source: pacpussensors/trunk/PtGreyCameras/Flea3Grabber.h@ 51

Last change on this file since 51 was 51, checked in by phudelai, 10 years ago

New component added: FLEA3GRABBER_H
FLEA3COMPONENT corrected
File size: 4.7 KB
Line 
1/*********************************************************************
2// created: 2013/10/25 - 19:36
3// filename: Flea3Grabber.h
4//
5// author: Danilo Alves de Lima
6// Copyright Heudiasyc UMR UTC/CNRS 6599
7//
8// version: $Id: $
9//
10// purpose:
11*********************************************************************/
12
13#ifndef FLEA3GRABBER_H
14#define FLEA3GRABBER_H
15
16#include <QThread>
17#include <QMutex>
18#include <QDir>
19
20#include "Pacpus/kernel/ComponentBase.h"
21#include "Pacpus/kernel/DbiteFile.h"
22#include "Pacpus/PacpusTools/ShMem.h"
23#include "PtGreyCamerasExp.h"
24
25#include "FlyCapture2.h"
26#include <string>
27#include <vector>
28#include "../../StdDbtPlayerComponents/ImageBaseStructure.h"
29
30namespace pacpus {
31
32typedef struct{
33 // Camera configuration
34 int cam_serial; // Camera serial to connect
35 bool auto_FrameRate; // Set auto frame rate
36 double cam_FrameRate; // Frame rates in frames per second
37 bool auto_Gain; // Set auto gain
38 double cam_Gain; // Gain value in db
39 bool auto_Exposure; // Set auto exposure
40 double cam_Exposure; // Auto exposure in EV
41 bool auto_Shutter; // Set auto shutter
42 double cam_Shutter; // Shutter in miliseconds
43 bool auto_ExposurebyCode; // Set auto exposure by pos processing method
44 double cam_ExposurebyCode_tshold; // Pecentage of white pixels for threshold
45 int cam_video_mode; // DCAM video modes
46 int cam_mode; // Camera modes for DCAM formats as well as Format7
47 int cam_PixelFormat; // Pixel formats available for Format7 modes
48 int cam_start_point_left; // Image left point (for standard modes only)
49 int cam_start_point_top; // Image top point (for standard modes only)
50 int cam_width; // Image width (for standard modes only)
51 int cam_height; // image height (for standard modes only)
52 int cam_channels; // Image channels (depending of the color processing method)
53 unsigned int cam_trigger_mode; // Trigger mode
54 unsigned int cam_trigger_enable; // Trigger enable (1 on // 0 off)
55 unsigned int cam_trigger_parameter;
56 unsigned int cam_trigger_polarity; // Trigger polarity (0 low // 1 high)
57 unsigned int cam_trigger_source; // Source (GPIO)
58 unsigned int cam_trigger_dest; // Dest (GPIO) input/output
59 unsigned int cam_strobe_source; // Strobe source
60 bool cam_strobe_enable; // Enable strobe mode
61 unsigned int cam_strobe_polarity; // Strobe polarity
62 float cam_strobe_delay;
63 float cam_strobe_duration;
64
65 int cam_ColorProcessingAlgorithm; /**
66 * Color processing algorithms. Please refer to our knowledge base at
67 * article at http://www.ptgrey.com/support/kb/index.asp?a=4&q=33 for
68 * complete details for each algorithm.
69 */
70 //-------------------------------------------- Image save options ------------------------------------------------
71 double image_scale; // Image scale to save
72 int image_compact; // Use jpeg format to save the images
73 int save2dbt; // Save the image in the dbt file (to increases the save rate)
74
75 size_t mSaveImageSize; // Size of the image to be saved
76 //----------------------------------------------------------------------------------------------------------------
77 bool showdebug; // Show frame acquired
78
79 int mMaxImageOutputSize; // Size of the input image data in the memory
80
81 // Output directory
82 QDir mOutputDirectory;
83
84 TimestampedStructImage ImageHeader; // Image header
85 void* img_mem; // Memory position for the header + image data
86 size_t img_mem_size; // Memory size for the header + image data
87
88}camSetting;
89
90/** Class to provide the obstacle detection from a disparity map data */
91class PTGREYCAMERAS_API Flea3Grabber: public QThread,
92 public ComponentBase
93{
94public:
95 //============================= DEFAULT ELEMENTS ===============================================
96 Flea3Grabber(QString name);
97 ~Flea3Grabber();
98
99 void run();
100
101 virtual void stopActivity(); /*!< to stop the processing thread */
102 virtual void startActivity(); /*!< to start the processing thread */
103 virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
104 //==============================================================================================
105
106protected:
107
108 // Indicates that thread is running
109 bool is_running;
110 DbiteFile mDbtImage;
111 bool use_shmem; // If is to use shared memory
112 bool THREAD_ALIVE;
113
114public:
115
116 /**
117 * Initialize default values
118 */
119 void InitDefault(int indice);
120
121private:
122 int nbrCamera_;
123 int masterCamera_;
124
125 std::vector<camSetting> settings_;
126 std::vector<ShMem*> shmem_images_;
127};
128
129}
130#endif // FLEA3GRABBER
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