[51] | 1 | /*******************************************************************************
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| 2 | // created: 2013/10/25 - 19:36
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| 3 | // filename: Flea3Grabber.cpp
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| 4 | //
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| 5 | // author: Danilo Alves de Lima and Pierre Hudelaine
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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: Grabbe images from multiple flea3
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| 11 | //
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| 12 | *******************************************************************************/
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| 13 |
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| 14 | #include "Flea3Grabber.h"
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| 15 |
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| 16 | #include <iomanip>
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| 17 | #include "opencv2/objdetect/objdetect.hpp"
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| 18 | #include "opencv2/calib3d/calib3d.hpp"
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| 19 | #include "opencv2/imgproc/imgproc.hpp"
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| 20 | #include "opencv2/core/core.hpp"
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| 21 | #include "opencv2/highgui/highgui.hpp"
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| 22 |
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| 23 | #include "Pacpus/kernel/DbiteException.h"
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| 24 | #include "Pacpus/kernel/DbiteFileTypes.h"
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| 25 | #include "Pacpus/kernel/ComponentFactory.h"
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| 26 | #include "Pacpus/kernel/Log.h"
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| 27 |
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| 28 | using namespace std;
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| 29 | using namespace pacpus;
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| 30 |
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| 31 | DECLARE_STATIC_LOGGER("pacpus.base.Flea3Grabber");
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| 32 |
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| 33 | // Construct the factory
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| 34 | static ComponentFactory<Flea3Grabber> sFactory("Flea3Grabber");
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| 35 |
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| 36 | const int kMaxFilepathLength = 512; // TODO: should be same for all images
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| 37 |
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| 38 |
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| 39 | ////////////////////////////////////////////////////////////////////////////////
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| 40 | /// Constructor
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| 41 | ////////////////////////////////////////////////////////////////////////////////
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| 42 | Flea3Grabber::Flea3Grabber(QString name)
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| 43 | : ComponentBase(name)
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| 44 | {
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| 45 | LOG_TRACE(Q_FUNC_INFO);
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| 46 |
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| 47 | this->nbrCamera_ = 1;
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| 48 | this->masterCamera_ = 0;
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| 49 | }
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| 50 |
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| 51 |
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| 52 | ////////////////////////////////////////////////////////////////////////////////
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| 53 | /// Destructor
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| 54 | ////////////////////////////////////////////////////////////////////////////////
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| 55 | Flea3Grabber::~Flea3Grabber()
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| 56 | {
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| 57 | LOG_TRACE(Q_FUNC_INFO);
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| 58 |
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| 59 | for (int i = 0; i < nbrCamera_; i++)
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| 60 | {
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| 61 | if (this->shmem_images_[i])
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| 62 | delete this->shmem_images_[i];
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| 63 |
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| 64 | this->shmem_images_[i] = NULL;
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| 65 | }
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| 66 | }
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| 67 |
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| 68 |
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| 69 | ////////////////////////////////////////////////////////////////////////////////
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| 70 | /// Called by the ComponentManager to start the component
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| 71 | ////////////////////////////////////////////////////////////////////////////////
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| 72 | void Flea3Grabber::startActivity()
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| 73 | {
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| 74 | LOG_TRACE(Q_FUNC_INFO);
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| 75 |
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| 76 | for (int i = 0; i < nbrCamera_; i++)
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| 77 | {
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| 78 |
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| 79 | if (((FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
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| 80 | ((FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
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| 81 | ((FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16))
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| 82 | {
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| 83 | this->settings_[i].cam_channels = 1;
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| 84 | }
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| 85 | else
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| 86 | {
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| 87 | if (this->settings_[i].cam_ColorProcessingAlgorithm == 1)
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| 88 | this->settings_[i].cam_channels = 1;
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| 89 | else
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| 90 | this->settings_[i].cam_channels = 3;
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| 91 | }
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| 92 |
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| 93 | // If do not rescale the image before save
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| 94 | this->settings_[i].mMaxImageOutputSize = sizeof(unsigned char) * this->settings_[i].cam_width * this->settings_[i].cam_height * this->settings_[i].cam_channels;
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| 95 |
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| 96 | if (this->settings_[i].image_scale == 1.0)
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| 97 | this->settings_[i].mSaveImageSize = this->settings_[i].mMaxImageOutputSize;
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| 98 | else
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| 99 | this->settings_[i].mSaveImageSize = sizeof(unsigned char)*((int)(this->settings_[i].cam_width * this->settings_[i].image_scale)) * ((int)(this->settings_[i].cam_height * this->settings_[i].image_scale)) * this->settings_[i].cam_channels;
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| 100 |
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| 101 | // Create output files for recording
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| 102 | if (isRecording())
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| 103 | {
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| 104 | try
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| 105 | {
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| 106 | QString dbtFileName_ = this->settings_[i].mOutputDirectory.filePath(name() + ".dbt");
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| 107 |
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| 108 | if (this->settings_[i].save2dbt)
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| 109 | {
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| 110 | //std::cout << "Save file : " << dbtFileName_.toStdString() << std::endl;
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| 111 | this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_DBT_UNKNOWN, this->settings_[i].mSaveImageSize);
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| 112 | //this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, kMaxFilepathLength);
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| 113 | }
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| 114 | else
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| 115 | {
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| 116 | //std::cout << "Save file : " << dbtFileName_.toStdString() << std::endl;
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| 117 | this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_IMAGE, kMaxFilepathLength);
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| 118 | //this->mDbtImage.open(dbtFileName_.toStdString(), WriteMode, FILE_JPEG, kMaxFilepathLength);
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| 119 | }
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| 120 | }
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| 121 | catch (DbiteException & e)
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| 122 | {
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| 123 | cerr << "error opening dbt file: " << e.what() << endl;
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| 124 | }
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| 125 | }
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| 126 | }
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| 127 |
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| 128 | // Run thread
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| 129 | THREAD_ALIVE = true;
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| 130 | start();
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| 131 | }
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| 132 |
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| 133 |
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| 134 | ////////////////////////////////////////////////////////////////////////////////
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| 135 | /// Called by the ComponentManager to stop the component
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| 136 | ////////////////////////////////////////////////////////////////////////////////
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| 137 | void Flea3Grabber::stopActivity()
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| 138 | {
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| 139 | LOG_TRACE(Q_FUNC_INFO);
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| 140 |
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| 141 | if (THREAD_ALIVE)
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| 142 | {
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| 143 | // Stop thread
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| 144 | THREAD_ALIVE = false;
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| 145 |
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| 146 | while(is_running)
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| 147 | {
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| 148 | msleep(10);
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| 149 | }
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| 150 |
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| 151 | }
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| 152 |
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| 153 | // Close DBT file
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| 154 | if (isRecording())
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| 155 | {
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| 156 | this->mDbtImage.close();
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| 157 | }
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| 158 |
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| 159 | LOG_INFO("stopped component '" << name() << "'");
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| 160 | }
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| 161 |
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| 162 |
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| 163 | ////////////////////////////////////////////////////////////////////////////////
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| 164 | /// Called by the ComponentManager to pass the XML parameters to the
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| 165 | /// component
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| 166 | ////////////////////////////////////////////////////////////////////////////////
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| 167 | ComponentBase::COMPONENT_CONFIGURATION Flea3Grabber::configureComponent(XmlComponentConfig config)
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| 168 | {
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| 169 | LOG_TRACE(Q_FUNC_INFO);
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| 170 |
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| 171 | if (config.getProperty("number_of_cameras") != QString::null)
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| 172 | this->nbrCamera_ = config.getProperty("number_of_cameras").toInt();
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| 173 |
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| 174 | if (config.getProperty("master_indice") != QString::null)
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| 175 | this->masterCamera_ = config.getProperty("master_indice").toInt();
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| 176 |
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| 177 | if (config.getProperty("use_shmem") != QString::null)
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| 178 | this->use_shmem = (bool)config.getProperty("use_shmem").toInt();
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| 179 |
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| 180 | for (int i = 0; i < nbrCamera_; i++)
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| 181 | {
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| 182 | // Initialize with default values
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| 183 | settings_.push_back(camSetting());
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| 184 | this->InitDefault(i);
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| 185 |
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| 186 | if (config.getProperty("cam_serial" + QString::number(i)) != QString::null)
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| 187 | settings_[i].cam_serial = config.getProperty("cam_serial" + QString::number(i)).toInt();
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| 188 |
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| 189 | //---------------------------------------- Camera configuration --------------------------------------------
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| 190 | if (config.getProperty("auto_FrameRate" + QString::number(i)) != QString::null)
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| 191 | settings_[i].auto_FrameRate = (config.getProperty("auto_FrameRate" + QString::number(i)) == "true" ? true : false);
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| 192 |
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| 193 | if (config.getProperty("cam_FrameRate" + QString::number(i)) != QString::null)
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| 194 | settings_[i].cam_FrameRate = config.getProperty("cam_FrameRate" + QString::number(i)).toDouble();
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| 195 |
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| 196 | if (config.getProperty("auto_Gain" + QString::number(i)) != QString::null)
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| 197 | settings_[i].auto_Gain = (config.getProperty("auto_Gain" + QString::number(i)) == "true" ? true : false);
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| 198 |
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| 199 | if (config.getProperty("cam_Gain" + QString::number(i)) != QString::null)
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| 200 | settings_[i].cam_Gain = config.getProperty("cam_Gain" + QString::number(i)).toDouble();
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| 201 |
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| 202 | if (config.getProperty("auto_Exposure" + QString::number(i)) != QString::null)
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| 203 | settings_[i].auto_Exposure = (config.getProperty("auto_Exposure" + QString::number(i)) == "true" ? true : false);
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| 204 |
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| 205 | if (config.getProperty("cam_Exposure" + QString::number(i)) != QString::null)
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| 206 | settings_[i].cam_Exposure = config.getProperty("cam_Exposure" + QString::number(i)).toDouble();
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| 207 |
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| 208 | if (config.getProperty("auto_Shutter" + QString::number(i)) != QString::null)
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| 209 | settings_[i].auto_Shutter = (config.getProperty("auto_Shutter" + QString::number(i)) == "true" ? true : false);
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| 210 |
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| 211 | if (config.getProperty("cam_Shutter" + QString::number(i)) != QString::null)
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| 212 | settings_[i].cam_Shutter = config.getProperty("cam_Shutter" + QString::number(i)).toDouble();
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| 213 |
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| 214 | if (config.getProperty("auto_ExposurebyCode" + QString::number(i)) != QString::null)
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| 215 | settings_[i].auto_ExposurebyCode = (config.getProperty("auto_ExposurebyCode" + QString::number(i)) == "true" ? true : false);
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| 216 |
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| 217 | if (config.getProperty("cam_ExposurebyCode_tshold" + QString::number(i)) != QString::null)
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| 218 | settings_[i].cam_ExposurebyCode_tshold = config.getProperty("cam_ExposurebyCode_tshold" + QString::number(i)).toDouble();
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| 219 | //----------------------------------------------------------------------------------------------------------
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| 220 |
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| 221 | if (config.getProperty("cam_video_mode" + QString::number(i)) != QString::null)
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| 222 | settings_[i].cam_video_mode = config.getProperty("cam_video_mode" + QString::number(i)).toInt();
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| 223 |
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| 224 | if (config.getProperty("cam_mode" + QString::number(i)) != QString::null)
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| 225 | settings_[i].cam_mode = config.getProperty("cam_mode" + QString::number(i)).toInt();
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| 226 |
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| 227 | if (config.getProperty("cam_PixelFormat" + QString::number(i)) != QString::null)
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| 228 | settings_[i].cam_PixelFormat = config.getProperty("cam_PixelFormat" + QString::number(i)).toInt();
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| 229 |
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| 230 | if (config.getProperty("cam_ColorProcessingAlgorithm" + QString::number(i)) != QString::null)
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| 231 | settings_[i].cam_ColorProcessingAlgorithm = config.getProperty("cam_ColorProcessingAlgorithm" + QString::number(i)).toInt();
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| 232 |
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| 233 | if (config.getProperty("cam_start_point_left" + QString::number(i)) != QString::null)
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| 234 | settings_[i].cam_start_point_left = config.getProperty("cam_start_point_left" + QString::number(i)).toInt();
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| 235 |
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| 236 | if (config.getProperty("cam_start_point_top" + QString::number(i)) != QString::null)
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| 237 | settings_[i].cam_start_point_top = config.getProperty("cam_start_point_top" + QString::number(i)).toInt();
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| 238 |
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| 239 | if (config.getProperty("cam_width" + QString::number(i)) != QString::null)
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| 240 | settings_[i].cam_width = config.getProperty("cam_width" + QString::number(i)).toInt();
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| 241 |
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| 242 | if (config.getProperty("cam_height" + QString::number(i)) != QString::null)
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| 243 | settings_[i].cam_height = config.getProperty("cam_height" + QString::number(i)).toInt();
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| 244 |
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| 245 | //-------------------------------- Trigger/strobe options -------------------------------------------
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| 246 |
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| 247 | if (config.getProperty("cam_trigger_mode" + QString::number(i)) != QString::null)
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| 248 | settings_[i].cam_trigger_mode = config.getProperty("cam_trigger_mode" + QString::number(i)).toInt();
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| 249 |
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| 250 | if (config.getProperty("cam_trigger_enable" + QString::number(i)) != QString::null)
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| 251 | settings_[i].cam_trigger_enable = config.getProperty("cam_trigger_enable" + QString::number(i)).toInt();
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| 252 |
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| 253 | if (config.getProperty("cam_trigger_parameter" + QString::number(i)) != QString::null)
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| 254 | settings_[i].cam_trigger_parameter = config.getProperty("cam_trigger_parameter" + QString::number(i)).toInt();
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| 255 |
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| 256 | if (config.getProperty("cam_trigger_polarity" + QString::number(i)) != QString::null)
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| 257 | settings_[i].cam_trigger_polarity = config.getProperty("cam_trigger_polarity" + QString::number(i)).toInt();
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| 258 |
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| 259 | if (config.getProperty("cam_trigger_source" + QString::number(i)) != QString::null)
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| 260 | settings_[i].cam_trigger_source = config.getProperty("cam_trigger_source" + QString::number(i)).toInt();
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| 261 |
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| 262 | if (config.getProperty("cam_trigger_dest" + QString::number(i)) != QString::null)
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| 263 | settings_[i].cam_trigger_dest = config.getProperty("cam_trigger_dest" + QString::number(i)).toInt();
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| 264 |
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| 265 | if (config.getProperty("cam_strobe_enable" + QString::number(i)) != QString::null)
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| 266 | settings_[i].cam_strobe_enable = config.getProperty("cam_strobe_enable" + QString::number(i)).toInt();
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| 267 |
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| 268 | if (config.getProperty("cam_strobe_source" + QString::number(i)) != QString::null)
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| 269 | settings_[i].cam_strobe_source = config.getProperty("cam_strobe_source" + QString::number(i)).toInt();
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| 270 |
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| 271 | if (config.getProperty("cam_strobe_polarity" + QString::number(i)) != QString::null)
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| 272 | settings_[i].cam_strobe_polarity = config.getProperty("cam_strobe_polarity" + QString::number(i)).toInt();
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| 273 |
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| 274 | if (config.getProperty("cam_strobe_delay" + QString::number(i)) != QString::null)
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| 275 | settings_[i].cam_strobe_delay = config.getProperty("cam_strobe_delay" + QString::number(i)).toInt();
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| 276 |
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| 277 | if (config.getProperty("cam_strobe_duration" + QString::number(i)) != QString::null)
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| 278 | settings_[i].cam_strobe_duration = config.getProperty("cam_strobe_duration" + QString::number(i)).toInt();
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| 279 |
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| 280 | //-------------------------------- Recording options ------------------------------------------------
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| 281 | if (config.getProperty("recording") != QString::null)
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| 282 | setRecording(config.getProperty("recording").toInt());
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| 283 |
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| 284 | if (config.getProperty("image_scale" + QString::number(i)) != QString::null)
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| 285 | settings_[i].image_scale = config.getProperty("image_scale" + QString::number(i)).toDouble();
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| 286 |
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| 287 | if (config.getProperty("image_compact" + QString::number(i)) != QString::null)
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| 288 | settings_[i].image_compact = config.getProperty("image_compact" + QString::number(i)).toInt();
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| 289 |
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| 290 | if (config.getProperty("save2dbt" + QString::number(i)) != QString::null)
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| 291 | settings_[i].save2dbt = config.getProperty("save2dbt" + QString::number(i)).toInt();
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| 292 | //---------------------------------------------------------------------------------------------------
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| 293 |
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| 294 | if (config.getProperty("showdebug" + QString::number(i)) != QString::null)
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| 295 | settings_[i].showdebug = (bool)config.getProperty("showdebug" + QString::number(i)).toInt();
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| 296 |
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| 297 | if (config.getProperty("outputdir" + QString::number(i)) != QString::null)
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| 298 | {
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| 299 | if (isRecording())
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| 300 | {
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| 301 | settings_[i].mOutputDirectory.mkdir(config.getProperty("outputdir" + QString::number(i)));
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| 302 | settings_[i].mOutputDirectory.mkdir(config.getProperty("outputdir" + QString::number(i) + "/" + name()));
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| 303 | settings_[i].mOutputDirectory.setPath(config.getProperty("outputdir" + QString::number(i)));
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| 304 | }
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| 305 | }
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| 306 | else
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| 307 | {
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| 308 | if (isRecording())
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| 309 | {
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| 310 | settings_[i].mOutputDirectory.mkdir(name());
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| 311 | settings_[i].mOutputDirectory.setPath(settings_[i].mOutputDirectory.currentPath());
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| 312 | }
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| 313 | }
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| 314 | }
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| 315 |
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| 316 | if (masterCamera_ >= nbrCamera_)
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| 317 | {
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| 318 | LOG_ERROR("masterCamera number error");
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| 319 | ComponentManager::getInstance()->stop(name());
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| 320 | }
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| 321 |
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| 322 | LOG_INFO("configured component '" << name() << "'");
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| 323 | return ComponentBase::CONFIGURED_OK;
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| 324 | }
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| 325 |
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| 326 |
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| 327 | ////////////////////////////////////////////////////////////////////////////////
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| 328 | /// Initialize default values
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| 329 | ////////////////////////////////////////////////////////////////////////////////
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| 330 | void Flea3Grabber::InitDefault(int indice)
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| 331 | {
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| 332 | // Default
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| 333 | setRecording(0);
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| 334 |
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| 335 | this->settings_[indice].cam_serial = 0; // Camera index to connect
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| 336 |
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| 337 | // Camera configuration
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| 338 | this->settings_[indice].auto_FrameRate = false; // Set auto frame rate
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| 339 | this->settings_[indice].cam_FrameRate = 15.0; // Frame rates in frames per second = FlyCapture2::FRAMERATE_15
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| 340 | this->settings_[indice].auto_Gain = false; // Set auto gain
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| 341 | this->settings_[indice].cam_Gain = 1.0; // Gain value in db
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| 342 | this->settings_[indice].auto_Exposure = true; // Set auto exposure
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| 343 | this->settings_[indice].cam_Exposure = 2.414; // Auto exposure in EV
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| 344 | this->settings_[indice].auto_Shutter = true; // Set auto shutter
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| 345 | this->settings_[indice].cam_Shutter = 66.639; // Shutter in miliseconds
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| 346 | this->settings_[indice].auto_ExposurebyCode = false; // Set auto exposure by pos processing method
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| 347 | this->settings_[indice].cam_ExposurebyCode_tshold = 20.0; // Pecentage of white pixels for threshold
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| 348 | this->settings_[indice].cam_start_point_left = 0; // Image left point (for standard modes only)
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| 349 | this->settings_[indice].cam_start_point_top = 0; // Image top point (for standard modes only)
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| 350 | this->settings_[indice].cam_width = 4096; // Image width (for standard modes only)
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| 351 | this->settings_[indice].cam_height = 2160; // image height (for standard modes only)
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| 352 | this->settings_[indice].cam_video_mode = FlyCapture2::VIDEOMODE_FORMAT7; // DCAM video modes
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| 353 | this->settings_[indice].cam_mode = FlyCapture2::MODE_0; // Camera modes for DCAM formats as well as Format7
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| 354 | this->settings_[indice].cam_PixelFormat = FlyCapture2::PIXEL_FORMAT_RAW8; // Pixel formats available for Format7 modes7
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| 355 | this->settings_[indice].cam_trigger_mode = 0; // Trigger mode
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| 356 | this->settings_[indice].cam_trigger_enable = 0; // Trigger enable (1 on // 0 off)
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| 357 | this->settings_[indice].cam_trigger_parameter = 0;
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| 358 | this->settings_[indice].cam_trigger_polarity = 0; // Trigger polarity (0 low // 1 high)
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| 359 | this->settings_[indice].cam_trigger_source = 0; // Source (GPIO)
|
---|
| 360 | this->settings_[indice].cam_trigger_dest = 0; // Dest (GPIO) input/output
|
---|
| 361 | this->settings_[indice].cam_strobe_source = 0;
|
---|
| 362 | this->settings_[indice].cam_strobe_enable = 0; // Enable strobe mode
|
---|
| 363 | this->settings_[indice].cam_strobe_polarity = 0; // Strobe polarity
|
---|
| 364 | this->settings_[indice].cam_strobe_delay = 0;
|
---|
| 365 | this->settings_[indice].cam_strobe_duration = 0;
|
---|
| 366 | this->settings_[indice].cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR; /**
|
---|
| 367 | * Color processing algorithms. Please refer to our knowledge base at
|
---|
| 368 | * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
|
---|
| 369 | * complete details for each algorithm.
|
---|
| 370 | */
|
---|
| 371 | this->settings_[indice].showdebug = false; // Show frame acquired
|
---|
| 372 |
|
---|
| 373 | if (this->settings_[indice].cam_ColorProcessingAlgorithm == 1)
|
---|
| 374 | this->settings_[indice].cam_channels = 1;
|
---|
| 375 | else
|
---|
| 376 | this->settings_[indice].cam_channels = 3;
|
---|
| 377 |
|
---|
| 378 | // Size of the image data sizeof(char)*width*height*channels
|
---|
| 379 | this->settings_[indice].mMaxImageOutputSize = sizeof(char) * this->settings_[indice].cam_width * this->settings_[indice].cam_height * this->settings_[indice].cam_channels;
|
---|
| 380 | this->settings_[indice].image_scale = 1.0; // Default scale
|
---|
| 381 | this->settings_[indice].image_compact = 0; // Don't compact the image data
|
---|
| 382 | this->settings_[indice].save2dbt = 0;
|
---|
| 383 | }
|
---|
| 384 |
|
---|
| 385 |
|
---|
| 386 | ////////////////////////////////////////////////////////////////////////////////
|
---|
| 387 | /// Thread loop
|
---|
| 388 | ////////////////////////////////////////////////////////////////////////////////
|
---|
| 389 | void Flea3Grabber::run()
|
---|
| 390 | {
|
---|
| 391 | LOG_TRACE(Q_FUNC_INFO);
|
---|
| 392 |
|
---|
| 393 | this->is_running = true;
|
---|
| 394 |
|
---|
| 395 | std::vector<FlyCapture2::Camera *> cams;
|
---|
| 396 |
|
---|
| 397 | //==================================== Camera initialization =================================================
|
---|
| 398 | // Check the number of cameras
|
---|
| 399 | FlyCapture2::BusManager busMgr;
|
---|
| 400 | unsigned int numCameras;
|
---|
| 401 | FlyCapture2::Error error = busMgr.GetNumOfCameras(&numCameras);
|
---|
| 402 |
|
---|
| 403 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 404 | {
|
---|
| 405 | LOG_FATAL(error.GetDescription());
|
---|
| 406 | ComponentManager::getInstance()->stop(name());
|
---|
| 407 | }
|
---|
| 408 |
|
---|
| 409 | if (this->nbrCamera_ != numCameras)
|
---|
| 410 | {
|
---|
| 411 | LOG_FATAL("Incoorect number of cameras...");
|
---|
| 412 | ComponentManager::getInstance()->stop(name());
|
---|
| 413 | }
|
---|
| 414 |
|
---|
| 415 | for (int i = 0; i < this->nbrCamera_; i++)
|
---|
| 416 | {
|
---|
| 417 | if (this->use_shmem)
|
---|
| 418 | {
|
---|
| 419 | this->settings_[i].ImageHeader.image.width = this->settings_[i].cam_width;
|
---|
| 420 | this->settings_[i].ImageHeader.image.height = this->settings_[i].cam_height;
|
---|
| 421 | this->settings_[i].ImageHeader.image.channels = this->settings_[i].cam_channels;
|
---|
| 422 | this->settings_[i].ImageHeader.image.width_step = this->settings_[i].cam_width * this->settings_[i].cam_channels * sizeof(unsigned char);
|
---|
| 423 | this->settings_[i].ImageHeader.image.data_size = this->settings_[i].cam_width * this->settings_[i].cam_height;
|
---|
| 424 |
|
---|
| 425 | this->settings_[i].img_mem_size = sizeof(TimestampedStructImage) + settings_[i].mMaxImageOutputSize;
|
---|
| 426 | this->settings_[i].img_mem = malloc(this->settings_[i].img_mem_size);
|
---|
| 427 |
|
---|
| 428 | ShMem * tmp_shmem = new ShMem((name() + "_" + QString().setNum(settings_[i].cam_serial)).toStdString().c_str(), this->settings_[i].img_mem_size);
|
---|
| 429 |
|
---|
| 430 | shmem_images_.push_back(tmp_shmem);
|
---|
| 431 | }
|
---|
| 432 |
|
---|
| 433 | // Get camera from serial (in this case first camera in the bus)
|
---|
| 434 | FlyCapture2::PGRGuid guid;
|
---|
| 435 | error = busMgr.GetCameraFromSerialNumber(this->settings_[i].cam_serial, &guid);
|
---|
| 436 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 437 | {
|
---|
| 438 | LOG_ERROR(error.GetDescription());
|
---|
| 439 | ComponentManager::getInstance()->stop(name());
|
---|
| 440 | }
|
---|
| 441 |
|
---|
| 442 | cams.push_back(new FlyCapture2::Camera); // FlyCapture camera class
|
---|
| 443 |
|
---|
| 444 | // Connect to a camerak
|
---|
| 445 | error = cams[i]->Connect(&guid);
|
---|
| 446 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 447 | {
|
---|
| 448 | LOG_ERROR(error.GetDescription());
|
---|
| 449 | ComponentManager::getInstance()->stop(name());
|
---|
| 450 | }
|
---|
| 451 |
|
---|
| 452 | // Get the camera information
|
---|
| 453 | FlyCapture2::CameraInfo camInfo;
|
---|
| 454 | error = cams[i]->GetCameraInfo(&camInfo);
|
---|
| 455 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 456 | {
|
---|
| 457 | LOG_ERROR(error.GetDescription());
|
---|
| 458 | ComponentManager::getInstance()->stop(name());
|
---|
| 459 | }
|
---|
| 460 |
|
---|
| 461 | // Just for visualization
|
---|
| 462 | printf(
|
---|
| 463 | "\n*** CAMERA INFORMATION ***\n"
|
---|
| 464 | "Serial number - %u\n"
|
---|
| 465 | "Camera model - %s\n"
|
---|
| 466 | "Camera vendor - %s\n"
|
---|
| 467 | "Sensor - %s\n"
|
---|
| 468 | "Resolution - %s\n"
|
---|
| 469 | "Firmware version - %s\n"
|
---|
| 470 | "Firmware build time - %s\n\n",
|
---|
| 471 | camInfo.serialNumber,
|
---|
| 472 | camInfo.modelName,
|
---|
| 473 | camInfo.vendorName,
|
---|
| 474 | camInfo.sensorInfo,
|
---|
| 475 | camInfo.sensorResolution,
|
---|
| 476 | camInfo.firmwareVersion,
|
---|
| 477 | camInfo.firmwareBuildTime);
|
---|
| 478 |
|
---|
| 479 | // Query for available Format 7 modes
|
---|
| 480 | FlyCapture2::Format7Info fmt7Info;
|
---|
| 481 | bool supported;
|
---|
| 482 | fmt7Info.mode = (FlyCapture2::Mode)this->settings_[i].cam_mode;
|
---|
| 483 | error = cams[i]->GetFormat7Info(&fmt7Info, &supported);
|
---|
| 484 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 485 | {
|
---|
| 486 | LOG_ERROR(error.GetDescription());
|
---|
| 487 | ComponentManager::getInstance()->stop(name());
|
---|
| 488 | }
|
---|
| 489 |
|
---|
| 490 | if (((FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat & fmt7Info.pixelFormatBitField) == 0)
|
---|
| 491 | {
|
---|
| 492 | // Pixel format not supported!
|
---|
| 493 | LOG_ERROR("Pixel format is not supported\n");
|
---|
| 494 | ComponentManager::getInstance()->stop(name());
|
---|
| 495 | }
|
---|
| 496 |
|
---|
| 497 | // Configurate custom image
|
---|
| 498 | FlyCapture2::Format7ImageSettings fmt7ImageSettings;
|
---|
| 499 | fmt7ImageSettings.mode = (FlyCapture2::Mode)this->settings_[i].cam_mode;
|
---|
| 500 | fmt7ImageSettings.offsetX = this->settings_[i].cam_start_point_left;
|
---|
| 501 | fmt7ImageSettings.offsetY = this->settings_[i].cam_start_point_top;
|
---|
| 502 | fmt7ImageSettings.width = this->settings_[i].cam_width;
|
---|
| 503 | fmt7ImageSettings.height = this->settings_[i].cam_height;
|
---|
| 504 | fmt7ImageSettings.pixelFormat = (FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat;
|
---|
| 505 |
|
---|
| 506 | bool valid;
|
---|
| 507 | FlyCapture2::Format7PacketInfo fmt7PacketInfo;
|
---|
| 508 |
|
---|
| 509 | // Validate the settings to make sure that they are valid
|
---|
| 510 | error = cams[i]->ValidateFormat7Settings(
|
---|
| 511 | &fmt7ImageSettings,
|
---|
| 512 | &valid,
|
---|
| 513 | &fmt7PacketInfo);
|
---|
| 514 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 515 | {
|
---|
| 516 | LOG_ERROR(error.GetDescription());
|
---|
| 517 | ComponentManager::getInstance()->stop(name());
|
---|
| 518 | }
|
---|
| 519 |
|
---|
| 520 | if (!valid)
|
---|
| 521 | {
|
---|
| 522 | // Settings are not valid
|
---|
| 523 | LOG_ERROR("Format7 settings are not valid");
|
---|
| 524 | ComponentManager::getInstance()->stop(name());
|
---|
| 525 | }
|
---|
| 526 |
|
---|
| 527 | // Set the settings to the camera
|
---|
| 528 | error = cams[i]->SetFormat7Configuration(
|
---|
| 529 | &fmt7ImageSettings,
|
---|
| 530 | fmt7PacketInfo.recommendedBytesPerPacket);
|
---|
| 531 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 532 | {
|
---|
| 533 | LOG_ERROR(error.GetDescription());
|
---|
| 534 | ComponentManager::getInstance()->stop(name());
|
---|
| 535 | }
|
---|
| 536 |
|
---|
| 537 | // Define the color algorithm
|
---|
| 538 | FlyCapture2::Image::SetDefaultColorProcessing((FlyCapture2::ColorProcessingAlgorithm)this->settings_[i].cam_ColorProcessingAlgorithm);
|
---|
| 539 |
|
---|
| 540 | // Start capturing images
|
---|
| 541 | error = cams[i]->StartCapture();
|
---|
| 542 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 543 | {
|
---|
| 544 | LOG_ERROR(error.GetDescription());
|
---|
| 545 | ComponentManager::getInstance()->stop(name());
|
---|
| 546 | }
|
---|
| 547 |
|
---|
| 548 | // Set frame rate property
|
---|
| 549 | FlyCapture2::Property cam_property;
|
---|
| 550 | cam_property.type = (FlyCapture2::PropertyType)16; //FlyCapture2::PropertyType::FRAME_RATE;
|
---|
| 551 | cam_property.absControl = true;
|
---|
| 552 | cam_property.autoManualMode = this->settings_[i].auto_FrameRate;
|
---|
| 553 | cam_property.onOff = true;
|
---|
| 554 | cam_property.onePush = false;
|
---|
| 555 | cam_property.absValue = (float)this->settings_[i].cam_FrameRate;
|
---|
| 556 | error = cams[i]->SetProperty(&cam_property);
|
---|
| 557 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 558 | {
|
---|
| 559 | LOG_ERROR(error.GetDescription());
|
---|
| 560 | ComponentManager::getInstance()->stop(name());
|
---|
| 561 | }
|
---|
| 562 |
|
---|
| 563 | // Set gain property
|
---|
| 564 | cam_property.type = (FlyCapture2::PropertyType)13; //FlyCapture2::PropertyType::GAIN;
|
---|
| 565 | cam_property.absControl = true;
|
---|
| 566 | cam_property.autoManualMode = this->settings_[i].auto_Gain;
|
---|
| 567 | cam_property.onOff = true;
|
---|
| 568 | cam_property.onePush = false;
|
---|
| 569 | cam_property.absValue = (float)this->settings_[i].cam_Gain;
|
---|
| 570 | error = cams[i]->SetProperty(&cam_property);
|
---|
| 571 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 572 | {
|
---|
| 573 | LOG_ERROR(error.GetDescription());
|
---|
| 574 | ComponentManager::getInstance()->stop(name());
|
---|
| 575 | }
|
---|
| 576 |
|
---|
| 577 | // Set exposure property
|
---|
| 578 | cam_property.type = (FlyCapture2::PropertyType)1; //FlyCapture2::PropertyType::AUTO_EXPOSURE;
|
---|
| 579 | cam_property.absControl = true;
|
---|
| 580 | cam_property.onePush = false;
|
---|
| 581 | cam_property.onOff = true;
|
---|
| 582 | cam_property.autoManualMode = this->settings_[i].auto_Exposure;
|
---|
| 583 | cam_property.absValue = (float)this->settings_[i].cam_Exposure;
|
---|
| 584 | error = cams[i]->SetProperty(&cam_property);
|
---|
| 585 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 586 | {
|
---|
| 587 | LOG_ERROR(error.GetDescription());
|
---|
| 588 | ComponentManager::getInstance()->stop(name());
|
---|
| 589 | }
|
---|
| 590 |
|
---|
| 591 | // Set shutter property
|
---|
| 592 | cam_property.type = (FlyCapture2::PropertyType)12; //FlyCapture2::PropertyType::SHUTTER;
|
---|
| 593 | cam_property.absControl = true;
|
---|
| 594 | cam_property.onePush = false;
|
---|
| 595 | cam_property.onOff = true;
|
---|
| 596 | cam_property.autoManualMode = this->settings_[i].auto_Shutter;
|
---|
| 597 | cam_property.absValue = (float)this->settings_[i].cam_Shutter;
|
---|
| 598 | error = cams[i]->SetProperty(&cam_property);
|
---|
| 599 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 600 | {
|
---|
| 601 | LOG_ERROR(error.GetDescription());
|
---|
| 602 | ComponentManager::getInstance()->stop(name());
|
---|
| 603 | }
|
---|
| 604 |
|
---|
| 605 | if (settings_[i].cam_trigger_enable)
|
---|
| 606 | {
|
---|
| 607 | FlyCapture2::TriggerMode trigger;
|
---|
| 608 | trigger.mode = settings_[i].cam_trigger_mode;
|
---|
| 609 | trigger.onOff = settings_[i].cam_trigger_enable;
|
---|
| 610 | trigger.parameter = settings_[i].cam_trigger_parameter;
|
---|
| 611 | trigger.polarity = settings_[i].cam_trigger_polarity;
|
---|
| 612 | trigger.source = settings_[i].cam_trigger_source;
|
---|
| 613 | error = cams[i]->SetTriggerMode(&trigger);
|
---|
| 614 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 615 | {
|
---|
| 616 | LOG_ERROR(error.GetDescription());
|
---|
| 617 | ComponentManager::getInstance()->stop(name());
|
---|
| 618 | }
|
---|
| 619 |
|
---|
| 620 | error = cams[i]->SetGPIOPinDirection(settings_[i].cam_trigger_dest, (i == masterCamera_)? 1 : 0);
|
---|
| 621 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 622 | {
|
---|
| 623 | LOG_ERROR(error.GetDescription());
|
---|
| 624 | ComponentManager::getInstance()->stop(name());
|
---|
| 625 | }
|
---|
| 626 | }
|
---|
| 627 |
|
---|
| 628 | if (settings_[i].cam_strobe_enable)
|
---|
| 629 | {
|
---|
| 630 | FlyCapture2::StrobeControl strobe;
|
---|
| 631 | strobe.onOff = settings_[i].cam_strobe_enable;
|
---|
| 632 | strobe.source = settings_[i].cam_strobe_source;
|
---|
| 633 | strobe.delay = settings_[i].cam_strobe_delay;
|
---|
| 634 | strobe.duration = settings_[i].cam_strobe_duration;
|
---|
| 635 | strobe.polarity = settings_[i].cam_strobe_polarity;
|
---|
| 636 | error = cams[i]->SetStrobe(&strobe);
|
---|
| 637 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 638 | {
|
---|
| 639 | LOG_ERROR(error.GetDescription());
|
---|
| 640 | ComponentManager::getInstance()->stop(name());
|
---|
| 641 | }
|
---|
| 642 | }
|
---|
| 643 | //============================================================================================================
|
---|
| 644 |
|
---|
| 645 | //---------------------------------- Recording parameters ------------------------------------
|
---|
| 646 | //size_t imageCount = 0;
|
---|
| 647 |
|
---|
| 648 | // Timestamp
|
---|
| 649 | //road_time_t time = 0;
|
---|
| 650 | //road_timerange_t tr = 0;
|
---|
| 651 |
|
---|
| 652 | const char * const imagePrefix = "image";
|
---|
| 653 | const char * const imageNameDelimiter = "-";
|
---|
| 654 | const char * const imageExtension = this->settings_[i].image_compact ? ".jpg" :
|
---|
| 655 | (((FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO8)||
|
---|
| 656 | ((FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO12)||
|
---|
| 657 | ((FlyCapture2::PixelFormat)this->settings_[i].cam_PixelFormat == FlyCapture2::PIXEL_FORMAT_MONO16)) ? ".pgm" : ".ppm";
|
---|
| 658 |
|
---|
| 659 | const char kFillCharacter = '0';
|
---|
| 660 | const int kNumberWidth = 5;
|
---|
| 661 | //--------------------------------------------------------------------------------------------
|
---|
| 662 | }
|
---|
| 663 |
|
---|
| 664 | // Raw image
|
---|
| 665 | FlyCapture2::Image rawImage;
|
---|
| 666 | FlyCapture2::Image convertedImage;
|
---|
| 667 |
|
---|
| 668 | //bool shmen_init = false;
|
---|
| 669 |
|
---|
| 670 | road_time_t time;
|
---|
| 671 |
|
---|
| 672 | while (THREAD_ALIVE)
|
---|
| 673 | {
|
---|
| 674 | cams[masterCamera_]->FireSoftwareTrigger();
|
---|
| 675 |
|
---|
| 676 | time = road_time();
|
---|
| 677 |
|
---|
| 678 | for (int i = 1; i < this->nbrCamera_; i++)
|
---|
| 679 | {
|
---|
| 680 | // Retrieve an image
|
---|
| 681 | error = cams[i]->RetrieveBuffer(&rawImage);
|
---|
| 682 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 683 | {
|
---|
| 684 | LOG_ERROR(error.GetDescription());
|
---|
| 685 | continue;
|
---|
| 686 | }
|
---|
| 687 |
|
---|
| 688 | // Image timestamp
|
---|
| 689 | //FlyCapture2::TimeStamp timeStamp = rawImage.GetTimeStamp();
|
---|
| 690 |
|
---|
| 691 | //time = road_time(); // Use the same time base of the other sensors
|
---|
| 692 |
|
---|
| 693 | if (this->settings_[i].cam_channels == 1)
|
---|
| 694 | {
|
---|
| 695 | // Convert the raw image
|
---|
| 696 | error = rawImage.Convert(FlyCapture2::PIXEL_FORMAT_MONO8, &convertedImage);
|
---|
| 697 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 698 | {
|
---|
| 699 | LOG_ERROR(error.GetDescription());
|
---|
| 700 | ComponentManager::getInstance()->stop(name());
|
---|
| 701 | }
|
---|
| 702 | }
|
---|
| 703 | else
|
---|
| 704 | {
|
---|
| 705 | // Convert the raw image
|
---|
| 706 | error = rawImage.Convert(FlyCapture2::PIXEL_FORMAT_BGR, &convertedImage);
|
---|
| 707 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 708 | {
|
---|
| 709 | LOG_ERROR(error.GetDescription());
|
---|
| 710 | ComponentManager::getInstance()->stop(name());
|
---|
| 711 | }
|
---|
| 712 | }
|
---|
| 713 |
|
---|
| 714 | if (this->use_shmem)
|
---|
| 715 | {
|
---|
| 716 | // Complete timestamp header of the right image
|
---|
| 717 | this->settings_[i].ImageHeader.time = time;
|
---|
| 718 | this->settings_[i].ImageHeader.timerange = 0;
|
---|
| 719 |
|
---|
| 720 | // Copy images header and data to memory
|
---|
| 721 | memcpy(this->settings_[i].img_mem, &settings_[i].ImageHeader, sizeof(TimestampedStructImage));
|
---|
| 722 | memcpy((void*)((TimestampedStructImage*)this->settings_[i].img_mem + 1), (void*)convertedImage.GetData(), this->settings_[i].ImageHeader.image.data_size);
|
---|
| 723 | this->shmem_images_[i]->write(this->settings_[i].img_mem, this->settings_[i].img_mem_size);
|
---|
| 724 | }
|
---|
| 725 |
|
---|
| 726 | /////////////////////
|
---|
| 727 | // Write images to disk
|
---|
| 728 | /*if (isRecording())
|
---|
| 729 | {
|
---|
| 730 | if (this->settings_[i].save2dbt)
|
---|
| 731 | {
|
---|
| 732 | //------------------------------------------------ Save image in the dbt file ------------------------------------------------------------
|
---|
| 733 | if (this->settings_[i].image_scale == 1.0)
|
---|
| 734 | {
|
---|
| 735 | try
|
---|
| 736 | {
|
---|
| 737 | this->mDbtImage.writeRecord(time, tr, (char *)convertedImage.GetData(), convertedImage.GetDataSize());
|
---|
| 738 | }
|
---|
| 739 | catch (DbiteException & e)
|
---|
| 740 | {
|
---|
| 741 | cerr << "error opening dbt file: " << e.what() << endl;
|
---|
| 742 | }
|
---|
| 743 | }
|
---|
| 744 | else
|
---|
| 745 | {
|
---|
| 746 | // convert to cv::mat
|
---|
| 747 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 748 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->settings_[i].cam_channels), convertedImage.GetData(), rowBytes);
|
---|
| 749 |
|
---|
| 750 | // Scaled image
|
---|
| 751 | cv::Mat img_resized;
|
---|
| 752 |
|
---|
| 753 | cv::resize(Img_BGR, img_resized, cv::Size((int)(Img_BGR.cols * this->settings_[i].image_scale), (int)(Img_BGR.rows * this->settings_[i].image_scale)), 0.0, 0.0, CV_INTER_CUBIC);
|
---|
| 754 |
|
---|
| 755 | try
|
---|
| 756 | {
|
---|
| 757 | this->mDbtImage.writeRecord(time, tr, (char*)img_resized.data, this->mSaveImageSize);
|
---|
| 758 | }
|
---|
| 759 | catch (DbiteException & e)
|
---|
| 760 | {
|
---|
| 761 | cerr << "error opening dbt file: " << e.what() << endl;
|
---|
| 762 | }
|
---|
| 763 | }
|
---|
| 764 | //----------------------------------------------------------------------------------------------------------------------------------------
|
---|
| 765 | }
|
---|
| 766 | else
|
---|
| 767 | {
|
---|
| 768 | //------------------------------------------------------------ Save image file ------------------------------------------------------------
|
---|
| 769 | // Save the image to file
|
---|
| 770 | stringstream imageNameSs;
|
---|
| 771 |
|
---|
| 772 | imageNameSs << name().toStdString() << "/" << imagePrefix << imageNameDelimiter << setfill(kFillCharacter) << setw(kNumberWidth) << imageCount << imageExtension;
|
---|
| 773 | string imageName = this->settings_[i].mOutputDirectory.filePath(imageNameSs.str().c_str()).toStdString();
|
---|
| 774 |
|
---|
| 775 | //LOG_INFO("Recording frame...");
|
---|
| 776 | if ((this->settings_[i].image_compact == 0) && (this->settings_[i].image_scale == 1.0))
|
---|
| 777 | {
|
---|
| 778 | // Save the image. If a file format is not passed in, then the file
|
---|
| 779 | // extension is parsed to attempt to determine the file format.
|
---|
| 780 | error = convertedImage.Save(const_cast<char *>(imageName.c_str()));
|
---|
| 781 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 782 | {
|
---|
| 783 | LOG_ERROR(error.GetDescription());
|
---|
| 784 | ComponentManager::getInstance()->stop(name());
|
---|
| 785 | }
|
---|
| 786 | }
|
---|
| 787 | else if (this->settings_[i].image_scale == 1.0)
|
---|
| 788 | {
|
---|
| 789 | // convert to cv::mat
|
---|
| 790 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 791 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->settings_[i].cam_channels), convertedImage.GetData(), rowBytes);
|
---|
| 792 |
|
---|
| 793 | // Save the image. If a file format is not passed in, then the file
|
---|
| 794 | // extension is parsed to attempt to determine the file format.
|
---|
| 795 | if (!cv::imwrite(const_cast<char *>(imageName.c_str()), Img_BGR))
|
---|
| 796 | {
|
---|
| 797 | LOG_ERROR("Error to save the Flea image!");
|
---|
| 798 | ComponentManager::getInstance()->stop(name());
|
---|
| 799 | }
|
---|
| 800 | }
|
---|
| 801 | else
|
---|
| 802 | {
|
---|
| 803 | // convert to cv::mat
|
---|
| 804 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 805 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->settings_[i].cam_channels), convertedImage.GetData(), rowBytes);
|
---|
| 806 |
|
---|
| 807 | // Scaled image
|
---|
| 808 | cv::Mat img_resized;
|
---|
| 809 |
|
---|
| 810 | cv::resize(Img_BGR, img_resized, cv::Size((int)(Img_BGR.cols * this->settings_[i].image_scale), (int)(Img_BGR.rows * this->settings_[i].image_scale)), 0.0, 0.0, CV_INTER_CUBIC);
|
---|
| 811 |
|
---|
| 812 | // Save the image. If a file format is not passed in, then the file
|
---|
| 813 | // extension is parsed to attempt to determine the file format.
|
---|
| 814 | if (!cv::imwrite(const_cast<char *>(imageName.c_str()), img_resized))
|
---|
| 815 | {
|
---|
| 816 | LOG_ERROR("Error to save the Flea image!");
|
---|
| 817 | ComponentManager::getInstance()->stop(name());
|
---|
| 818 | }
|
---|
| 819 | }
|
---|
| 820 |
|
---|
| 821 | try
|
---|
| 822 | {
|
---|
| 823 | this->mDbtImage.writeRecord(time, tr, this->settings_[i].mOutputDirectory.filePath(imageName.c_str()).toStdString().c_str(), kMaxFilepathLength);
|
---|
| 824 | }
|
---|
| 825 | catch (DbiteException & e)
|
---|
| 826 | {
|
---|
| 827 | cerr << "error opening dbt file: " << e.what() << endl;
|
---|
| 828 | }
|
---|
| 829 | //--------------------------------------------------------------------------------------------------------------------------------------------
|
---|
| 830 | }
|
---|
| 831 | }*/
|
---|
| 832 |
|
---|
| 833 | //LOG_TRACE("image no. " << imageCount << " acquired successfully");
|
---|
| 834 | //++imageCount;
|
---|
| 835 |
|
---|
| 836 | if (this->settings_[i].showdebug)
|
---|
| 837 | {
|
---|
| 838 | unsigned int rowBytes = (int)((double)convertedImage.GetReceivedDataSize()/(double)convertedImage.GetRows());
|
---|
| 839 | cv::Mat Img_BGR = cv::Mat(convertedImage.GetRows(), convertedImage.GetCols(), CV_MAKE_TYPE(CV_8U, this->settings_[i].cam_channels), convertedImage.GetData(), rowBytes);
|
---|
| 840 |
|
---|
| 841 | cv::namedWindow("Flea3Component - Current Reference Frame", CV_WINDOW_KEEPRATIO);
|
---|
| 842 | cv::imshow("Flea3Component - Current Reference Frame", Img_BGR);
|
---|
| 843 | cv::waitKey(1);
|
---|
| 844 | }
|
---|
| 845 | }
|
---|
| 846 | }
|
---|
| 847 |
|
---|
| 848 | for (int i = 0; i < this->nbrCamera_; i++)
|
---|
| 849 | {
|
---|
| 850 | //====================================== Camera finalization =================================================
|
---|
| 851 | LOG_INFO("Finished grabbing images!");
|
---|
| 852 | // Stop capturing images
|
---|
| 853 | error = cams[i]->StopCapture();
|
---|
| 854 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 855 | {
|
---|
| 856 | LOG_ERROR(error.GetDescription());
|
---|
| 857 | ComponentManager::getInstance()->stop(name());
|
---|
| 858 | }
|
---|
| 859 |
|
---|
| 860 | // Disconnect the camera
|
---|
| 861 | error = cams[i]->Disconnect();
|
---|
| 862 | if (error != FlyCapture2::PGRERROR_OK)
|
---|
| 863 | {
|
---|
| 864 | LOG_ERROR(error.GetDescription());
|
---|
| 865 | ComponentManager::getInstance()->stop(name());
|
---|
| 866 | }
|
---|
| 867 | //============================================================================================================
|
---|
| 868 |
|
---|
| 869 | if (this->shmem_images_[i])
|
---|
| 870 | delete shmem_images_[i];
|
---|
| 871 |
|
---|
| 872 | this->shmem_images_[i] = NULL;
|
---|
| 873 |
|
---|
| 874 | this->is_running = false;
|
---|
| 875 |
|
---|
| 876 | // Destroy the window frame
|
---|
| 877 | if (this->settings_[i].showdebug)
|
---|
| 878 | cvDestroyAllWindows();
|
---|
| 879 | }
|
---|
| 880 | }
|
---|