 | cv::Mat img_resized;
|
---|
| 774 |
|
---|
| 775 | cv::resize(Img_BGR, img_resized, cv::Size((int)(Img_BGR.cols*this->image_scale), (int)(Img_BGR.rows*this->image_scale)), 0.0, 0.0, CV_INTER_CUBIC);
|
---|
| 776 |
|
---|
| 777 | // Save the image. If a file format is not passed in, then the file
|
---|
| 778 | // extension is parsed to attempt to determine the file format.
|
---|
| 779 | if (!cv::imwrite( const_cast<char *>(imageName.c_str()), img_resized ))
|
---|
| 780 | {
|
---|
| 781 | LOG_ERROR( "Error to save the Flea image!" );
|
---|
| 782 | exit(0);
|
---|
| 783 | }
|
---|
| 784 | }
|
---|
| 785 |
|
---|
| 786 | try
|
---|
| 787 | {
|
---|
| 788 | this->mDbtImage.writeRecord(time, tr, this->mOutputDirectory.filePath(imageName.c_str()).toStdString().c_str(), kMaxFilepathLength);
|
---|
| 789 | }
|
---|
| 790 | catch (DbiteException & e)
|
---|
| 791 | {
|
---|
| 792 | cerr << "error opening dbt file: " << e.what() << endl;
|
---|
| 793 | }
|
---|
| 794 | //--------------------------------------------------------------------------------------------------------------------------------------------
|
---|
[48] | 795 | }
|
---|
| 796 | }
|
---|
[50] | 797 |
|
---|
| 798 | LOG_TRACE("image no. " << imageCount << " acquired successfully");
|
---|
| 799 | ++imageCount;
|
---|
| 800 |
|
---|
| 801 | //if(this->auto_ExposurebyCode)
|
---|
| 802 | //{
|
---|
| 803 | // // Get exposure property
|
---|
| 804 | // cam_property.type = (FlyCapture2::PropertyType)1; //FlyCapture2::PropertyType::AUTO_EXPOSURE;
|
---|
| 805 | // error = cam.GetProperty( &cam_property );
|
---|
| 806 | // if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 807 | // {
|
---|
| 808 | // LOG_ERROR( error.GetDescription() );
|
---|
| 809 | // exit(0);
|
---|
| 810 | // }
|
---|
| 811 |
|
---|
| 812 | // unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 813 | // cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->cam_channels), convertedImage.GetData(), rowBytes);
|
---|
| 814 | // cv::Mat Img_GRAY = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_8U);
|
---|
| 815 |
|
---|
| 816 | // cv::cvtColor(Img_BGR, Img_GRAY, CV_BGR2GRAY);
|
---|
| 817 |
|
---|
| 818 | // // Scaled image
|
---|
| 819 | // cv::Mat img_resized;
|
---|
| 820 |
|
---|
| 821 | // cv::resize(Img_GRAY, img_resized, cv::Size((int)(Img_GRAY.cols*0.05), (int)(Img_GRAY.rows*0.05)), 0.0, 0.0, CV_INTER_CUBIC);
|
---|
| 822 |
|
---|
| 823 | // cv::Mat Img_Tshold = img_resized > 250;
|
---|
| 824 |
|
---|
| 825 | // cv::Scalar scalar_sum = cv::sum(Img_Tshold);
|
---|
| 826 | // double n_white = scalar_sum[0]/(img_resized.cols*img_resized.rows);
|
---|
| 827 |
|
---|
| 828 | // //// Set exposure property
|
---|
| 829 | // //cam_property.absControl = true;
|
---|
| 830 | // //cam_property.onePush = false;
|
---|
| 831 | // //cam_property.onOff = true;
|
---|
| 832 | // //cam_property.autoManualMode = this->auto_Exposure;
|
---|
| 833 | // //cam_property.absValue = (float)this->cam_Exposure;
|
---|
| 834 | // //error = cam.SetProperty( &cam_property );
|
---|
| 835 | // //if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 836 | // //{
|
---|
| 837 | // // LOG_ERROR( error.GetDescription() );
|
---|
| 838 | // // exit(0);
|
---|
| 839 | // //}
|
---|
| 840 | //}
|
---|
| 841 |
|
---|
[48] | 842 | if(this->showdebug)
|
---|
| 843 | {
|
---|
| 844 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 845 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->cam_channels), convertedImage.GetData(), rowBytes);
|
---|
| 846 |
|
---|
| 847 | cv::namedWindow( "Flea3Component - Current Reference Frame", CV_WINDOW_KEEPRATIO );
|
---|
| 848 | cv::imshow("Flea3Component - Current Reference Frame", Img_BGR);
|
---|
[50] | 849 | cv::waitKey(1);
|
---|
[48] | 850 | }
|
---|
| 851 |
|
---|
| 852 | }
|
---|
| 853 |
|
---|
| 854 | //====================================== Camera finalization =================================================
|
---|
| 855 | LOG_INFO("Finished grabbing images!");
|
---|
| 856 | // Stop capturing images
|
---|
| 857 | error = cam.StopCapture();
|
---|
| 858 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 859 | {
|
---|
| 860 | LOG_ERROR( error.GetDescription() );
|
---|
| 861 | exit(0);
|
---|
| 862 | }
|
---|
| 863 |
|
---|
| 864 | // Disconnect the camera
|
---|
| 865 | error = cam.Disconnect();
|
---|
| 866 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 867 | {
|
---|
| 868 | LOG_ERROR( error.GetDescription() );
|
---|
| 869 | exit(0);
|
---|
| 870 | }
|
---|
| 871 | //============================================================================================================
|
---|
| 872 |
|
---|
| 873 | if(shmen_init)
|
---|
| 874 | {
|
---|
| 875 | if(this->shmem_image)
|
---|
| 876 | delete shmem_image;
|
---|
| 877 |
|
---|
| 878 | this->shmem_image = NULL;
|
---|
| 879 | }
|
---|
| 880 |
|
---|
| 881 | this->is_running = false;
|
---|
[50] | 882 |
|
---|
| 883 | // Destroy the window frame
|
---|
| 884 | if(this->showdebug)
|
---|
| 885 | cvDestroyAllWindows();
|
---|
[48] | 886 | }
|
---|