source: pacpussensors/trunk/PtGreyCameras/Flea3Component.h@ 50

/*********************************************************************
//  created:    2013/10/25 - 19:36
//  filename:   Flea3Component.h
//
//  author:     Danilo Alves de Lima
//              Copyright Heudiasyc UMR UTC/CNRS 6599
// 
//  version:    $Id: $
//
//  purpose:    
*********************************************************************/

#ifndef FLEA3COMPONENT_H
#define FLEA3COMPONENT_H

#include "PtGreyCamerasExp.h"

#include <fstream>
#include <qcoreevent.h>
#include <qthread.h>
#include <string>

#include "Pacpus/kernel/ComponentBase.h"
#include "Pacpus/kernel/DbiteFile.h"
#include "Pacpus/PacpusTools/ShMem.h"

#include "FlyCapture2.h"

#include <QThread>
#include <QMutex>
#include <qdir.h>

#include "../../StdDbtPlayerComponents/ImageBaseStructure.h"

namespace pacpus {

/** Class to provide the obstacle detection from a disparity map data */
class PTGREYCAMERAS_API Flea3Component: public QThread, 
                                                                                public ComponentBase
{
public:
        //============================= DEFAULT ELEMENTS ===============================================
    Flea3Component(QString name);
    ~Flea3Component();

    void run();

    virtual void stopActivity(); /*!< to stop the processing thread */
    virtual void startActivity(); /*!< to start the processing thread */
    virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
        //==============================================================================================
                
protected:

        // Indicates that thread is running
        bool is_running;

public:

        /** 
        * Initialize default values
        */
        void InitDefault();

private:
        int cam_serial;                                         // Camera serial to connect
        
        // Camera configuration
        bool auto_FrameRate;                            // Set auto frame rate
        double cam_FrameRate;                           // Frame rates in frames per second
        bool auto_Gain;                                         // Set auto gain
        double cam_Gain;                                        // Gain value in db
        bool auto_Exposure;                                     // Set auto exposure
        double cam_Exposure;                            // Auto exposure in EV
        bool auto_Shutter;                                      // Set auto shutter
        double cam_Shutter;                                     // Shutter in miliseconds
        bool auto_ExposurebyCode;                       // Set auto exposure by pos processing method
        double cam_ExposurebyCode_tshold;       // Pecentage of white pixels for threshold

        int cam_video_mode;                                     // DCAM video modes
        int cam_mode;                                           // Camera modes for DCAM formats as well as Format7
        int cam_PixelFormat;                            // Pixel formats available for Format7 modes
        int cam_ColorProcessingAlgorithm;       /**
                                                                                * Color processing algorithms. Please refer to our knowledge base at
                                                                                * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
                                                                                * complete details for each algorithm.
                                                                                */
        int cam_start_point_left;                       // Image left point (for standard modes only)
        int cam_start_point_top;                        // Image top point (for standard modes only)
        int cam_width;                                          // Image width (for standard modes only)
        int cam_height;                                         // image height (for standard modes only)
        int cam_channels;                                       // Image channels (depending of the color processing method)

        //-------------------------------------------- Image save options ------------------------------------------------
        double image_scale;                                     // Image scale to save
        int image_compact;                                      // Use jpeg format to save the images
        int save2dbt;                                           // Save the image in the dbt file (to increases the save rate)

        size_t mSaveImageSize;                          // Size of the image to be saved
        //----------------------------------------------------------------------------------------------------------------
        bool showdebug;                                         // Show frame acquired
                
        int mMaxImageOutputSize;                // Size of the input image data in the memory   
        
        // Output directory
        QDir mOutputDirectory;

        TimestampedStructImage ImageHeader;             // Image header
        void* img_mem;                                                  // Memory position for the header + image data
        size_t img_mem_size;                                    // Memory size for the header + image data

        bool use_shmem;                                                 // If is to use shared memory

        // Imput data
        ShMem * shmem_image;    // Shared memory control access to the image data

        DbiteFile mDbtImage;

        bool THREAD_ALIVE;
        bool stereoVision;
        QString cam_side;
};

}
#endif // FLEA3COMPONENT