source: pacpussensors/trunk/PtGreyCameras/Flea3Component.cpp@ 48

Last change on this file since 48 was 48, checked in by phudelai, 10 years ago

Flea3 repository name changed for PtGreyCameras more general name
File size: 23.3 KB
Line 
1/*********************************************************************
2// created: 2013/10/25 - 19:36
3// filename: DisparityMapComponent.cpp
4//
5// author: Danilo Alves de Lima and Students of SY27
6// Copyright Heudiasyc UMR UTC/CNRS 6599
7//
8// version: $Id: $
9//
10// purpose: Disparity map calculation from stereo image data
11//
12//
13*********************************************************************/
14
15#include "Flea3Component.h"
16
17#include <iostream>
18#include <sstream>
19#include <iomanip>
20#include <string>
21
22#include "opencv2/objdetect/objdetect.hpp"
23#include "opencv2/highgui/highgui.hpp"
24#include "opencv2/imgproc/imgproc.hpp"
25#include "opencv2/calib3d/calib3d.hpp"
26#include "opencv2/core/core.hpp"
27
28#include <qapplication.h>
29#include <string>
30
31// Includes, qt.
32#include <QMetaType>
33
34#include "Pacpus/kernel/ComponentFactory.h"
35#include "Pacpus/kernel/DbiteException.h"
36#include "Pacpus/kernel/DbiteFileTypes.h"
37#include "Pacpus/kernel/Log.h"
38
39using namespace std;
40using namespace pacpus;
41
42DECLARE_STATIC_LOGGER("pacpus.base.Flea3Component");
43
44// Construct the factory
45static ComponentFactory<Flea3Component> sFactory("Flea3Component");
46
47const int kMaxFilepathLength = 512; // TODO: should be same for all images
48
49static const string Flea3MemoryName_img = "Flea3Image";
50
51//////////////////////////////////////////////////////////////////////////
52/// Constructor.
53Flea3Component::Flea3Component(QString name)
54 : ComponentBase(name)
55{
56 LOG_TRACE(Q_FUNC_INFO);
57
58 //recording = 0;
59
60 this->cam_serial = 0; // Camera serial to connect
61 this->cam_FrameRate = FlyCapture2::FRAMERATE_7_5; // Frame rates in frames per second
62 this->cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7; // DCAM video modes
63 this->cam_mode = FlyCapture2::MODE_4; // Camera modes for DCAM formats as well as Format7
64 this->cam_PixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8; // Pixel formats available for Format7 modes
65 this->cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR; /**
66 * Color processing algorithms. Please refer to our knowledge base at
67 * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
68 * complete details for each algorithm.
69 */
70 this->cam_start_point_left = 0; // Image left point (for standard modes only)
71 this->cam_start_point_top = 0; // Image top point (for standard modes only)
72 this->cam_width = 2048; // Image width (for standard modes only)
73 this->cam_height = 1080; // image height (for standard modes only)
74
75 this->showdebug = false; // Show frame acquired
76
77 if(this->cam_ColorProcessingAlgorithm == 1)
78 this->cam_channels = 1;
79 else
80 this->cam_channels = 3;
81
82 // Size of the image data sizeof(char)*width*height*channels
83 this->mMaxImageOutputSize = sizeof(char)*this->cam_width*this->cam_height*this->cam_channels;
84
85 // output data
86 this->shmem_image = 0; // Shared memory control access to the image data
87
88}
89
90//////////////////////////////////////////////////////////////////////////
91/// Destructor.
92Flea3Component::~Flea3Component()
93{
94 LOG_TRACE(Q_FUNC_INFO);
95
96 if(this->shmem_image)
97 delete shmem_image;
98
99 this->shmem_image = NULL;
100
101}
102
103//////////////////////////////////////////////////////////////////////////
104/// Called by the ComponentManager to start the component
105void Flea3Component::startActivity()
106{
107 LOG_TRACE(Q_FUNC_INFO);
108
109 if( ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
110 ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
111 ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16) )
112 {
113 this->cam_channels = 1;
114 }
115 else
116 {
117 if(this->cam_ColorProcessingAlgorithm == 1)
118 {
119 this->cam_channels = 1;
120 }
121 else
122 {
123 this->cam_channels = 3;
124 }
125 }
126
127 // Create output files for recording
128 if (this->isRecording())
129 {
130 try
131 {
132 QString dbtFileName_ = this->mOutputDirectory.filePath(/*ComponentBase::componentName*/name() + ".dbt");
133 //std::cout << "Save file : " << dbtFileName_.toStdString() << std::endl;
134 this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_IMAGE, kMaxFilepathLength);
135 //this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, kMaxFilepathLength);
136 }
137 catch (DbiteException & e)
138 {
139 cerr << "error opening dbt file: " << e.what() << endl;
140 }
141 }
142
143 // Run thread
144 /*ComponentBase::*/THREAD_ALIVE = true;
145 start();
146}
147
148//////////////////////////////////////////////////////////////////////////
149/// Called by the ComponentManager to stop the component
150void Flea3Component::stopActivity()
151{
152 LOG_TRACE(Q_FUNC_INFO);
153
154 if(/*ComponentBase::*/THREAD_ALIVE)
155 {
156 // Stop thread
157 /*ComponentBase::*/THREAD_ALIVE = false;
158
159 while(is_running)
160 {
161 msleep(10);
162 }
163
164 }
165
166 // Close DBT file
167 if (this->isRecording())
168 {
169 this->mDbtImage.close();
170 }
171
172 LOG_INFO("stopped component '" << name() << "'");
173}
174
175//////////////////////////////////////////////////////////////////////////
176/// Called by the ComponentManager to pass the XML parameters to the
177/// component
178ComponentBase::COMPONENT_CONFIGURATION Flea3Component::configureComponent(XmlComponentConfig config)
179{
180 LOG_TRACE(Q_FUNC_INFO);
181
182 // Initialize with default values
183 this->InitDefault();
184
185 if (config.getProperty("recording") != QString::null)
186 setRecording(config.getProperty("recording").toInt());
187
188 if (config.getProperty("cam_serial") != QString::null)
189 this->cam_serial = config.getProperty("cam_serial").toInt();
190
191 //---------------------------------------- Camera configuration --------------------------------------------
192 if (config.getProperty("auto_FrameRate") != QString::null)
193 this->auto_FrameRate = (config.getProperty("auto_FrameRate") == "true" ? true : false);
194
195 if (config.getProperty("cam_FrameRate") != QString::null)
196 this->cam_FrameRate = config.getProperty("cam_FrameRate").toDouble();
197
198 if (config.getProperty("auto_Gain") != QString::null)
199 this->auto_Gain = (config.getProperty("auto_Gain") == "true" ? true : false);
200
201 if (config.getProperty("cam_Gain") != QString::null)
202 this->cam_Gain = config.getProperty("cam_Gain").toDouble();
203
204 if (config.getProperty("auto_Exposure") != QString::null)
205 this->auto_Exposure = (config.getProperty("auto_Exposure") == "true" ? true : false);
206
207 if (config.getProperty("cam_Exposure") != QString::null)
208 this->cam_Exposure = config.getProperty("cam_Exposure").toDouble();
209
210 if (config.getProperty("auto_Shutter") != QString::null)
211 this->auto_Shutter = (config.getProperty("auto_Shutter") == "true" ? true : false);
212
213 if (config.getProperty("cam_Shutter") != QString::null)
214 this->cam_Shutter = config.getProperty("cam_Shutter").toDouble();
215
216 if (config.getProperty("auto_ExposurebyCode") != QString::null)
217 this->auto_ExposurebyCode = (config.getProperty("auto_ExposurebyCode") == "true" ? true : false);
218
219 if (config.getProperty("cam_ExposurebyCode_tshold") != QString::null)
220 this->cam_ExposurebyCode_tshold = config.getProperty("cam_ExposurebyCode_tshold").toDouble();
221 //----------------------------------------------------------------------------------------------------------
222
223 if (config.getProperty("cam_video_mode") != QString::null)
224 this->cam_video_mode = config.getProperty("cam_video_mode").toInt();
225
226 if (config.getProperty("cam_mode") != QString::null)
227 this->cam_mode = config.getProperty("cam_mode").toInt();
228
229 if (config.getProperty("cam_PixelFormat") != QString::null)
230 this->cam_PixelFormat = config.getProperty("cam_PixelFormat").toInt();
231
232 if (config.getProperty("cam_ColorProcessingAlgorithm") != QString::null)
233 this->cam_ColorProcessingAlgorithm = config.getProperty("cam_ColorProcessingAlgorithm").toInt();
234
235 if (config.getProperty("cam_start_point_left") != QString::null)
236 this->cam_start_point_left = config.getProperty("cam_start_point_left").toInt();
237
238 if (config.getProperty("cam_start_point_top") != QString::null)
239 this->cam_start_point_top = config.getProperty("cam_start_point_top").toInt();
240
241 if (config.getProperty("cam_width") != QString::null)
242 this->cam_width = config.getProperty("cam_width").toInt();
243
244 if (config.getProperty("cam_height") != QString::null)
245 this->cam_height = config.getProperty("cam_height").toInt();
246
247 if (config.getProperty("image_compact") != QString::null)
248 this->image_compact = config.getProperty("image_compact").toInt();
249
250 if (config.getProperty("showdebug") != QString::null)
251 this->showdebug = (bool)config.getProperty("showdebug").toInt();
252
253 if (config.getProperty("outputdir") != QString::null)
254 {
255 if (this->isRecording())
256 {
257 this->mOutputDirectory.mkdir(config.getProperty("outputdir"));
258 this->mOutputDirectory.mkdir(config.getProperty("outputdir") + "/" + name()/*ComponentBase::componentName*/);
259 this->mOutputDirectory.setPath(config.getProperty("outputdir"));
260 }
261 }
262 else
263 {
264 if (this->isRecording())
265 {
266
267 this->mOutputDirectory.mkdir(/*ComponentBase::componentName*/name());
268 this->mOutputDirectory.setPath(this->mOutputDirectory.currentPath());
269 }
270 }
271
272 LOG_INFO("configured component '" << name() << "'");
273 return ComponentBase::CONFIGURED_OK;
274}
275
276/**
277* Initialize default values
278*/
279void Flea3Component::InitDefault()
280{
281 // Default
282 //recording = 0;
283
284 this->cam_serial = 0; // Camera index to connect
285
286 // Camera configuration
287 this->auto_FrameRate = false; // Set auto frame rate
288 this->cam_FrameRate = 15.0; // Frame rates in frames per second = FlyCapture2::FRAMERATE_15
289 this->auto_Gain = false; // Set auto gain
290 this->cam_Gain = 1.0; // Gain value in db
291 this->auto_Exposure = true; // Set auto exposure
292 this->cam_Exposure = 2.414; // Auto exposure in EV
293 this->auto_Shutter = true; // Set auto shutter
294 this->cam_Shutter = 66.639; // Shutter in miliseconds
295 this->auto_ExposurebyCode = false; // Set auto exposure by pos processing method
296 this->cam_ExposurebyCode_tshold = 20.0; // Pecentage of white pixels for threshold
297
298 this->cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7; // DCAM video modes
299 this->cam_mode = FlyCapture2::MODE_0; // Camera modes for DCAM formats as well as Format7
300 this->cam_PixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8; // Pixel formats available for Format7 modes
301 this->cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR; /**
302 * Color processing algorithms. Please refer to our knowledge base at
303 * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
304 * complete details for each algorithm.
305 */
306 this->cam_start_point_left = 0; // Image left point (for standard modes only)
307 this->cam_start_point_top = 0; // Image top point (for standard modes only)
308 this->cam_width = 4096; // Image width (for standard modes only)
309 this->cam_height = 2160; // image height (for standard modes only)
310
311 this->showdebug = false; // Show frame acquired
312
313 if(this->cam_ColorProcessingAlgorithm == 1)
314 this->cam_channels = 1;
315 else
316 this->cam_channels = 3;
317
318 // Size of the image data sizeof(char)*width*height*channels
319 this->mMaxImageOutputSize = sizeof(char)*this->cam_width*this->cam_height*this->cam_channels;
320
321 this->image_compact = 0; // Don't compact the image data
322}
323
324// Thread loop
325void Flea3Component::run()
326{
327 LOG_TRACE(Q_FUNC_INFO);
328
329 this->is_running = true;
330
331 //==================================== Camera initialization =================================================
332 // Check the number of cameras
333 FlyCapture2::BusManager busMgr;
334 unsigned int numCameras;
335 FlyCapture2::Error error = busMgr.GetNumOfCameras(&numCameras);
336
337 if (error != FlyCapture2::PGRERROR_OK)
338 {
339 LOG_ERROR( error.GetDescription() );
340 exit(0);
341 }
342
343 if ( numCameras < 1 )
344 {
345 LOG_ERROR( "Insufficient number of cameras... exiting" );
346 exit(0);
347 }
348
349 // Get camera from serial (in this case first camera in the bus)
350 FlyCapture2::PGRGuid guid;
351 error = busMgr.GetCameraFromSerialNumber(this->cam_serial, &guid);
352 if (error != FlyCapture2::PGRERROR_OK)
353 {
354 LOG_ERROR( error.GetDescription() );
355 exit(0);
356 }
357
358 FlyCapture2::Camera cam; // FlyCapture camera class
359
360 // Connect to a camera
361 error = cam.Connect(&guid);
362 if (error != FlyCapture2::PGRERROR_OK)
363 {
364 LOG_ERROR( error.GetDescription() );
365 exit(0);
366 }
367
368 // Get the camera information
369 FlyCapture2::CameraInfo camInfo;
370 error = cam.GetCameraInfo(&camInfo);
371 if (error != FlyCapture2::PGRERROR_OK)
372 {
373 LOG_ERROR( error.GetDescription() );
374 exit(0);
375 }
376
377 // Just for visualization
378 printf(
379 "\n*** CAMERA INFORMATION ***\n"
380 "Serial number - %u\n"
381 "Camera model - %s\n"
382 "Camera vendor - %s\n"
383 "Sensor - %s\n"
384 "Resolution - %s\n"
385 "Firmware version - %s\n"
386 "Firmware build time - %s\n\n",
387 camInfo.serialNumber,
388 camInfo.modelName,
389 camInfo.vendorName,
390 camInfo.sensorInfo,
391 camInfo.sensorResolution,
392 camInfo.firmwareVersion,
393 camInfo.firmwareBuildTime );
394
395 // Query for available Format 7 modes
396 FlyCapture2::Format7Info fmt7Info;
397 bool supported;
398 fmt7Info.mode = (FlyCapture2::Mode)this->cam_mode;
399 error = cam.GetFormat7Info( &fmt7Info, &supported );
400 if (error != FlyCapture2::PGRERROR_OK)
401 {
402 LOG_ERROR( error.GetDescription() );
403 exit(0);
404 }
405
406 if ( ((FlyCapture2::PixelFormat)this->cam_PixelFormat & fmt7Info.pixelFormatBitField) == 0 )
407 {
408 // Pixel format not supported!
409 LOG_ERROR("Pixel format is not supported\n");
410 exit(0);
411 }
412
413 // Configurate custom image
414 FlyCapture2::Format7ImageSettings fmt7ImageSettings;
415 fmt7ImageSettings.mode = (FlyCapture2::Mode)this->cam_mode;
416 fmt7ImageSettings.offsetX = this->cam_start_point_left;
417 fmt7ImageSettings.offsetY = this->cam_start_point_top;
418 fmt7ImageSettings.width = this->cam_width;
419 fmt7ImageSettings.height = this->cam_height;
420 fmt7ImageSettings.pixelFormat = (FlyCapture2::PixelFormat)this->cam_PixelFormat;
421
422 bool valid;
423 FlyCapture2::Format7PacketInfo fmt7PacketInfo;
424
425 // Validate the settings to make sure that they are valid
426 error = cam.ValidateFormat7Settings(
427 &fmt7ImageSettings,
428 &valid,
429 &fmt7PacketInfo );
430 if (error != FlyCapture2::PGRERROR_OK)
431 {
432 LOG_ERROR( error.GetDescription() );
433 exit(0);
434 }
435
436 if ( !valid )
437 {
438 // Settings are not valid
439 LOG_ERROR( "Format7 settings are not valid" );
440 exit(0);
441 }
442
443 // Set the settings to the camera
444 error = cam.SetFormat7Configuration(
445 &fmt7ImageSettings,
446 fmt7PacketInfo.recommendedBytesPerPacket );
447 if (error != FlyCapture2::PGRERROR_OK)
448 {
449 LOG_ERROR( error.GetDescription() );
450 exit(0);
451 }
452
453 // Define the color algorithm
454 FlyCapture2::Image::SetDefaultColorProcessing((FlyCapture2::ColorProcessingAlgorithm)this->cam_ColorProcessingAlgorithm);
455
456
457 // Start capturing images
458 error = cam.StartCapture();
459 if (error != FlyCapture2::PGRERROR_OK)
460 {
461 LOG_ERROR( error.GetDescription() );
462 exit(0);
463 }
464
465 // Set frame rate property
466 FlyCapture2::Property cam_property;
467 cam_property.type = (FlyCapture2::PropertyType)16; //FlyCapture2::PropertyType::FRAME_RATE;
468 cam_property.absControl = true;
469 cam_property.autoManualMode = this->auto_FrameRate;
470 cam_property.onOff = true;
471 cam_property.onePush = false;
472 cam_property.absValue = (float)this->cam_FrameRate;
473 error = cam.SetProperty( &cam_property );
474 if (error != FlyCapture2::PGRERROR_OK)
475 {
476 LOG_ERROR( error.GetDescription() );
477 exit(0);
478 }
479
480 // Set gain property
481 cam_property.type = (FlyCapture2::PropertyType)13; //FlyCapture2::PropertyType::GAIN;
482 cam_property.absControl = true;
483 cam_property.autoManualMode = this->auto_Gain;
484 cam_property.onOff = true;
485 cam_property.onePush = false;
486 cam_property.absValue = (float)this->cam_Gain;
487 error = cam.SetProperty( &cam_property );
488 if (error != FlyCapture2::PGRERROR_OK)
489 {
490 LOG_ERROR( error.GetDescription() );
491 exit(0);
492 }
493
494 // Set exposure property
495 cam_property.type = (FlyCapture2::PropertyType)1; //FlyCapture2::PropertyType::AUTO_EXPOSURE;
496 cam_property.absControl = true;
497 cam_property.onePush = false;
498 cam_property.onOff = true;
499 cam_property.autoManualMode = this->auto_Exposure;
500 cam_property.absValue = (float)this->cam_Exposure;
501 error = cam.SetProperty( &cam_property );
502 if (error != FlyCapture2::PGRERROR_OK)
503 {
504 LOG_ERROR( error.GetDescription() );
505 exit(0);
506 }
507
508 // Set shuttet property
509 cam_property.type = (FlyCapture2::PropertyType)12; //FlyCapture2::PropertyType::SHUTTER;
510 cam_property.absControl = true;
511 cam_property.onePush = false;
512 cam_property.onOff = true;
513 cam_property.autoManualMode = this->auto_Shutter;
514 cam_property.absValue = (float)this->cam_Shutter;
515 error = cam.SetProperty( &cam_property );
516 if (error != FlyCapture2::PGRERROR_OK)
517 {
518 LOG_ERROR( error.GetDescription() );
519 exit(0);
520 }
521 //============================================================================================================
522
523 //---------------------------------- Recording parameters ------------------------------------
524 size_t imageCount = 0;
525
526 // Timestamp
527 road_time_t time = 0;
528 road_timerange_t tr = 0;
529
530 const char * const imagePrefix = "image";
531 const char * const imageNameDelimiter = "-";
532 const char * const imageExtension = this->image_compact ? ".jpg" :
533 (((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
534 ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
535 ((FlyCapture2::PixelFormat)this->cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16)) ? ".pgm" : ".ppm";
536
537 const char kFillCharacter = '0';
538 const int kNumberWidth = 5;
539
540 //--------------------------------------------------------------------------------------------
541
542 // Raw image
543 FlyCapture2::Image rawImage;
544
545 bool shmen_init = false;
546
547 while (THREAD_ALIVE)
548 {
549 //LOG_INFO("Grab new image");
550 //std::cout << "Grab new image\n";
551 // Retrieve an image
552 error = cam.RetrieveBuffer( &rawImage );
553 if (error != FlyCapture2::PGRERROR_OK)
554 {
555 LOG_ERROR( error.GetDescription() );
556 continue;
557 }
558
559 //std::cout << "Get timestamp\n";
560
561 // Image timestamp
562 FlyCapture2::TimeStamp timeStamp = rawImage.GetTimeStamp();
563
564 // Time in seconds
565 //double currTime = (double)timeStamp.cycleSeconds + (((double)timeStamp.cycleCount+((double)timeStamp.cycleOffset/3072.0))/8000.0);
566
567 //unsigned long timeStampSeconds = timeStamp.seconds;
568 //unsigned long timeStampMicroSeconds = timeStamp.microSeconds;
569 //time = static_cast<road_time_t>(timeStampSeconds) * 1000 * 1000 + timeStampMicroSeconds;
570 time = road_time(); // Use the same time base of the other sensors
571
572 //std::cout << "Time: " << time << " \n";
573
574 // Get the raw image dimensions
575 /*FlyCapture2::PixelFormat pixFormat;
576 unsigned int rows, cols, stride;
577 rawImage.GetDimensions( &rows, &cols, &stride, &pixFormat );*/
578
579 // Create a converted image
580 FlyCapture2::Image convertedImage;
581
582 if(this->cam_channels == 1)
583 {
584 // Convert the raw image
585 error = rawImage.Convert( FlyCapture2::PIXEL_FORMAT_MONO8, &convertedImage );
586 if (error != FlyCapture2::PGRERROR_OK)
587 {
588 LOG_ERROR( error.GetDescription() );
589 exit(0);
590 }
591 }
592 else
593 {
594 // Convert the raw image
595 error = rawImage.Convert( FlyCapture2::PIXEL_FORMAT_BGR, &convertedImage );
596 if (error != FlyCapture2::PGRERROR_OK)
597 {
598 LOG_ERROR( error.GetDescription() );
599 exit(0);
600 }
601 }
602
603 ////////////////////////////////////////////////////////////////////////////////////////
604 if(this->use_shmem)
605 {
606 //std::cout << "Create shared memory\n";
607 if(!shmen_init)
608 {
609 //---------------------------- Shared Memory Initialization --------------------------------------
610
611 this->mMaxImageOutputSize = sizeof(unsigned char)*this->cam_width*this->cam_height*this->cam_channels;
612
613 this->img_mem_size = mMaxImageOutputSize;
614
615 this->shmem_image = new ShMem(Flea3MemoryName_img.c_str(), this->img_mem_size);
616
617 //------------------------------------------------------------------------------------------------
618
619 shmen_init = true;
620 }
621
622 //std::cout << "Share image created : " << this->img_mem_size << "\n";
623
624 // Copy images data to memory
625 this->shmem_image->write(convertedImage.GetData(), this->img_mem_size);
626 }
627
628 ////////////////////////////////////////////////////////////////////////////////////////
629
630 /////////////////////
631 // Write images to disk
632 if (this->isRecording())
633 {
634 // Save the image to file
635 stringstream imageNameSs;
636
637 imageNameSs << /*ComponentBase::componentName*/name().toStdString() << "/" << imagePrefix << imageNameDelimiter << setfill(kFillCharacter) << setw(kNumberWidth) << imageCount << imageExtension;
638 string imageName = this->mOutputDirectory.filePath(imageNameSs.str().c_str()).toStdString();
639
640 // Save the image. If a file format is not passed in, then the file
641 // extension is parsed to attempt to determine the file format.
642 error = convertedImage.Save( const_cast<char *>(imageName.c_str()) );
643 if (error != FlyCapture2::PGRERROR_OK)
644 {
645 LOG_ERROR( error.GetDescription() );
646 exit(0);
647 }
648
649 try
650 {
651 this->mDbtImage.writeRecord(time, tr, this->mOutputDirectory.filePath(imageName.c_str()).toStdString().c_str(), kMaxFilepathLength);
652 }
653 catch (DbiteException & e)
654 {
655 cerr << "error opening dbt file: " << e.what() << endl;
656 }
657 }
658
659 if(this->showdebug)
660 {
661 unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
662 cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->cam_channels), convertedImage.GetData(), rowBytes);
663
664 cv::namedWindow( "Flea3Component - Current Reference Frame", CV_WINDOW_KEEPRATIO );
665 cv::imshow("Flea3Component - Current Reference Frame", Img_BGR);
666 cv::waitKey(10);
667 }
668 LOG_TRACE("image no. " << imageCount << " acquired successfully");
669 ++imageCount;
670
671 }
672
673 //====================================== Camera finalization =================================================
674 LOG_INFO("Finished grabbing images!");
675 // Stop capturing images
676 error = cam.StopCapture();
677 if (error != FlyCapture2::PGRERROR_OK)
678 {
679 LOG_ERROR( error.GetDescription() );
680 exit(0);
681 }
682
683 // Disconnect the camera
684 error = cam.Disconnect();
685 if (error != FlyCapture2::PGRERROR_OK)
686 {
687 LOG_ERROR( error.GetDescription() );
688 exit(0);
689 }
690 //============================================================================================================
691
692 if(shmen_init)
693 {
694 if(this->shmem_image)
695 delete shmem_image;
696
697 this->shmem_image = NULL;
698 }
699
700 this->is_running = false;
701}
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