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)
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360 | this->settings_[indice].cam_trigger_dest = 0; // Dest (GPIO) input/output
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361 | this->settings_[indice].cam_strobe_source = 0;
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362 | this->settings_[indice].cam_strobe_enable = 0; // Enable strobe mode
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363 | this->settings_[indice].cam_strobe_polarity = 0; // Strobe polarity
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364 | this->settings_[indice].cam_strobe_delay = 0;
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365 | this->settings_[indice].cam_strobe_duration = 0;
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366 | this->settings_[indice].cam_ColorProcessingAlgorithm = FlyCapture2::NEAREST_NEIGHBOR; /**
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367 | * Color processing algorithms. Please refer to our knowledge base at
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368 | * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
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369 | * complete details for each algorithm.
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370 | */
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371 | this->settings_[indice].showdebug = false; // Show frame acquired
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372 |
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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 | }
|
---|